CN110221316B - Mobile bracelet positioning method based on GPS precise point positioning - Google Patents
Mobile bracelet positioning method based on GPS precise point positioning Download PDFInfo
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- CN110221316B CN110221316B CN201910320019.7A CN201910320019A CN110221316B CN 110221316 B CN110221316 B CN 110221316B CN 201910320019 A CN201910320019 A CN 201910320019A CN 110221316 B CN110221316 B CN 110221316B
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- A—HUMAN NECESSITIES
- A44—HABERDASHERY; JEWELLERY
- A44C—PERSONAL ADORNMENTS, e.g. JEWELLERY; COINS
- A44C5/00—Bracelets; Wrist-watch straps; Fastenings for bracelets or wrist-watch straps
- A44C5/0007—Bracelets specially adapted for other functions or with means for attaching other articles
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a mobile bracelet positioning method based on GPS precise single-point positioning, which comprises the following steps: s1, establishing a precise single-point positioning function model; s2, establishing a precise single-point positioning random model; s3, preprocessing data; s4, carrying out model correction or parameter estimation on the main error of the precise single-point positioning; s5, parameter estimation: performing state parameter estimation on the position and the speed of the mobile bracelet, the clock error of the mobile bracelet, the dry delay and the wet delay as well as the ambiguity of an observed GPS satellite by adopting a Kalman filtering parameter estimation method; and selecting a part of ambiguity subset meeting the checking condition from the related ambiguity set according to the bootstrapping success rate and ratio-test for ambiguity fixing, wherein the part of ambiguity subset meets the checking condition. The invention provides a mobile bracelet positioning method based on GPS precise single-point positioning, which can improve the ambiguity fixing performance and ensure the fixing success rate.
Description
Technical Field
The invention relates to a positioning method, in particular to a mobile bracelet positioning method based on GPS precise single-point positioning.
Background
In daily operation maintenance or construction of a power station, inspection personnel or installation personnel are often required to work in the environment of normal operation of other equipment in an electrified state, and when relevant personnel neglect or do not obey the operation rule, the equipment is mistakenly overhauled or walks to an electrified dangerous area, so that the electric power operation safety is damaged, the personal safety is endangered, and serious loss and damage are brought. The potential safety hazard is mainly shown as follows: (1) the field inspection of the power station is not in place; (2) monitoring the personnel entering the working area; (3) and entering the dangerous area by mistake.
A transformer substation personnel inspection system is provided with a positioning base station in an area needing to be monitored, and the whole transformer substation area is fully covered. The positioning terminal can be fixed on the safety helmet of the patrol personnel and can also be worn in a wrist strap type or waist-hanging type. The terminal can also be placed or installed on daily inspection equipment tools and vehicles. When a person or an object wearing the terminal enters a monitoring area, the person or the object can be automatically positioned, the terminal continuously and automatically transmits wireless signals, and positioning base stations capable of automatically identifying the terminal are arranged in each area. The positioning terminal and the positioning base station can communicate with each other to transmit wireless signals to form a wireless monitoring network, and the positioning base station nearby the personnel can receive the wireless signals sent by the positioning terminal no matter where the personnel walk. And the positioning base station transmits the received positioning terminal information to a server through a network for data analysis and processing. The server distributes the processed positioning data to a monitoring and management computer, and the current position of the person is displayed in a two-dimensional image. According to the requirement of routing inspection management, the activity area and the activity time of related personnel are preset in the system, and the positioning data in the process is forwarded to a power grid evaluation system or a video monitoring system through an application program interface. Real-time accurate dynamic display of the transformer substation inspection system is achieved, and visual management of personnel and equipment work in an inspection field area is achieved.
The GPS Precision Point Positioning (PPP) is a spatial Positioning technology developed in the late nineties of the twentieth century, integrates the advantages of the GPS standard Point Positioning and GPS relative Positioning technologies, and is another technical revolution appearing after the Real Time Kinematic (RTK) technology of the GPS Positioning technology relay. As the integration of a multi-GNSS (GPS/GLONASS/BDS/GALIEO) system can provide richer observation information for the PPP, the redundancy of the adjustment system is improved, the positioning precision and the reliability are improved, the fixed ambiguity can fully utilize the integer characteristic of the carrier phase ambiguity, the positioning precision of the PPP in a short time, particularly in the east-west direction, is obviously improved, and rich information can be provided for the quality check of the PPP solution. Therefore, in recent years, multi-system combination PPP and PPP fixation have become a research focus in the GNSS field.
The traditional GPS PPP full-ambiguity fixing is easily failed due to the influences of more parameters to be estimated, stronger parameter correlation, lower initial stage partial ambiguity precision and the like, and an ambiguity algorithm needs to be optimized to improve the ambiguity fixing performance and ensure the fixing success rate.
Disclosure of Invention
The invention aims to provide a mobile bracelet positioning method based on GPS precise single-point positioning, which can improve the ambiguity fixing performance and ensure the fixing success rate.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mobile bracelet positioning method based on GPS precise single-point positioning comprises the following steps:
s1, establishing a precise single-point positioning function model: for a satellite s observed by a mobile bracelet r, the observation equation of the pseudo range P and the carrier phase L observation value is as follows:
in the formula, the superscript G represents a satellite system, the subscript j represents a signal frequency, ρ is a geometric distance between a satellite and a survey station, c is a light velocity in vacuum, and dt r And dt s Respectively a mobile bracelet and a satellite clock error,
indicating the slant path to the tropospheric delay,
indicating the jth frequency tilt path ionospheric delay,
is the integer ambiguity, B r,j And
phase hardware delays, λ, for the jth frequency mobile handset and satellite terminals, respectively j Is the frequency j carrier wavelength, b r,j For the code pseudorange hardware delay between the jth frequency shift bracelet and the signal correlator,
for code pseudo-range hardware delay between a jth frequency satellite end signal transmitter and a satellite antenna, e represents a pseudo-range measurement error, and epsilon represents a carrier phase measurement error;
s2, establishing a precise single-point positioning random model: expressing the measured noise sigma of the observation as a function of the satellite altitude E, i.e. sigma 2 ＝f(E)；
s3, data preprocessing: the method comprises the steps of detecting and eliminating gross errors, detecting and repairing clock jumps of a mobile bracelet and detecting phase clock jumps;
and s4, processing main errors of the precise single-point positioning: performing model correction or parameter estimation on errors related to GPS satellites, errors related to signal propagation paths and errors related to a mobile bracelet;
s5, parameter estimation: performing state parameter estimation on the position and the speed of a mobile bracelet, the clock error of the mobile bracelet, the dry delay and the wet delay of the mobile bracelet and the ambiguity of an observed GPS satellite by adopting a Kalman filtering parameter estimation method;
wherein, the following method is adopted for fixing the degree of blurring:
a1, filtering part of low-precision ambiguity according to a cut-to-altitude angle limit value of 10 degrees and an ambiguity estimation standard deviation of 1.5 weeks in a data preprocessing step s1 so as to accelerate the determination of a subsequent ambiguity subset;
a2, performing integer reduction correlation processing on available original ambiguity parameters, and arranging formed ambiguity linear combinations in an ascending order according to variance;
a3, searching a fixed solution of the ambiguity subset by adopting an LAMBDA algorithm;
and a4, calculating the bootstrapping success rate and the ratio-test threshold of the fixed solution, if one of the two is not in accordance with the requirement, removing the last ambiguity linear combination, and continuing repeating the step a3 until the number of the remaining ambiguity linear combinations is more than 3 and the bootstrapping success rate and the ratio-test threshold meet the requirement, otherwise, the program exits from the retention of the floating solution.
Further, the precise single-point positioning function model in the step s1 adopts an ionosphere-free combination model, and an observation equation of a combined observation value is as follows:
wherein the content of the first and second substances,
b r,IF ＝(f 1 2 b r,1 -f 2 2 b r,2 )/(f 1 2 -f 2 2 )；
B r,IF ＝c(f 1 B r,1 -f 2 B r,2 )/(f 1 2 -f 2 2 )/λ IF ；
further, the function model adopted by the precise single-point positioning random model in the step s2 is as follows: sigma 2 ＝a 2 +b 2 /sin 2 E。
Further, in step s5, the static position parameter of the mobile bracelet is taken as a constant estimation, the clock error of the mobile bracelet is taken as a white noise estimation, the position parameter, the dry delay and the wet delay in the dynamic mode are estimated by adopting a random walk model, and the spectral density is respectively set to 10 4 m 2 /s、10 -8 m 2 /s。
After the technical scheme is adopted, the invention has the following advantages:
(1) In the prior art, a FAR method (GPS PPP full ambiguity fixed) or a WF method is adopted to select a new partial ambiguity subset. The FAR method is easy to cause ambiguity fixing failure due to the fact that the number of parameters to be estimated is large, correlation of the parameters is strong, and the ambiguity precision of a part of the initial stage is low. And selecting the maximum fuzzy linear combination subset meeting the requirement by the WF method according to the success rate index, and performing ratio-test on the selected subset after finishing the selection of the subset. The WF method preserves ambiguity float solutions after a ratio-test fails, ignoring the possibility that there may still be a smaller subset of its selected set that can satisfy the ratio-test requirements.
The method can select the partial ambiguity of the ambiguity subset meeting the checking condition from the related ambiguity set according to the bootstrapping success rate and the ratio-test check, and the partial ambiguity is fixed. Using this approach, it is still possible to successfully fix the partial ambiguity subset in case of FAR failure, thus preserving the fixed solution. In addition, the invention simultaneously utilizes the bootstrapping success rate and the ratio-test to check the ambiguity in the subset selection process, and can increase the probability of finding a proper partial ambiguity subset.
(2) The ionospheric-free combination model eliminates the first-order ionospheric delay in the pseudorange and carrier measurements by forming an ionospheric-free combination observation.
(3) The elevation function f has different forms, in the present invention, f (E) = a 2 +b 2 /sin 2 E。
(4) The static position parameter of the mobile bracelet is taken as constant estimation, the clock error of the mobile bracelet is taken as white noise estimation, the position parameter, the dry delay and the wet delay in the dynamic mode are estimated by adopting a random walk model, and the spectral density is respectively set to be 10 4 m 2 /s、10 -8 m 2 And/s, estimation and calculation of parameters are facilitated, and the program operation time is reduced.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
The invention provides a mobile bracelet positioning method based on GPS precise single-point positioning, which comprises the following steps:
s1, establishing a precise single-point positioning function model: for a satellite s observed by a mobile bracelet r, the observation equation of the pseudo range P and the carrier phase L observation value is as follows:
in the formula, the superscript G represents a satellite system, the subscript j represents a signal frequency, rho is a geometric distance between a satellite and a survey station, c is a speed of light in vacuum, and dt is r And dt s Respectively a mobile bracelet and a satellite clock error,
indicating the slant path to the tropospheric delay,
indicating the j-th frequency tilt path ionospheric delay,
is the integer ambiguity, B r,j And
phase hardware delays, λ, for the jth frequency mobile handset and satellite terminals, respectively j Is the frequency j carrier wavelength, b r,j For the code pseudorange hardware delay between the jth frequency shift bracelet and the signal correlator,
code pseudo-range hardware delay between a jth frequency satellite terminal signal transmitter and a satellite antenna is represented by e, and a pseudo-range measurement error is represented by epsilon;
in this embodiment, a combination model without an ionosphere is specifically adopted, and an observation equation of a combination observation value is as follows:
wherein the content of the first and second substances,
b r,IF ＝(f 1 2 b r,1 -f 2 2 b r,2 )/(f 1 2 -f 2 2 )；
B r,IF ＝c(f 1 B r,1 -f 2 B r,2 )/(f 1 2 -f 2 2 )/λ IF ；
the ionospheric-free combination model eliminates the first-order ionospheric delay in pseudorange and carrier measurements by forming an ionospheric-free combination observation.
s2, establishing a precise single-point positioning random model: expressing the noise sigma measured by the observed value as a function with the satellite altitude E as a variable, i.e. sigma 2 ＝f(E)。
In this embodiment, σ is specifically adopted 2 ＝a 2 +b 2 /sin 2 E。
s3, data preprocessing: the method comprises the steps of detecting and eliminating gross errors, detecting and repairing clock jumps of a mobile bracelet and detecting phase clock jumps;
and s4, processing main errors of the precise single-point positioning: performing model correction or parameter estimation on errors related to GPS satellites, errors related to signal propagation paths and errors related to a mobile bracelet;
s5, parameter estimation: performing state parameter estimation on the position and the speed of the mobile bracelet, the clock error of the mobile bracelet, the dry delay and the wet delay as well as the ambiguity of an observed GPS satellite by adopting a Kalman filtering parameter estimation method;
the static position parameter of the mobile bracelet is used as constant estimation, the clock error of the mobile bracelet is used as white noise estimation, the position parameter, the dry delay and the wet delay under the dynamic mode are estimated by adopting a random walk model, and the spectral density is respectively set to be 10 4 m 2 /s、10 -8 m 2 /s。
Wherein, the following method is adopted for fixing the degree of blurring:
a1, filtering part of low-precision ambiguity according to a cut-to-altitude angle limit value of 10 degrees and an ambiguity estimation standard deviation of 1.5 weeks in a data preprocessing step s1 so as to accelerate the determination of a subsequent ambiguity subset;
a2, performing integer reduction correlation processing on available original ambiguity parameters, and arranging formed ambiguity linear combinations in an ascending order according to variance;
a3, searching a fixed solution of the ambiguity subset by adopting an LAMBDA algorithm;
and a4, calculating the bootstrapping success rate and the ratio-test threshold of the fixed solution, if one of the two is not in accordance with the requirement, removing the last ambiguity linear combination, and continuing repeating the step a3 until the number of the remaining ambiguity linear combinations is more than 3 and the bootstrapping success rate and the ratio-test threshold meet the requirement, otherwise, the program exits from the retention of the floating solution.
The method can select the partial ambiguity of the ambiguity subset meeting the checking condition from the related ambiguity set according to the bootstrapping success rate and the ratio-test check, and the partial ambiguity is fixed. Using this approach, it is still possible to successfully fix the partial ambiguity subset in case of FAR failure, thus preserving the fixed solution. In addition, the invention simultaneously utilizes the bootstrapping success rate and the ratio-test to check the ambiguity in the subset selection process, and can increase the probability of finding a proper partial ambiguity subset.
Other embodiments of the present invention than the preferred embodiments described above will be apparent to those skilled in the art from the present invention, and various changes and modifications can be made therein without departing from the spirit of the present invention as defined in the appended claims.
Claims (4)
1. A mobile bracelet positioning method based on GPS precise single-point positioning comprises the following steps:
s1, establishing a precise single-point positioning function model: for a satellite s observed by a mobile bracelet r, the observation equation of the pseudo range P and the carrier phase L observed value is as follows:
in the formula, the superscript G represents a satellite system, the subscript j represents a signal frequency, ρ is a geometric distance between a satellite and a survey station, c is a light velocity in vacuum, and dt r And dt s Respectively a mobile bracelet and a satellite clock error,
indicating the slant path to the tropospheric delay,
indicating the jth frequency tilt path ionospheric delay,
is the integer ambiguity, B r,j And
phase hardware delays, λ, for the jth frequency mobile hand-ring and satellite terminals, respectively j Is the frequency j carrier wavelength, b r,j For the code pseudorange hardware delay between the jth frequency shift bracelet and the signal correlator,
as signal transmitter of j frequency satellite terminalHardware delay of code pseudo range between the satellite antenna, wherein e represents pseudo range measurement error, and epsilon represents carrier phase measurement error;
s2, establishing a precise single-point positioning random model: expressing the measured noise sigma of the observation as a function of the satellite altitude E, i.e. sigma 2 ＝f(E)；
s3, data preprocessing: the method comprises the steps of detecting and eliminating gross errors, detecting and repairing clock jumps of a mobile bracelet and detecting phase clock jumps;
and s4, processing main errors of the precise single-point positioning: performing model correction or parameter estimation on errors related to GPS satellites, errors related to signal propagation paths and errors related to a mobile bracelet;
s5, parameter estimation: performing state parameter estimation on the position and the speed of the mobile bracelet, the clock error of the mobile bracelet, the dry delay and the wet delay as well as the ambiguity of an observed GPS satellite by adopting a Kalman filtering parameter estimation method;
wherein, the following method is adopted for fixing the degree of blurring:
a1, filtering out part of low-precision ambiguity according to a cut-to-height angle limit value of 10 degrees and an ambiguity estimation standard deviation of 1.5 weeks in a data preprocessing step s1 so as to accelerate the determination of a subsequent ambiguity subset;
a2, performing integer reduction correlation processing on available original ambiguity parameters, and arranging formed ambiguity linear combinations in an ascending order according to variance;
a3, searching a fixed solution of the ambiguity subset by adopting an LAMBDA algorithm;
and a4, calculating the bootstrapping success rate and the ratio-test threshold of the fixed solution, if one of the two is not in accordance with the requirement, removing the last ambiguity linear combination, and continuing repeating the step a3 until the number of the remaining ambiguity linear combinations is more than 3 and the bootstrapping success rate and the ratio-test threshold meet the requirement, otherwise, the program exits from the retention of the floating solution.
2. The method for positioning the mobile bracelet based on the precise point positioning of the GPS according to claim 1, wherein the precise point positioning function model in the step s1 adopts an ionosphere-free combination model, and an observation equation of a combined observation value is as follows:
wherein, the first and the second end of the pipe are connected with each other,
b r,IF ＝(f 1 2 b r,1 -f 2 2 b r,2 )/(f 1 2 -f 2 2 )；
B r,IF ＝c(f 1 B r,1 -f 2 B r,2 )/(f 1 2 -f 2 2 )/λ IF ；
3. the method for positioning the mobile bracelet based on the precise point positioning of the GPS according to claim 1, wherein the function model adopted by the precise point positioning random model in the step s2 is as follows:
σ 2 ＝a 2 +b 2 /sin 2 E。
4. the mobile bracelet antenna based on GPS precise single-point positioning according to claim 1The bit method is characterized in that in step s5, a static position parameter of the mobile bracelet is used as constant estimation, a clock error of the mobile bracelet is used as white noise estimation, the position parameter, the dry delay and the wet delay in a dynamic mode are estimated by adopting a random walk model, and the spectral density is respectively set to be 10 4 m 2 /s、10 -8 m 2 /s。
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|---|---|---|---|---|
| CN102353969A (en) * | 2011-09-02 | 2012-02-15 | 东南大学 | Method for estimating phase deviation in precise single-point positioning technology |
| EP2995972A1 (en) * | 2014-09-15 | 2016-03-16 | Fugro N.V. | Integer ambiguity-fixed precise point positioning method and system |
| CN107229061A (en) * | 2017-07-18 | 2017-10-03 | 武汉大学 | A kind of star based on low orbit satellite ground difference real-time accurate localization method |
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|---|---|---|---|---|
| CN102353969A (en) * | 2011-09-02 | 2012-02-15 | 东南大学 | Method for estimating phase deviation in precise single-point positioning technology |
| EP2995972A1 (en) * | 2014-09-15 | 2016-03-16 | Fugro N.V. | Integer ambiguity-fixed precise point positioning method and system |
| CN107229061A (en) * | 2017-07-18 | 2017-10-03 | 武汉大学 | A kind of star based on low orbit satellite ground difference real-time accurate localization method |
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