CN109597841B - A kind of target location accuracy optimization method based on many types of cartographic satellite repeated measures - Google Patents
A kind of target location accuracy optimization method based on many types of cartographic satellite repeated measures Download PDFInfo
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- CN109597841B CN109597841B CN201811522915.3A CN201811522915A CN109597841B CN 109597841 B CN109597841 B CN 109597841B CN 201811522915 A CN201811522915 A CN 201811522915A CN 109597841 B CN109597841 B CN 109597841B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Physics & Mathematics (AREA)
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Abstract
A kind of target location accuracy optimization method based on many types of cartographic satellite repeated measures.For the positioning accuracy for improving satellite repeated measures target, positioning accuracy and nominal general location precision are observed using satellite single, establish error model, residual error is standardized with numerical simulation, and best harmonic coefficient is determined by satellite simulation data and actual observation data experiment, the observation of error abnormal distribution is rejected to or dropped power, target repeated measures positioning result is optimized, to improve its positioning accuracy.
Description
Technical field
The present invention relates to the target location accuracy optimisation techniques under a kind of repeated measures location condition.
Background technique
The frequency that cartographic satellite carries out multi-fold observation to the same area is very high, and satellite is effectively shot through ground every time
Application system processing all generates a positioning result and precision, these results are not almost identical.With different resolution and
The positioning solution of the increase of different photographic image scale bar cartographic satellites, the same target in ground also accordingly increases, and different model is defended
Star positioning accuracy is different.Therefore, how to realize to cartographic satellite magnanimity observe data mining, using repeated measures positioning result into
Row optimization processing, the positioning accuracy for improving target point is a good problem to study.
According to observation error and its probability distribution theory: if observation is irrelevant and only includes accidental error, then observing
Number is more, and the average value of observation more approaches its mathematic expectaion.Cartographic satellite has obtained large number of ground target weight up to now
Multiple observation positions achievement without control, and repeated measures without control positioning have two characteristics to cartographic satellite on a surface target: first is that ground
Target every time without needed for control positioning along rail bar band image, to determine the Satellite Observations such as appearance, orbit determination relatively independent, that is, target
Each repeated measures are relatively independent without control positioning result；Second is that ground target is every time without control positioning through stringent photogrammetric parameter
Geometric calibration, systematic error are greatly eliminated.Target i.e. based on cartographic satellite repeated measures is respectively opposite without control positioning result
It is independent, and there is only random accidental error and rough errors.Thus it can be carried out by the way that observation is repeated several times to target without control positioning result
Optimization processing, can eliminate and reduce observation accidental error and rough error influences, to realize in various cartographic satellite without control positioning accurate
The positioning accuracy to target is further increased on the basis of degree, meets higher precision mapping application demand.
Summary of the invention
Based on observation error and its probability distribution theory, to reduce cartographic satellite repeated measures without rough error in control positioning result
Anti- rough error scheme is further introduced on the basis of least square adjustment to the adverse effect of final positioning achievement, that is, constraint is added
Power is rejected to the observation for thinking error abnormal distribution or dropped to condition, what realization positioned cartographic satellite repeated measures target
Optimal estimating improves target location accuracy.
A kind of target location accuracy optimization method based on many types of cartographic satellite repeated measures, it is characterised in that: this method
The following steps are included:
The first step, optimization repeated measures target location accuracy
Point target observation is many types of cartographic satellite observation positioning gained, optimizes the uniaxial positioning result of repeated measures targetAre as follows:
Wherein, A is coefficient matrix,For weight matrix, L is uniaxial repeated observations vector,
σiThe corresponding nominal general location precision of satellite, w are observed for i-thiFor weighting coefficient, i=1 ..., n, n is to repeat
Number is observed, the general value range of n is between 5 to 30.
Second step establishes error model
It is repeated several times and observes for various cartographic satellite, establish target single shaft error model:
Wherein, V is the residual vector of n × 1, and A is the coefficient matrix of n × 1, and L is uniaxial repeated measures vector,For target
Uniaxial parameter to be estimated.Least square solution, which can be obtained, is
Because the observation positioning result of various cartographic satellite is mutually indepedent, weight matrix P is diagonal matrix,
Third step, the target repeated observations power of repairing
For calculating weight function, need to be standardized residual error,
Standardized residual: standardized residual v is calculate by the following formula
Wherein, viIt is i-th of observation of target relative to least square solutionResidual error,It is poor for residual mean square (RMS),
For the mean value of residual vector V.
It is introduced into weight function: the weight coefficient w in the first stepiIt is calculated by weight function w (v).
The expression formula of weight function is as follows:
In formula, k0And k1For harmonic coefficient.It is calculated by a large amount of precision optimizings that observation positioning result is repeated several times to satellite
And interpretation of result, obtain harmonic coefficient k0And k1Best value be respectively 2.0 and 2.5.
According to the definition of weight function, | v |≤k0When weight be 1, i.e., the corresponding observation weight of normal residual error is constant；|v|
> k1When weight be 0, i.e., when residual error is excessive corresponding observation rejecting；k0<|v|≤k1When, there is suspicion to positioning result precision
Observation carry out drop power, and its weight is
Finally, correcting least square solution with the value that weight function w (v) is determined, i.e., modified weight matrix is substituted into the first step
FormulaIn, oplimal Location result can be obtained.
The advantage of the invention is that the optimization method based on the positioning of cartographic satellite repeated measures target, is greatly improved to target
Positioning accuracy, realize the excavation to cartographic satellite magnanimity repeated measures data, effectively improve positioning accurate on a surface target
Degree meets higher precision mapping application demand.
Detailed description of the invention
Error contrast schematic diagram in the target space of points of Fig. 1 optimization front and back；
Fig. 2 increases target point precision situation of change schematic diagram with observation frequency.
Specific embodiment
The present embodiment is based primarily upon certain type cartographic satellite repeated measures without control positioning result.
On the basis of target field control Measurement results, target is counted respectively and is based on certain type cartographic satellite repeated measures without control
Middle error of error and the single observation without control positioning result of positioning result optimal estimating value is commented by comparing the size of the two
Valence optimal estimating effect.Middle error value is smaller, shows that target location accuracy is higher.
If target field control measurement Gauss coordinate value is (XOutside,YOutside,HOutside)；It is positioned based on the observation of certain type cartographic satellite without control
Gauss coordinate is (Xi,Yi,Hi), wherein i=1,2 ..., n, n are to repeat observation frequency；Optimal estimating value to target isThen have:
The precision evaluation of optimal estimating:
Error in plane are as follows:
Mean square error of height are as follows:
Error in space are as follows:
Precision evaluation of the target single observation without control positioning:
Error in plane are as follows:
Mean square error of height are as follows:
Error in space are as follows:
Distribution situation is covered to ground repeat photography image in conjunction with what certain 01,02,03 star of type cartographic satellite obtained over the years
Survey data situation is controlled with existing high-precision field, it is enough to trial zone repeat photography degree of covering by certain type cartographic satellite
More, trial zone target has high-precision field control survey data, target point in items such as trial zone distributions as evenly dispersed as possible
Part has chosen three trial zones and each regional aim point in the world, acquisition of being photographed every time using certain type cartographic satellite
Image and its mating appearance rail data carry out EFP respectively and position without control, obtain the target single observed based on certain type cartographic satellite without
Control positioning result.Testing data concrete condition is as shown in table 1.
1 testing data major parameter of table
Different harmonic coefficient optimal estimating precision compare:
It is compared statistics by true value of target point field physical control measured value, to each area target point repeated measures
K is based on without control positioning result0、k1The precision of different value optimal estimating results is counted.Table 2 is corresponding harmonic coefficient optimization
The statistical form in the preferable section of estimated accuracy.
The precision statistics of 2 three, table harmonic coefficient optimal estimating from different places
As can be seen from the above table: k0、k1The best value of harmonic coefficient is 2.0,2.5.
Optimal estimating essence based on three each target points in area of best harmonic coefficient based on repeated measures without control positioning result
Degree and single accuracy of observation compare statistical result respectively as shown in table 3,4,5.
Each objective optimization estimated accuracy in 3 No. 1 areas of table counts compared with single accuracy of observation
Each objective optimization estimated accuracy in 4 No. 2 areas of table counts compared with single accuracy of observation
Each objective optimization estimated accuracy in 5 No. 3 areas of table counts compared with single accuracy of observation
From the statistical result in three above area:
Compared with single accuracy of observation, outside depolarization individual target point, three other target points in area be based on repeated measures without
The optimal estimating positioning accuracy of control positioning result is significantly improved, and the raising of single goal precision is maximum to reach 12.27 times；
The whole improvement effect of all target point optimal estimating positioning accuracies in three areas is it is also obvious that space orientation simultaneously
Precision is increased to one digit number from double figures, totally improves an order of magnitude, and precision improves multiple in 2 times or more, highest
Up to 2.73 times, most bottom is improved also up to 2.21 times, and the comparison of optimization front and back is as shown in Figure 1.
The present embodiment is based on emulation satellite repeated measures datum target point optimum position result.
A kind of satellite based on nominal positioning accuracy generates emulation repeated measures data, and observation frequency is used from 5 to 100
The above optimization method calculates aiming spot and precision, carries out 2000 experiments altogether, and the average value of statistical experiment result is as a result bent
Line is as shown in Figure 2.
Figure it is seen that target point precision is obviously improved with the increase of observation frequency, and repeated measures number is 5
When between to 30, precision raising is larger, tends to be steady later.When single observation space precision is 17.67 meters, 5 repetitions are seen
Objective optimization positioning accuracy is surveyed i.e. at 8 meters hereinafter, 30 repeated measures objective optimization positioning accuracies reach 3 meters, 60 repetitions are seen
Objective optimization positioning accuracy is surveyed close to 2 meters.
The above is only the preferred embodiments of the invention, are not intended to limit the invention creation, all in the present invention
Any modifications, equivalent replacements, and improvements etc. done within the spirit and principle of creation, should be included in the guarantor of the invention
Within the scope of shield.
Claims (1)
1. a kind of target location accuracy optimization method based on many types of cartographic satellite repeated measures, it is characterised in that: this method packet
Include following steps:
The first step, optimization repeated measures target location accuracy
Point target observation is many types of cartographic satellite observation positioning gained, optimizes the uniaxial positioning result of repeated measures target
Are as follows:
Wherein, A is coefficient matrix,For weight matrix, L is uniaxial repeated observations vector,
σiThe corresponding nominal general location precision of satellite, w are observed for i-thiFor weighting coefficient, i=1 ..., n, n is repeated measures
Number, n value range is between 5 to 30；
Second step establishes error model
It is repeated several times and observes for various cartographic satellite, establish target single shaft error model:
Wherein, V is the residual vector of n × 1, and A is the coefficient matrix of n × 1, and L is uniaxial repeated measures vector,For target single shaft
Parameter to be estimated；Least square solution can be obtained are as follows:
Because the observation positioning result of various cartographic satellite is mutually indepedent, weight matrix P is diagonal matrix,
Third step, the target repeated observations power of repairing
For calculating weight function, need to be standardized residual error,
Standardized residual: standardized residual v is calculate by the following formula:
Wherein, viIt is i-th of observation of target relative to least square solutionResidual error,It is poor for residual mean square (RMS),
For the mean value of residual vector V；
It is introduced into weight function: by the weight coefficient w in the first stepiIt is calculated by weight function w (v)；
The expression formula of weight function is as follows:
In formula, k0And k1For harmonic coefficient；It calculates and ties by a large amount of precision optimizings that observation positioning result is repeated several times to satellite
Fruit analysis, obtains harmonic coefficient k0And k1Best value be respectively 2.0 and 2.5；
According to the definition of weight function, | v |≤k0When weight be 1, i.e., the corresponding observation weight of normal residual error is constant；| v | > k1When
Weight is 0, i.e., corresponding observation is rejected when residual error is excessive；k0<|v|≤k1When, to the suspectable observation of positioning result precision
Drop power is carried out, and its weight is
Finally, correcting least square solution with the value that weight function w (v) is determined, i.e., modified weight matrix is substituted into the public affairs in the first step
FormulaIn, oplimal Location result can be obtained.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103885031A (en) * | 2014-04-08 | 2014-06-25 | 中国电子科技集团公司第五十四研究所 | Moving satellite interference source positioning method based on searching optimization filtering |
| CN105785412A (en) * | 2016-03-03 | 2016-07-20 | 东南大学 | Vehicle rapid optimizing satellite selection positioning method based on GPS and Beidou double constellations |
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| US20020142781A1 (en) * | 2000-12-29 | 2002-10-03 | Globalstar L.P. | Resolution of ambiguity of position location for user terminals operating in a low earth orbit satellite system |
| WO2016129667A1 (en) * | 2015-02-13 | 2016-08-18 | 日本電信電話株式会社 | Satellite signal reception characteristic estimation apparatus, method thereof, and program thereof |
| CN108919321B (en) * | 2018-05-18 | 2019-05-10 | 长安大学 | A kind of GNSS positioning Detection of Gross Errors method based on trial and error method |
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| CN103885031A (en) * | 2014-04-08 | 2014-06-25 | 中国电子科技集团公司第五十四研究所 | Moving satellite interference source positioning method based on searching optimization filtering |
| CN105785412A (en) * | 2016-03-03 | 2016-07-20 | 东南大学 | Vehicle rapid optimizing satellite selection positioning method based on GPS and Beidou double constellations |
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| Title |
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| 北斗二代卫星导航系统定位优化仿真研究;邹绪平等;《计算机仿真》;20170630;第34卷(第6期);第80-83页 * |
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