CN111077545A - Straightness monitoring and judging method for Beidou and GPS satellite signal receiving - Google Patents

Straightness monitoring and judging method for Beidou and GPS satellite signal receiving Download PDF

Info

Publication number
CN111077545A
CN111077545A CN201911344427.2A CN201911344427A CN111077545A CN 111077545 A CN111077545 A CN 111077545A CN 201911344427 A CN201911344427 A CN 201911344427A CN 111077545 A CN111077545 A CN 111077545A
Authority
CN
China
Prior art keywords
value
error
satellite
pvt
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201911344427.2A
Other languages
Chinese (zh)
Other versions
CN111077545B (en
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leaguer Microelectronics Co ltd
Original Assignee
Leaguer Microelectronics Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leaguer Microelectronics Co ltd filed Critical Leaguer Microelectronics Co ltd
Priority to CN201911344427.2A priority Critical patent/CN111077545B/en
Publication of CN111077545A publication Critical patent/CN111077545A/en
Application granted granted Critical
Publication of CN111077545B publication Critical patent/CN111077545B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • 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
    • G01S19/243—Demodulation of navigation message
    • 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
    • G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a method for monitoring and judging the straightness of Beidou and GPS dual-mode satellite signal reception, which provides a method for judging the straightness by combining the measured value output by a satellite signal tracking loop and the posterior information after PVT (wavelet transform) calculation on the basis of the traditional power or signal-to-noise ratio judgment method.

Description

Straightness monitoring and judging method for Beidou and GPS satellite signal receiving
Technical Field
The invention relates to a method for monitoring and judging the straightness of Beidou and GPS satellite signal reception.
Background
The Beidou and GPS satellite navigation systems are space multi-constellation orbit operation systems, and satellite signals of the Beidou and GPS satellite navigation systems are satellite broadcast signals based on a CDMA direct sequence spread spectrum technology. In Beidou and GPS systems, satellites and receivers have space motion and relativistic effect, and the receivers need to track and measure in real time based on signals of space multi-satellite constellations to obtain accurate channel characteristic parameters and measurement quantities, so that passive positioning, constant speed and timing (PVT) calculation and application can be carried out. Due to the fact that the satellite orbit has a certain distance from the ground, when a satellite signal reaches the ground, the signal intensity is weak, even the satellite signal is submerged in environmental noise in many cases, and in addition, nonlinear losses of an ionosphere, a troposphere and the like caused by the fact that the satellite signal passes through the atmosphere and complexity of the ground environment when the satellite signal finally reaches the ground are added, and various noises or interferences are introduced in the satellite signal receiving process in the cases, so that the signal receiving quality is unstable. When a satellite with poor receiving quality participates in the PVT calculation, the calculation accuracy is reduced, and in the serious case, the calculation divergence or the system operation crash restart can be caused.
On the other hand, the service life of a satellite is generally 10-12 years. At the present stage, the Beidou satellite navigation system is in the third strategic development stage, successfully launches 51 Beidou satellites, achieves global coverage, and is also in the system debugging and pilot service testing stage; the GPS satellite navigation system is in the stage of successively transmitting and replacing satellites and developing a new satellite for three generations; the situation that a plurality of generations of satellites coexist is formed. Therefore, the necessity and reliability of the satellite signal reception straightness monitoring and judgment, and thus the accuracy, stability and reliability of the PVT calculation are all higher requirements. The Beidou satellite is in a construction and debugging transition stage, and satellite signal broadcasting changes possibly occur; in the actual signal receiving process, signal changes caused by the radio frequency analog front end of the receiver and non-ideal characteristics of electricity affect the reliability of the satellite signal receiving straightness monitoring and judgment, so that the reliability of a satellite signal set participating in PVT calculation is directly affected, and the problems of low accuracy of a calculation result, large fluctuation and stability and reliability of the whole output of the system are finally caused.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a method for monitoring and judging the straightness of Beidou and GPS satellite signal reception on the basis of a traditional power or signal-to-noise ratio judging method.
The invention provides a method for monitoring and judging the straightness of Beidou and GPS satellite signal reception, which comprises the following steps: s1, establishing a signal processing channel for receiving and demodulating the current visible satellite signal through capturing and tracking, and carrying out real-time tracking, measured value calculation and updating, characteristic value calculation and updating, demodulated text content and corresponding timing information when each information is updated on the satellite signal of each channel.
S2, extracting real-time measurement values, characteristic values, telegraph messages and corresponding timing information during information updating of each satellite signal processing channel at each PVT resolving moment; and calculating the time difference between the satellite signal information time and the PVT resolving time.
S3, calculating the noise error mean square error of the satellite corresponding to each channel by using the parameters such as the signal carrier-to-noise ratio, the tracking loop bandwidth, the coherent integration time, the correlator code width, the minimum chip resolution, the timing information and the like extracted by each channel; and simultaneously, carrying out primary judgment on the multiplying power relation between the noise error mean square error and the theoretical mean square error and marking: the satellite reliability confidence coefficient value with the normalized multiplying power close to 1 is larger, and vice versa, the value is smaller.
S4, establishing a sliding window of PVT information noise mean square error statistics output by PVT resolving, carrying out secondary judgment on the PVT information noise mean square error and channel error mean square error multiplying power relation, and marking: the more the normalized ratio is close to 1, the larger the satellite reliability confidence measure is, and vice versa.
S5, weighting the confidence coefficient value, the carrier-to-noise ratio and the signal power value of the two judgments to obtain a weighted confidence metric value, and selecting the star with the metric value exceeding the threshold value into the current PVT calculation;
Figure BDA0002331911170000021
wherein s is1～s4In order to be a coefficient of the weighting factor,
Figure BDA0002331911170000022
and
Figure BDA0002331911170000023
to normalize the processed carrier-to-noise ratio metric value,
Figure BDA0002331911170000024
and
Figure BDA0002331911170000025
the power measurement value after normalization processing is carried out.
S6, after post-processing the current PVT calculation result, updating the noise mean square error statistics of the PVT information; and returns to S1 to perform the PVT solution processing for the next cycle.
Preferably, step S3 further includes: s3.1, utilizing the time difference between the updating time of each channel information and the PVT resolving time to interpolate and complement each channel information to a channel value corresponding to the PVTcnt (t) time, wherein the general method for compensation is that the variation introduced by the information is added on the basis of the updated information at the time t; because the calculation time takes the local clock drift into account, when compensating, the error introduced by the clock drift can not be further compensated.
S3.2, updating the noise error mean square error of the measured value and the characteristic quantity into M values of the minimum time unit by utilizing the information of each channel to carry out statistical calculation; since all the final errors of the measured values can be converted into the errors of the ranging codes, the theoretical variance formula is given by using the BDS as an example, and the GPS performs the same calculation.
Figure BDA0002331911170000031
Wherein A is1、A2Is a constant coefficient, and B is a constant coefficient associated with the radio frequency bandwidth.
The ratio of the multiplying power is obtained by dividing the variance of the two signals, and generally, the ratio of the multiplying power is less than 2.7 under an ideal signal environment; however, in practical application, due to factors such as environment change, non-ideal reception of radio frequency and analog front end, and thermal dryness of a receiver, the value will change with the environment, so that the decision threshold value should be adapted to the environment for further dynamic filtering for corresponding adjustment;
and S3.3, after the judgment threshold value is output, the confidence coefficient value takes the multiplying factor ratio as the maximum weight, the altitude angle ratio as the adjustment weight, and all the confidence coefficient values are normalized and then output as the confidence coefficient value of the primary judgment.
Preferably, step S4 includes: s4.1, carrying out PVT information noise mean square error statistics, wherein the statistics is mainly carried out on the information of position, speed and time; in the space vector model, the noise error of the measured value can be reflected to the pseudo-range measurement error, and the pseudo-range error can be correspondingly projected to the position coordinate plane; the error of the pseudo range fluctuation is correspondingly projected to a speed coordinate plane; the clock difference and the clock drift are only related to the electronic characteristics of the receiver self device, therefore, within the statistical window, the clock difference and the clock drift are set as statistical constants, and the mean square error statistics is carried out on the calculation errors of the position and the speed. It is particularly noted that since the final output will incorporate a priori and a posteriori weighting or INS inputs, the output is statistically solved for PVT here;
s4.2, comparing the position error mean square deviation statistic output by the PVT with the measurement error mean square deviation of each satellite of S3 in proportion, and if the deviation multiplying power is consistent with the proportion of angular deflection projection converted from PVTcnt (t-1) to PVTcnt (t) before and after each satellite and the receiver, considering that the confidence coefficient value of the current satellite is high when the proportion consistency is higher; otherwise, the satellite confidence measure is considered to be low. And normalizing the satellite confidence coefficient value by using the proportional value sum.
The beneficial effects of the invention include: the invention can effectively eliminate satellite signals with large noise or fluctuation, so that the overall quality reliability of the satellite participating in PVT calculation is higher, thereby ensuring that the accuracy of PVT calculation is continuously converged in a better range, and obviously ensuring that the overall reception is in continuous and stable PVT calculation operation in a larger proportion.
Drawings
Fig. 1 is a flow chart of processing steps of a method for judging the orthogonality of the Beidou and GPS satellite signal reception provided by the invention.
Fig. 2 is a graph of theoretical error of different signal qualities under a certain parameter setting of the method according to the embodiment of the present invention.
Fig. 3 is a comparison of a positioning track of a certain section under different satellite selection methods before and after the method of the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
As shown in fig. 1, it is a flowchart of processing steps of a method for judging the correctness of the Beidou satellite and GPS satellite signal reception provided by the present invention.
The preferred embodiment specifically comprises the following steps:
step S1, the receiver acquires and tracks the received satellite signals, and the successfully acquired and tracked satellites are visible satellites. The receiver establishes a signal processing channel of each visible satellite, tracks the signal of each visible satellite in real time, and updates and outputs in real time:
measurement values: including but not limited to: code phase
Figure BDA0002331911170000041
And
Figure BDA0002331911170000042
and carrier phase
Figure BDA0002331911170000043
And
Figure BDA0002331911170000044
characteristic value: including but not limited to: doppler frequency
Figure BDA0002331911170000045
And
Figure BDA0002331911170000046
signal power
Figure BDA0002331911170000047
And
Figure BDA0002331911170000048
carrier to noise ratio
Figure BDA0002331911170000049
And
Figure BDA00023319111700000410
tracking loop bandwidth
Figure BDA00023319111700000411
And
Figure BDA00023319111700000412
coherent integration
Figure BDA00023319111700000413
And
Figure BDA00023319111700000414
correlator code width
Figure BDA00023319111700000415
And
Figure BDA00023319111700000416
minimum resolution of chips
Figure BDA00023319111700000417
And
Figure BDA00023319111700000418
satellite telegraph text: including ephemeris and parameters of each satellite, orbit, atmosphere and the like in the almanac;
timing information: (1) (2) value updated System timing parameters
Figure BDA00023319111700000419
And
Figure BDA00023319111700000420
and k corresponds to the kth Beidou satellite, n corresponds to the nth GPS satellite, and t represents the time corresponding to the positioning resolving time epoch cycle boundary corresponding to the current information.
S2, extracting real-time measurement values, characteristic values, telegraph messages and corresponding timing information during information updating of each satellite signal processing channel at each PVT resolving moment; calculating the time difference between the information time of each satellite signal and the PVT resolving time;
Figure BDA0002331911170000051
wherein Fs is the system sampling clock frequency,
Figure BDA0002331911170000052
is L running averages of the local clock drift.
S3, calculating the noise error mean square error of the satellite corresponding to each channel by using the parameters such as the signal carrier-to-noise ratio, the tracking loop bandwidth, the coherent integration time, the correlator code width, the minimum chip resolution, the timing information and the like extracted by each channel; and simultaneously, carrying out primary judgment on the multiplying power relation between the implemented noise error mean square error and the theoretical mean square error and marking: the satellite reliability confidence coefficient value with the normalized multiplying power close to 1 is larger, and vice versa, the value is smaller.
S3.1 use of time differences
Figure BDA0002331911170000053
And
Figure BDA0002331911170000054
and interpolating and supplementing the current channel information to a channel value corresponding to PVTcnt (t) time, wherein the general method for compensation is to add the variation introduced by the information on the basis of the updated information at the time t. Because the calculation time takes the local clock drift into account, when compensating, the error introduced by the clock drift can not be further compensated. Thus, the interpolation formula for the code phase can be expressed as follows, and the carrier phase can be compensated as well.
Figure BDA0002331911170000055
S3.2, updating the noise error mean square error of the measured value and the characteristic quantity into M values of the minimum time unit by utilizing the information of each channel to carry out statistical calculation; since all the final errors of the measured values can be converted into errors of the ranging codes, the theoretical variance formula is given by taking the BDS as an example as follows, and the GPS performs the same calculation:
Figure BDA0002331911170000056
wherein A is1、A2Is a constant coefficient, and B is a constant coefficient associated with the radio frequency bandwidth.
The ratio of the multiplying power is obtained by dividing the variance of the two signals, and generally, the ratio of the multiplying power is less than 2.7 under an ideal signal environment; however, in practical application, due to factors such as environment variation, non-ideal reception of radio frequency and analog front end, and thermal dryness of the receiver, the value will vary with the environment, and therefore, the decision threshold should be adapted to the environment for further dynamic filtering and corresponding adjustment.
And S3.3, after the judgment threshold value is output, the confidence coefficient value takes the multiplying factor ratio as the maximum weight, the altitude angle ratio as the adjustment weight, and all the confidence coefficient values are normalized and then output as the confidence coefficient value of the primary judgment.
S4, establishing a sliding window of PVT information noise mean square error statistics output by PVT resolving, carrying out secondary judgment on the PVT information noise mean square error and channel error mean square error multiplying power relation, and marking: the more the normalized ratio is close to 1, the larger the satellite reliability confidence measure is, and vice versa.
S4.1, carrying out PVT information noise mean square error statistics, wherein the statistics is mainly carried out on the information of position, speed and time; in the space vector model, the noise error of the measured value can be reflected to the pseudo-range measurement error, and the pseudo-range error can be correspondingly projected to the position coordinate plane; the error of the pseudo range fluctuation is correspondingly projected to a speed coordinate plane; the clock difference and the clock drift are only related to the electronic characteristics of the receiver self device, therefore, within the statistical window, the clock difference and the clock drift are set as statistical constants, and the mean square error statistics is carried out on the calculation errors of the position and the speed. It is particularly noted that the output is statistically solved for PVT here, since the final output will incorporate a priori and a posteriori weighting or INS inputs.
S4.2, comparing the position error mean square deviation statistic output by the PVT with the measurement error mean square deviation of each satellite of S3 in proportion, and if the deviation multiplying power is consistent with the proportion of angular deflection projection converted from PVTcnt (t-1) to PVTcnt (t) before and after each satellite and the receiver, considering that the confidence coefficient value of the current satellite is high when the proportion consistency is higher; otherwise, the satellite confidence measure is considered to be low. And normalizing the satellite confidence coefficient value by using the proportional value sum.
S5, weighting the confidence coefficient value, the carrier-to-noise ratio and the signal power value of the two judgments to obtain a weighted confidence metric value, and selecting the star with the metric value exceeding the threshold value into the current PVT calculation;
Figure BDA0002331911170000061
wherein s is1～s4In order to be a coefficient of the weighting factor,
Figure BDA0002331911170000071
and
Figure BDA0002331911170000072
to normalize the processed carrier-to-noise ratio metric value,
Figure BDA0002331911170000073
and
Figure BDA0002331911170000074
the power measurement value after normalization processing is carried out.
S6, after post-processing the current PVT calculation result, updating the noise mean square error statistics of the PVT information; and returns to S1 to perform the PVT solution processing for the next cycle.
Those skilled in the art will recognize that numerous variations are possible in light of the above description, and therefore the examples and drawings are merely intended to describe one or more specific embodiments.
While there has been described and illustrated what are considered to be example embodiments of the present invention, it will be understood by those skilled in the art that various changes and substitutions may be made therein without departing from the spirit of the invention. In addition, many modifications may be made to adapt a particular situation to the teachings of the present invention without departing from the central concept described herein. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments and equivalents falling within the scope of the invention.

Claims (3)

1. A method for monitoring and judging the straightness of Beidou and GPS satellite signal receiving is characterized by comprising the following steps: s1, establishing a signal processing channel for receiving and demodulating the current visible satellite signal through capturing and tracking, and carrying out real-time tracking, measured value calculation and updating, characteristic value calculation and updating, demodulated text content and corresponding timing information when updating each information on the satellite signal of each channel;
s2, extracting real-time measurement values, characteristic values, telegraph messages and corresponding timing information during information updating of each satellite signal processing channel at each PVT resolving moment; calculating the time difference between the information time of each satellite signal and the PVT resolving time;
s3, calculating the noise error mean square error of the satellite corresponding to each channel by using the signal carrier-to-noise ratio, the tracking loop bandwidth, the coherent integration time, the correlator code width, the minimum chip resolution and the timing information parameters extracted by each channel; and simultaneously, carrying out primary judgment on the multiplying power relation between the noise error mean square error and the theoretical mean square error and marking: the larger the satellite reliable confidence coefficient value of which the normalized multiplying power is close to 1 is, and the smaller the satellite reliable confidence coefficient value is, otherwise;
s4, establishing a sliding window of PVT information noise mean square error statistics output by PVT resolving, carrying out secondary judgment on the PVT information noise mean square error and channel error mean square error multiplying power relation, and marking: the more the normalized proportion is close to 1, the larger the satellite reliability confidence coefficient value is, and the smaller the value is otherwise;
s5, weighting the confidence coefficient value, the carrier-to-noise ratio and the signal power value of the two judgments to obtain a weighted confidence metric value, and selecting the star with the metric value exceeding the threshold value into the current PVT calculation;
Figure FDA0002331911160000011
wherein s is1～s4In order to be a coefficient of the weighting factor,
Figure FDA0002331911160000012
and
Figure FDA0002331911160000013
to normalize the processed carrier-to-noise ratio metric value,
Figure FDA0002331911160000014
and
Figure FDA0002331911160000015
the power measurement value after normalization processing is carried out;
s6, after post-processing the current PVT calculation result, updating the noise mean square error statistics of the PVT information; and returns to S1 to perform the PVT solution processing for the next cycle.
2. The method for monitoring and determining the orthogonality of the Beidou and GPS satellite signal reception according to claim 1, wherein step S3 further comprises:
s3.1, utilizing the time difference between the updating time of each channel information and the PVT resolving time to interpolate and complement each channel information to a channel value corresponding to the PVTcnt (t) time, wherein the general method for compensation is that the variation introduced by the information is added on the basis of the updated information of the time t, and as the local clock drift is considered in the calculation time, the error introduced by the clock drift can not be further compensated in the compensation process;
s3.2, updating the noise error mean square error of the measured value and the characteristic quantity into M values of the minimum time unit by utilizing the information of each channel to carry out statistical calculation; since all the final errors of the measured values can be converted into errors of the ranging codes, the theoretical variance formula is given by taking the BDS as an example as follows, and the GPS performs the same calculation:
Figure FDA0002331911160000021
wherein A is1、A2Is a constant coefficient, B is a constant coefficient related to the radio frequency bandwidth;
the two variances are divided to obtain a multiplying power ratio, and under an ideal signal environment, the multiplying power ratio is smaller than 2.7; in practical application, due to environmental change, non-ideal reception of radio frequency and analog front ends and thermal dryness factors of a receiver, the value can change along with the environment, so that the judged threshold value is adapted to the environment to further perform dynamic filtering for corresponding adjustment;
and S3.3, after the judgment threshold value is output, the confidence coefficient value takes the multiplying factor ratio as the maximum weight, the altitude angle ratio as the adjustment weight, and all the confidence coefficient values are normalized and then output as the confidence coefficient value of the primary judgment.
3. The method for monitoring and determining the orthogonality of the Beidou and GPS satellite signal reception according to claim 1, wherein the step S4 includes:
s4.1, carrying out PVT information noise mean square error statistics, wherein the statistics is mainly carried out on the information of position, speed and time; in the space vector model, the noise error of the measured value can be reflected to the pseudo-range measurement error, and the pseudo-range error can be correspondingly projected to the position coordinate plane; the error of the pseudo range fluctuation is correspondingly projected to a speed coordinate plane; the clock error and the clock drift are only related to the electronic characteristics of the receiver, so that the clock error and the clock drift are set as statistical constants in a statistical window, and mean square error statistics is carried out on the calculation errors of the position and the speed; it is particularly noted that since the final output will incorporate a priori and a posteriori weighting or INS inputs, the output is statistically solved for PVT here;
s4.2, comparing the position error mean square deviation statistic output by the PVT with the measurement error mean square deviation of each satellite of S3 in proportion, and if the deviation multiplying power is consistent with the proportion of angular deflection projection converted from PVTcnt (t-1) to PVTcnt (t) before and after each satellite and the receiver, considering that the confidence coefficient value of the current satellite is high when the proportion consistency is higher; otherwise, the satellite confidence coefficient value is considered to be low; and normalizing the satellite confidence coefficient value by using the proportional value sum.
CN201911344427.2A 2019-12-23 2019-12-23 Straightness monitoring and judging method for Beidou and GPS satellite signal receiving Active CN111077545B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911344427.2A CN111077545B (en) 2019-12-23 2019-12-23 Straightness monitoring and judging method for Beidou and GPS satellite signal receiving

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911344427.2A CN111077545B (en) 2019-12-23 2019-12-23 Straightness monitoring and judging method for Beidou and GPS satellite signal receiving

Publications (2)

Publication Number Publication Date
CN111077545A true CN111077545A (en) 2020-04-28
CN111077545B CN111077545B (en) 2022-02-25

Family

ID=70317133

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911344427.2A Active CN111077545B (en) 2019-12-23 2019-12-23 Straightness monitoring and judging method for Beidou and GPS satellite signal receiving

Country Status (1)

Country Link
CN (1) CN111077545B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103592658A (en) * 2013-09-30 2014-02-19 北京大学 New method for RAIM (receiver autonomous integrity monitoring) based on satellite selecting algorithm in multimode satellite navigation system
CN104813191A (en) * 2012-11-16 2015-07-29 泰勒斯公司 Method for estimating the level of error in satellite geolocation measurements and for monitoring the reliability of the estimations and associated device
CN105044738A (en) * 2015-07-09 2015-11-11 中国民用航空飞行学院 Prediction method and prediction system for receiver autonomous integrity monitoring
EP3147691A1 (en) * 2015-09-23 2017-03-29 Nottingham Scientific Limited Server-based geo-positioning systems
CN107367744A (en) * 2017-08-22 2017-11-21 温州大学 LEO-based GPS orbit determination method based on adaptive measuring Noise Variance Estimation
CN109471137A (en) * 2018-10-25 2019-03-15 北京航空航天大学 A kind of implementation method of adaptive vector tracking loop

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104813191A (en) * 2012-11-16 2015-07-29 泰勒斯公司 Method for estimating the level of error in satellite geolocation measurements and for monitoring the reliability of the estimations and associated device
CN103592658A (en) * 2013-09-30 2014-02-19 北京大学 New method for RAIM (receiver autonomous integrity monitoring) based on satellite selecting algorithm in multimode satellite navigation system
CN105044738A (en) * 2015-07-09 2015-11-11 中国民用航空飞行学院 Prediction method and prediction system for receiver autonomous integrity monitoring
EP3147691A1 (en) * 2015-09-23 2017-03-29 Nottingham Scientific Limited Server-based geo-positioning systems
CN107367744A (en) * 2017-08-22 2017-11-21 温州大学 LEO-based GPS orbit determination method based on adaptive measuring Noise Variance Estimation
CN109471137A (en) * 2018-10-25 2019-03-15 北京航空航天大学 A kind of implementation method of adaptive vector tracking loop

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
ELIE AMANI等: "Adaptive and Conjoint Scalar-Vector Tracking Loops for GNSS Tracking Robustness and Positioning Integrity", 《2017 EUROPEAN NAVIGATION CONFERENCE (ENC 2017)》 *
孙茂军等: "基于多模GNSS接收机的卫星系统完好性监测", 《测绘与空间地理信息》 *

Also Published As

Publication number Publication date
CN111077545B (en) 2022-02-25

Similar Documents

Publication Publication Date Title
US8456353B2 (en) Method and system for determining clock corrections
US8570214B2 (en) Position calculating method and position calculating device
US6525687B2 (en) Location-determination method and apparatus
US10739471B2 (en) GNSS receiver with a capability to resolve ambiguities using an uncombined formulation
CN101650418A (en) Method and system for processing signal
US11460583B2 (en) Method and apparatus for providing correction data for satellite navigation
US10429515B2 (en) Method and apparatus for GNSS signal tracking
US11221415B2 (en) Positioning device and positioning method
CN104765052B (en) GEO navigation satellite high-sensitivity carrier tracking method
CN104145194A (en) Positioning signal detection method, positioning signal detection program, positioning signal receiving device, positioning apparatus and information device terminal
Musumeci et al. Design of a very high sensitivity acquisition system for a space GNSS receiver
US11585944B2 (en) Method of and receiver for mitigating multipath interference in a global navigation satellite system
CN111077545B (en) Straightness monitoring and judging method for Beidou and GPS satellite signal receiving
US20230057518A1 (en) Region-Adapted Neural Network for Location Determination
AU2011306909B2 (en) Apparatus and method
CN111458730B (en) GNSS carrier tracking method based on Doppler residual estimation and receiver
US11747487B2 (en) GNSS receiver clock frequency drift detection
Anghileri et al. Performance evaluation of a multi-frequency GPS/Galileo/SBAS software receiver
Elmasry et al. Examining the benefits of multi-GNSS constellation for the positioning of high dynamics air platforms under jamming conditions
Matera et al. Smart exploitation of pseudorange and pseudorange-rate error characterization to improve the PVT solution
Vani et al. Evaluation of GPS data for navigational solution and error reduction using kalman filter
Islam et al. Moment based CNR estimators for BOC/BPSK modulated signal for Galileo/GPS
EP4307013A1 (en) Static gnss positioning
Choi et al. A multipath mitigation method using the nonsymmetric ratio of the autocorrelation function
Madonsela et al. The Influence of the Signal Distortions on the Satellite Based Navigation Systems

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant