CN110749906A - Simulator-based high-precision test method for dynamic performance index of GNSS receiver - Google Patents
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Abstract
The invention discloses a simulator-based high-precision test method for GNSS receiver dynamic performance indexes, and belongs to the field of receiver dynamic performance test methods. The realization method of the invention is as follows: under a static test scene, establishing a pseudo-range deviation observation equation for observing pseudo-range deviation; superposing the same quantity on the pseudo ranges of all the satellites, expanding the pseudo range observation equation into a matrix form, and defining the matrix form as a pseudo range deviation observation expansion equation; when the same second-order change value is superposed on the pseudo ranges of all the satellites, a pseudo range rate deviation observation expansion equation is obtained; transforming to obtain a pseudo-range deviation observation merging equation and a pseudo-range rate deviation observation equation; the same pseudo range and the change rate of the pseudo range rate are directly added to each satellite in the test process, so that the pseudo range of each satellite changes in the same size, the problem that the receiver cannot be positioned in a high-speed scene is solved, and the influence of large test errors caused by different pseudo range changes of the satellites is eliminated.
Description
Technical Field
The invention relates to a simulator-based high-precision test method for GNSS receiver dynamic performance indexes, and belongs to the field of receiver dynamic performance test methods.
Background
The basic principle of the satellite navigation system is that a user receives navigation signals of not less than 4 satellites simultaneously so as to measure more than 3 pseudo-range observed quantities, and under the condition that satellite coordinates, satellite clock error and relative equipment time delay deviation among different frequency points of the satellites are known, the three-dimensional coordinates and clock error of the user are calculated. Pseudorange accuracy refers to the deviation between the measured pseudorange of the receiver and the true pseudorange. Therefore, the pseudo range is the most basic observed quantity of the satellite navigation system, and the observation precision of the pseudo range directly determines the navigation positioning precision of the system. High-precision pseudorange measurement technology is one of the key technologies of satellite navigation systems.
Introduction of a satellite signal simulator: the satellite navigation simulator is capable of simulating satellite signals received by the terrestrial receiver, including navigation data and ranging signals. The simulator simulates different pseudo ranges between the satellite and the receiver by controlling the time delay of the output pseudo code signal. The use of the satellite simulator has the following advantages: firstly, self-defining of a test scene can simulate satellite navigation conditions at any time and place in a laboratory; the repeatability of the test condition is undifferentiated, namely all test scenes can run repeatedly under the same condition; and thirdly, accurately controlling the power, the time delay, the receiving altitude angle, the direction angle and the change of the characteristics of the navigation satellite signals along with the time. The satellite signal simulator can be used for carrying out simulation test on the relevant performance of the receiver.
The performance requirements of the receiver include: positioning accuracy, speed measurement accuracy, pseudo range accuracy, first positioning time, sensitivity and the like. The pseudo-range precision test is divided into a static pseudo-range precision test, a dynamic pseudo-range precision test and a high dynamic pseudo-range precision test according to different test requirements. The high dynamic pseudorange accuracy is the difference between the distances and true values measured by the receiver on the carrier from all the satellites in view in the present case when the carrier is moving at high speed. For high dynamic pseudo range precision testing, the practical high dynamic carrier is adopted for testing, which is theoretically feasible, but the practical operation difficulty is high, the economy is not high, and the satellite signal simulator has the advantages of repeatability, parameter controllability and the like, so that the satellite signal simulator is adopted for testing. The simulator is responsible for generating the required satellite navigation radio frequency signals and providing theoretical reference data required for evaluation. And simultaneously utilizing a data acquisition unit and a test evaluation computer. The data acquisition unit is responsible for acquiring the position, speed, pseudo range, Doppler frequency and other test data output by the receiver, and the test evaluation computer completes statistical analysis processing on the test data to obtain a final test result.
In the existing test method, when the receiver is subjected to high dynamic pseudo range precision test, the test step is that an ① simulator simulates a receiver high dynamic scene, wherein n (n is more than 3) visible satellites are arranged in the scene, the speed of the receiver is set to be V, the acceleration is set to be a, and then the speed is projected to the connecting line directions of the receiver and all satellites at the moment and then is respectively set to be V1、V2、V3…VnAcceleration of a1、a2、a3…an② operating the simulator to output the standard pseudo range information to the test evaluation computer, on the other hand transmitting the navigation information to the receiver through the radio frequency line, the receiver analyzing the navigation information and outputting the pseudo range information, ③ the test evaluation computer evaluating the pseudo range information output by the receiver and the standard pseudo range information output by the simulator to obtain the pseudo range precision of the receiver.
In general, since the n velocities projected in the direction of the connection line between the receiver and each satellite are not equal, the pseudo range of each satellite has a different rate of change. Meanwhile, other problems exist in the testing of the pseudorange accuracy in the testing environment.
The precision test method of the GNSS receiver dynamic performance index based on the simulator has the following problems during test:
1. when calculating the pseudo range of each satellite, the simulated receiver operating speed in the dynamic scene is projected to have different speeds connected with each satellite due to different satellite positions, and the problems generated at this time are that: the pseudo-ranges on each satellite are different in size, and if all the pseudo-ranges cannot be synchronously changed, accurate synchronous testing cannot be performed on all the pseudo-ranges;
2. different from a static scene, when a dynamic scene, especially a high dynamic scene, is operated, the receiver is probably unable to be positioned due to overlarge carrier speed, a necessary condition when various testing precision indexes are tested is that the receiver must be capable of being positioned, and only after the receiver is positioned, the receiver can output positioning information such as position, speed and the like, so that the evaluation computer can test various indexes. If the receiver cannot locate, the pseudo range precision cannot be tested.
Disclosure of Invention
The method aims at the technical problems existing in the prior art of the precision test method of the dynamic performance index of the GNSS receiver based on the simulator. The invention discloses a high-precision test method of GNSS receiver dynamic performance indexes based on a simulator, which aims to solve the technical problems that: the same pseudo range and the same change rate of the pseudo range rate are directly added to each satellite in the testing process of the static scene, so that the problem that the receiver cannot be positioned in the high-speed scene in the testing scene is avoided, and the influence of large testing errors caused by different pseudo range changes of the satellites in the testing scene when the receiver moves at high speed is eliminated.
The purpose of the invention is realized by the following technical scheme.
The invention discloses a simulator-based high-precision test method for GNSS receiver dynamic performance indexes. And under a static test scene, establishing a pseudo range deviation observation equation for observing pseudo range deviation. Superposing the same first-order variable quantity on the pseudo ranges of all the satellites, expanding the pseudo range observation equation into a matrix form, and defining the matrix form as a pseudo range deviation observation expansion equation; and when the same second-order variable quantity is superposed on the pseudo ranges of all the satellites, obtaining a pseudo range rate deviation observation expansion equation. And transforming the pseudo-range deviation extension equation and the pseudo-range rate deviation extension equation to obtain a pseudo-range deviation observation combination equation and a pseudo-range rate deviation observation combination equation. The pseudo-range deviation combined observation equation and the pseudo-range rate deviation combined observation equation are analyzed, the same pseudo-range and the same change rate of the pseudo-range rate are directly added to each satellite in the test process, so that the pseudo-range of each satellite changes in the same size, the problem that the receiver cannot be positioned in a high-speed scene in a test scene is solved, and the influence of large test errors caused by different pseudo-range changes of the satellite in the high-speed scene of the receiver in the test scene is eliminated.
When high dynamic pseudo range positioning accuracy is tested, because a static scene can be directly operated on a satellite pseudo range simulator, n (n is more than 3) visible satellites exist in the scene, the change rate delta r of the pseudo range and the change rate of the pseudo range rate can be obtained by setting first-order and second-order bias pseudo range change values in the pseudo range in the static scene
Control is performed so that all satellite pseudoranges and pseudorange rates change synchronously.
The invention discloses a simulator-based high-precision test method for GNSS receiver dynamic performance indexes, which comprises the following steps:
the method comprises the following steps: and under a static test scene, establishing a pseudo range deviation observation equation for observing pseudo range deviation.
Under a test scene, establishing a pseudo range deviation observation equation for pseudo range deviation measurement as follows:
Δρi＝ex·Δx+ey·Δy+ez·Δz+c·Δtr(1)
wherein
Wherein: Δ x, Δ y, Δ z are changes in the x, y, z directions of the position coordinates of the receiver and the position of the satellite, respectively, Δ trIs the amount of variation in the receiver and satellite clock bias. x is the number ofi、yi、ziThe position of the ith satellite in the x, y and z directions respectively. x is the number ofu0、yu0、zu0The position of the receiver in the x, y, z directions, respectively.
As known from the above-mentioned pseudorange bias observation equation (1), the pseudorange bias is mainly related to the position bias and clock bias of the satellite and the receiver.
Step two: in order to test the dynamic performance of a receiver under a static scene, according to a pseudo-range bias observation equation (1), the pseudo range between a satellite and the receiver is mainly related to the position of the receiver and the satellite, if the velocity quantity V of the receiver is directly added into the pseudo-range bias observation equation (1) of the satellite as a first-order superposition quantity delta r, and the acceleration quantity a of the receiver is used as a second-order superposition quantity
The pseudo range rate of the receiver and the change rate of the pseudo range rate can be tested although the speed of the receiver is zero. Based on the concept, on the basis of the pseudo-range observation equation for observing pseudo-range deviation established in the step one, when the same first-order change value is superposed on the pseudo-ranges of all satellites, the pseudo-range deviation observation equation (1) is expanded into a matrix form and defined as a pseudo-range deviation observation expansion equation; and when the same second-order change value is superposed on the pseudo ranges of all the satellites, obtaining a pseudo range rate deviation observation expansion equation.
When a first-order variation value is superimposed on the pseudo ranges of all satellites, the pseudo range bias observation equation shown in equation (1) is developed to be in the form of a matrix as follows:
where Δ r is the satellite pseudorange first order superposition.
Similarly, when a second-order variation value is superimposed on the pseudoranges of all satellites, the pseudorange rate bias observation equation evolves as a matrix as follows:
whereinAnd the second-order superposition quantity of the satellite pseudo range.
Step three: and transforming the pseudo-range deviation observation expansion equation and the pseudo-range rate deviation observation expansion equation to obtain a pseudo-range deviation observation combination equation and a pseudo-range rate deviation observation equation based on the pseudo-range deviation observation expansion equation and the pseudo-range rate deviation observation expansion equation obtained in the step two.
As can be seen from the equations (2) and (3), since the same pseudo-range overlap amount is added, Δ r is added in the equation (2)1…ΔrnIs added in the formula (3)
Due to Δ t of each satelliterAnd the same is carried out on each satellite, so that the superposition quantity of the pseudo range and the pseudo range rate on each satellite is combined into the clock error to obtain a pseudo range bias observation combined equation and a pseudo range rate bias observation combined equation. The pseudo-range deviation observation combined equation is as follows:
the pseudo-range rate bias observation consolidated equation is as follows:
as is known from equation (3), since the offset between the pseudo range and the pseudo range rate can be superimposed on the clock offset, the variation between the pseudo range and the pseudo range rate is absorbed by the clock offset. Therefore, the addition of the superposition amount does not affect the positioning accuracy of the receiver, and only affects the clock difference of the receiver.
Step four: and on the basis of the pseudo-range deviation combined observation equation and the pseudo-range rate deviation combined observation equation obtained in the third step, the same first-order and second-order variable quantities of the pseudo-range are directly added to each satellite in the test process, so that the pseudo-range and the pseudo-range rate of each satellite generate the same-size change, the problem that the receiver cannot be positioned in a high-speed scene in the test scene is solved, and the influence of large test errors caused by different satellite pseudo-range changes in the high-speed scene of the receiver in the test scene is eliminated.
Has the advantages that:
1. the invention discloses a simulator-based high-precision testing method for dynamic performance indexes of a GNSS receiver, which is used for controlling a simulator to add the same superposition amount to the pseudo range and pseudo range rate of each satellite in a static scene. Compared with dynamic scene testing, the pseudo range and the pseudo range rate change according to an expected rule, the pseudo range precision testing controllability is higher, and the testing precision is more accurate.
2. The invention discloses a simulator-based high-precision testing method for dynamic performance indexes of a GNSS receiver, which is used for controlling a simulator to add the same superposition amount to the pseudo range and pseudo range rate of each satellite in a static scene. Compared with dynamic scene test, the condition that the receiver cannot be positioned can not be generated, and the test effect is more stable.
Drawings
FIG. 1 is a diagram of a distribution of visible satellites as a simulator broadcasts a scene.
FIG. 2 is a pseudorange accuracy graph for stars 7, 8, 10, 26 at a pseudorange first order stack of 250 m/s.
Fig. 3 is a pseudo range accuracy diagram for stars 7, 8, 10, 26 with a first order pseudorange overlap of 1000 m/s.
Fig. 4 is a pseudo range accuracy chart of stars 7, 8, 10, 26 with a first order pseudorange overlap of 5000 m/s.
FIG. 5 shows a pseudo-range second order addition of 10m/s2Pseudorange accuracy maps for time 7, 8, 10, 26 stars.
Detailed Description
To better illustrate the objects and advantages of the present invention, the following detailed explanation of the present invention is made through experiments of the biased pseudorange test method.
Example 1
In order to verify the feasibility of the method, a ballistic missile is used as a carrier to carry out a test, the speeds of the ballistic missiles are respectively set to be 250m/s, 1000m/s and 5000m/s, and the acceleration of a group of missiles is set to be 10m/s2The feasibility of the method is verified. By adding a first order superposition of 250m/s, 1000m/s, 5000m/s and 10m/s to the pseudoranges for each satellite directly in the simulator2The second order overlap amount of (a). The pseudo-range accuracy of each satellite can be calculated by using a test evaluation computer. The test accuracy chart and the test results are shown in the figure:
as shown in fig. 1, the high-precision testing method for the GNSS receiver dynamic performance index based on the simulator disclosed by the present invention specifically includes the following steps:
the method comprises the following steps: and under a static test scene, establishing a pseudo range deviation observation equation for observing pseudo range deviation.
Under a test scene, establishing a pseudo range deviation observation equation for pseudo range deviation measurement as follows:
Δρi＝ex·Δx+ey·Δy+ez·Δz+c·Δtr(6)
wherein
Wherein: Δ x, Δ y, Δ z are changes in the x, y, z directions of the position coordinates of the receiver and the position of the satellite, respectively, Δ trIs the amount of variation in the receiver and satellite clock bias. x is the number ofi、yi、ziThe position of the ith satellite in the x, y and z directions respectively. x is the number ofu0、yu0、zu0The position of the receiver in the x, y, z directions, respectively.
As known from the above-mentioned pseudorange bias observation equation (1), the pseudorange bias is mainly related to the position bias and clock bias of the satellite and the receiver.
Step two: to achieve test reception in static scenariosDynamic performance of the machine, as can be seen from the positioning equation of the pseudo-range, the pseudo-range between the satellite and the receiver is mainly related to the position of the receiver and the satellite, and for the convenience of comparison, the speed of the receiver is respectively set as V1＝250m/s，V1＝1000m/s，V1The pseudo range is 5000m/s and is directly added to a pseudo range equation of the satellite as a first-order superposition amount of the pseudo range, and the acceleration a is 10m/s2And adding the second-order superposition quantity of the pseudo range into a pseudo range rate equation of the satellite. Although the velocity and acceleration of the receiver are zero, the pseudorange rate of change of the receiver can still be tested. Then, on the basis of the pseudo range observation equation for observing pseudo range bias established in the step one, the same first-order change value Δ r is superimposed on the pseudo ranges of all the satellites, and in order to facilitate comparison of 3 sets of experiments on pseudo range accuracy, Δ r is respectively made1＝250m/s，Δr2＝1000m/s，Δr3Expanding a pseudo-range observation equation into a matrix form, and defining the expanded pseudo-range observation equation as a pseudo-range deviation observation expansion equation, wherein the pseudo-range deviation observation expansion equation is 5000 m/s; superimposing a same second-order variation value on the pseudo-ranges of all satellites
When it is used, order
And obtaining a pseudo-range rate deviation observation extension equation.
When a first-order variation value is superimposed on the pseudo ranges of all satellites, the pseudo range bias observation equation shown in equation (1) is developed to be in the form of a matrix as follows:
where Δ r is the pseudorange first order change value.
Similarly, when a second order variation is superimposed on the pseudoranges of all satellites, the pseudorange rate bias observation equation evolves as a matrix as follows:
wherein
Step three: and transforming the pseudo-range deviation observation expansion equation and the pseudo-range rate deviation observation expansion equation to obtain a pseudo-range deviation observation combined equation and a pseudo-range rate deviation observation combined equation based on the pseudo-range deviation observation expansion equation and the pseudo-range rate deviation observation expansion equation obtained in the step two.
As shown in the formulas (2) and (3), since the same pseudorange first order or second order superposition amount is added, Δ r is added in the formula (2), and Δ r is added in the formula (3)Due to Δ t of each satelliterThe same, the same amount of superposition on each satellite, so the pseudorange bias observation combined equation and the pseudorange rate bias observation combined equation can be obtained by combining the amount of superposition of the pseudorange and the pseudorange rate on each satellite into the clock error. The pseudo range deviation merging equation is as follows:
the pseudo-range rate bias observation consolidated equation is as follows:
as is known from equation (3), since the offset between the pseudo range and the pseudo range rate can be superimposed on the clock offset, the variation between the pseudo range and the pseudo range rate is absorbed by the clock offset. Therefore, the addition of the superposition amount does not affect the positioning accuracy of the receiver, and only affects the clock difference of the receiver. The test was then developed.
The pseudo range accuracy test results are shown in table 1:
pseudo range accuracy test results table 1
And analyzing the test result, wherein the pseudo-range superposition quantity method can normally test the pseudo-range precision and the pseudo-range rate precision of the receiver, the pseudo-range measurement precision of each satellite is about 0.5 meter, and the receiver cannot be positioned at the moment when the original method is used for testing.
Step four: and on the basis of the pseudo-range deviation combined observation equation and the pseudo-range rate deviation combined observation equation obtained in the third step, the same first-order and second-order variable quantities of the pseudo-range are directly added to each satellite in the test process, so that the pseudo-range and the pseudo-range rate of each satellite generate the same-size change, the problem that the receiver cannot be positioned in a high-speed scene in the test scene is solved, and the influence of large test errors caused by different satellite pseudo-range changes in the high-speed scene of the receiver in the test scene is eliminated.
Therefore, for the pseudo range precision test under dynamic and high dynamic conditions, the pseudo range bias method of superposing the same dynamic offset on the pseudo range of the used visible satellite is adopted to realize the pseudo range precision test. Therefore, the processing does not influence the positioning, and the pseudo range can be controlled to change according to an expected rule due to the addition of the superposition quantity. Meanwhile, compared with dynamic scene testing, the condition that the receiver cannot be positioned cannot be generated, and the testing effect is more stable.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (1)
1. The high-precision test method of the GNSS receiver dynamic performance index based on the simulator is characterized in that: comprises the following steps of (a) carrying out,
the method comprises the following steps: under a static test scene, establishing a pseudo-range deviation observation equation for observing pseudo-range deviation;
under a test scene, establishing a pseudo range deviation observation equation for pseudo range deviation measurement as follows:
Δρi＝ex·Δx+ey·Δy+ez·Δz+c·Δtr(1)
wherein
Wherein: Δ x, Δ y, Δ z are changes in the x, y, z directions of the position coordinates of the receiver and the position of the satellite, respectively, Δ trThe variation of the clock deviation between the receiver and the satellite; x is the number ofi、yi、ziThe positions of the ith satellite in the x direction, the y direction and the z direction respectively; x is the number ofu0、yu0、zu0The positions of the receiver in the x, y and z directions respectively;
as known from the above pseudorange bias observation equation (1), the pseudorange bias is mainly related to the position bias and clock bias of the satellite and the receiver;
step two: in order to test the dynamic performance of a receiver under a static scene, according to a pseudo-range bias observation equation (1), the pseudo range between a satellite and the receiver is mainly related to the position of the receiver and the satellite, if the velocity quantity V of the receiver is directly added into the pseudo-range bias observation equation (1) of the satellite as a first-order superposition quantity delta r, and the acceleration quantity a of the receiver is used as a second-order superposition quantity
The pseudo-range rate of the receiver can be tested although the speed of the receiver is zero by adding the pseudo-range rate equation of the satellite, and the pseudo-range change rate and the change rate of the pseudo-range rate of the receiver can be tested; based on this concept, the pseudorange observation equations for observing pseudorange bias are established in step oneOn the basis, when the same first-order change value is superposed on the pseudo ranges of all satellites, a pseudo range deviation observation equation (1) is expanded into a matrix form and defined as a pseudo range deviation observation expansion equation; when the same second-order change value is superposed on the pseudo ranges of all the satellites, a pseudo range rate deviation observation expansion equation is obtained;
when a first-order variation value is superimposed on the pseudo ranges of all satellites, the pseudo range bias observation equation shown in equation (1) is developed to be in the form of a matrix as follows:
wherein, the delta r is a satellite pseudo range first-order superposition quantity;
similarly, when a second-order variation value is superimposed on the pseudoranges of all satellites, the pseudorange rate bias observation equation evolves as a matrix as follows:
wherein
Second-order superposition quantity of satellite pseudo range;
step three: converting the pseudo-range deviation observation extension equation and the pseudo-range rate deviation observation extension equation to obtain a pseudo-range deviation observation combination equation and a pseudo-range rate deviation observation equation based on the pseudo-range deviation observation extension equation and the pseudo-range rate deviation observation extension equation obtained in the step two;
as can be seen from the equations (2) and (3), since the same pseudo-range overlap amount is added, Δ r is added in the equation (2)1…ΔrnIs added in the formula (3)
Due to Δ t of each satelliterThe same, the same amount of superposition on each satellite, so the superposition of the pseudo range and the pseudo range rate on each satellite are combined into the clock error to obtain the pseudo range deviation observation combined equation and the pseudo rangeRate deviation observation merging equations; the pseudo-range deviation observation combined equation is as follows:
the pseudo-range rate bias observation consolidated equation is as follows:
according to the formula (3), the offset of the pseudo range and the pseudo range change rate can be superposed on the clock error, so that the change of the pseudo range and the pseudo range rate is absorbed by the clock error; therefore, the addition of the superposition amount does not influence the positioning accuracy of the receiver and only influences the clock error of the receiver;
step four: and on the basis of the pseudo-range deviation combined observation equation and the pseudo-range rate deviation combined observation equation obtained in the third step, the same first-order and second-order variable quantities of the pseudo-range are directly added to each satellite in the test process, so that the pseudo-range and the pseudo-range rate of each satellite generate the same-size change, the problem that the receiver cannot be positioned in a high-speed scene in the test scene is solved, and the influence of large test errors caused by different satellite pseudo-range changes in the high-speed scene of the receiver in the test scene is eliminated.
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Application publication date: 20200204 |