CN111505683A - Non-real-time pseudo-range differential high-precision positioning method - Google Patents
Non-real-time pseudo-range differential high-precision positioning method Download PDFInfo
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- CN111505683A CN111505683A CN202010357604.7A CN202010357604A CN111505683A CN 111505683 A CN111505683 A CN 111505683A CN 202010357604 A CN202010357604 A CN 202010357604A CN 111505683 A CN111505683 A CN 111505683A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Abstract
The invention relates to a non-real-time pseudo-range differential high-precision positioning method, and belongs to the field of satellite navigation in a high dynamic environment. In order to overcome the problems that the satellite navigation positioning precision is not ideal under a high dynamic environment and a reference base station is difficult to establish and maintain and the wireless communication is easy to interfere in the traditional differential system, the satellite ephemeris information and the pseudo-range correction number are generated by a ground satellite information generating device and are bound into a positioning device at one time; the positioning device realizes self rapid high-precision positioning based on the satellite ephemeris information and the pseudo-range correction number. The ground satellite information generation device can be used as a reference base station of a differential system, is convenient to carry, can be used in environments with complex terrains, and solves the problem that the ground base station is difficult to establish and maintain; the quick positioning can be realized based on the ephemeris information, and the high-precision positioning can be realized based on the pseudo-range correction; the method of binding parameters once is adopted, and the problem that the radio data link broadcasting correction signal cannot be used normally due to interference is solved.
Description
Technical Field
The invention belongs to the field of satellite navigation in a high dynamic environment, and particularly relates to a non-real-time pseudo-range differential high-precision positioning method.
Background
The global satellite navigation system can provide position, speed and time information in real time all day long, and becomes an indispensable navigation information source on low-cost guided weapons. In a complex environment, the satellite navigation positioning precision is not ideal, and the differential positioning can effectively improve the positioning precision. Differential positioning techniques were originally directed to combat SA interference implemented in the united states, resulting in a severe degradation of positioning accuracy due to SA policies implemented by the united states government. The occurrence of the differential positioning technology improves the precision of standard satellite navigation positioning, and is widely applied to the fields of geodetic surveying, precision engineering surveying, precision navigation and the like at present. Compared with the traditional positioning method, the differential positioning can eliminate or reduce satellite ephemeris error, satellite difference, ionospheric delay, tropospheric delay and the like in the positioning process.
The differential positioning system is developed from an initial single-reference-station differential system to a local area differential system and a wide area differential system with a plurality of reference stations, and then a wide area augmentation system, a ground-based pseudolite and the like appear, which further expand the range of differential positioning. The use of differential positioning systems in guided munitions has the following disadvantages: (1) the application requirement of the differential system is that a reference base station which is accurately measured and positioned must be equipped, the battlefield environment of the guided weapon is unknown, the terrain is complex, the battlefield environment is changeable instantaneously, and the establishment and maintenance of the ground base station cannot be guaranteed. If the satellite augmentation system of the carrier is adopted, the carrier is easily exposed to the range of the fire circle of the enemy when flying at a close distance. (2) The electromagnetic environment that the guided weapon faces is comparatively complicated, and the difference signal broadcasts the correction signal through the radio data chain, and its frequency that uses often belongs to frequency channel such as intermediate frequency, very high frequency, and the data chain signal is easily disturbed. Once disturbed, the differential system can no longer be used.
Disclosure of Invention
Technical problem to be solved
The invention provides a non-real-time pseudo-range differential high-precision positioning method, and aims to solve the problems that satellite navigation positioning precision is not ideal in a high-dynamic environment, a reference base station is difficult to establish and maintain and wireless communication is easily interfered in the aspect of application of a traditional differential system in a pilot weapon.
(II) technical scheme
In order to solve the technical problem, the invention provides a non-real-time pseudorange differential high-precision positioning method, which is applied to a non-real-time pseudorange differential high-precision positioning system comprising a ground satellite information generation device and a high-dynamic high-precision positioning device, and comprises the following steps:
step one, the ground satellite information generating device generates satellite ephemeris information and pseudo-range correction;
step two, the ground satellite information generating device binds the satellite ephemeris information and the pseudo-range correction number to the high-dynamic high-precision positioning device at one time;
and thirdly, the high-dynamic high-precision positioning device realizes self rapid high-precision positioning based on the satellite ephemeris information and the pseudo-range correction.
Further, the first step comprises: the ground satellite information generation device screens the tracked satellites, eliminates unhealthy satellites with low altitude angles and generates effective satellite ephemeris information and pseudo-range correction numbers.
Further, the satellite ephemeris information is derived from a basic navigation message sent by the satellite, and comprises satellite clock error parameters, satellite orbit parameters and ionosphere model parameters.
Further, the third step includes: the high-dynamic high-precision positioning device rapidly captures and tracks the currently available Beidou satellite by means of the satellite ephemeris information, does not search for the unavailable Beidou satellite, and achieves rapid positioning by means of bound satellite ephemeris parameters after frame synchronization information is obtained.
Further, the terrestrial satellite information generating means includes a reference receiver; the pseudo-range correction is
In the formula (1)
Generating a pseudo range from the ground satellite information generating device to the jth Beidou satellite measured by the reference receiver at a time element t,
the real distance dt from the time element t to the jth Beidou satellite of the ground satellite information generating devicejThe deviation of the jth satellite clock relative to the Beidou time system, dTrrIs the deviation of the reference receiver clock from the beidou time series,
for the distance deviation caused by the ephemeris error of the Beidou satellite in the ground satellite information generating device,
distance deviations caused at the terrestrial satellite information generating means for ionospheric time delays,
and C is the electromagnetic wave propagation speed, and is the distance deviation caused by troposphere time delay in the ground satellite information generating device.
Further, the third step includes: the high dynamic high precision positioning device corrects the measured pseudorange by using the pseudorange correction from the ground satellite information generating device as follows:
in the formula (2)
The pseudo range from the high dynamic high precision positioning device to the jth Beidou satellite is measured by the high dynamic high precision positioning device at a time element t,
the real distance dT from the time element t to the jth Beidou satellite is taken as the high-dynamic high-precision positioning devicekrFor the deviation of the clock of the high dynamic high precision positioning device relative to the Beidou system,
for the distance deviation caused by the Beidou satellite ephemeris error in the high-dynamic high-precision positioning device,
for the distance deviation caused by ionospheric time delay at the high dynamic high precision positioning device,
the distance deviation caused by tropospheric time delay in the high-dynamic high-precision positioning device is obtained.
Further, when the distance between the ground satellite information generating device and the high dynamic high precision positioning device is within 100km,
(III) advantageous effects
The invention provides a non-real-time pseudo-range differential high-precision positioning method, which comprises the steps of generating satellite ephemeris information and pseudo-range correction numbers by a ground satellite information generating device; the ground satellite information generating device binds the satellite ephemeris information and the pseudo-range correction number to the high-dynamic high-precision positioning device at one time; and the high-dynamic high-precision positioning device realizes self quick high-precision positioning based on the satellite ephemeris information and the pseudo-range correction number. In the application of guided weapons, the ground satellite information generation device can be used as a reference base station of a differential system, is convenient to carry, can be suitable for environments with complex terrains, and solves the problem that a ground base station in a battlefield environment is difficult to establish and maintain. The fast positioning of the moving carrier can be realized based on the ephemeris information, the precision loss of satellite clock deviation can be eliminated based on the pseudo-range correction number, the precision loss of ionosphere, troposphere and satellite ephemeris error is reduced and even eliminated, and the high-precision positioning of the moving carrier is realized. The device adopts a method of binding parameters once, and solves the problem that the differential signal cannot be normally used due to the interference of the radio data chain broadcasting correction signal.
Drawings
FIG. 1 is a flow chart of a non-real-time pseudorange differential high accuracy positioning method of the present invention;
fig. 2 is a schematic diagram of a non-real-time pseudorange differential high accuracy positioning system of the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
As shown in fig. 2, a non-real-time pseudorange differential high-precision positioning system of the present invention includes a ground satellite information generating device and a high-dynamic high-precision positioning device, where the ground satellite information generating device includes a reference receiver. A ground satellite information generating device is used to realize high-precision single-point positioning and generate ephemeris information and pseudo-range correction. And binding the generated ephemeris information and the pseudo-range correction number into the high-dynamic high-precision positioning device at one time. When the high-dynamic high-precision positioning device works, the high-dynamic high-precision positioning device realizes quick high-precision positioning based on ephemeris information and pseudo-range correction.
As shown in fig. 1, the non-real-time pseudorange differential high-precision positioning method of the present invention includes the following steps:
the method comprises the steps that firstly, a ground satellite information generation device generates satellite ephemeris information and pseudo-range correction numbers. The ground satellite information generating device screens the tracked satellites, eliminates unhealthy satellites with low altitude angles and generates effective satellite satellitesCalendar information. The satellite ephemeris information is derived from basic navigation messages sent by the satellites and mainly comprises satellite clock error parameters (t)oc,a0,a1,a2) Satellite orbit parameters
And ionospheric model parameters (α)n,βnAnd n is 0 to 3).
Wherein the pseudorange correction is
The ground satellite information generating device comprises a reference receiver in formula (1)
The pseudo range from the ground satellite information generating device measured by the reference receiver at the time element t to the jth Beidou satellite,
the real distance dt from the time element t to the jth Beidou satellite of the ground satellite information generating devicejThe deviation of the jth satellite clock relative to the Beidou time system, dTrrIs the deviation of the reference receiver clock relative to the beidou time series,
for the distance deviation caused by the ephemeris error of the Beidou satellite in the ground satellite information generating device,
for the ionospheric delay-induced distance bias at the terrestrial satellite information generating means,
c is an electromagnetic wave propagation velocity, which is a distance deviation caused by troposphere time delay in the terrestrial satellite information generating device.
And step two, the ground satellite information generating device binds the satellite ephemeris information and the pseudo-range correction number into the high-dynamic high-precision positioning device at one time. The device adopts a method of binding parameters once, and solves the problem that the differential signal cannot be normally used due to the interference of the radio data chain broadcasting correction signal.
And thirdly, the high-dynamic high-precision positioning device realizes the fast high-precision positioning of the self-height dynamic environment motion carrier based on the satellite ephemeris information and the pseudo-range correction number.
The high-dynamic high-precision positioning device rapidly captures and tracks the currently available Beidou satellite by means of satellite ephemeris information, does not search for non-available Beidou satellites, can realize positioning by adopting bound satellite ephemeris parameters after acquiring frame synchronization information, and reduces the first positioning time by more than 18s compared with a receiver in a common working mode without binding ephemeris, thereby realizing rapid positioning.
Errors such as loss of accuracy of satellite clock bias, ionospheric distance bias, satellite distance bias, tropospheric distance bias, and the like are corrected using pseudo-range corrections from a ground satellite information generating device, thereby improving accuracy. For a highly dynamic and highly accurate positioning device, a pseudo-range correction value from a ground satellite information generating device is used to correct a pseudo-range measured by itself to be
Wherein k represents a high dynamic high precision positioning device.
In the formula
The pseudo range from the high-dynamic high-precision positioning device to the jth Beidou satellite is measured by the high-dynamic high-precision positioning device at the time element t,
for the real distance dT between the time element t and the jth Beidou satellite of the high-dynamic high-precision positioning devicekrFor the deviation of the clock of the high dynamic high precision positioning device relative to the Beidou system,
for the distance deviation caused by the Beidou satellite ephemeris error in a high-dynamic high-precision positioning device,
for the distance deviation caused by ionospheric time delay in a high-dynamic high-precision positioning device,
and C is the electromagnetic wave propagation speed, which is the distance deviation caused by troposphere time delay in a high-dynamic high-precision positioning device.
When the distance between the ground satellite information generating device and the high-dynamic high-precision positioning device of the differential system is within 100km, it can be considered that
The precision loss of satellite clock deviation is eliminated, and the precision loss of ionosphere, troposphere and satellite ephemeris errors is reduced or even eliminated. Based on the bound parameters, the high-dynamic high-precision positioning device does not need to rely on pseudo-range correction information broadcasted by a ground reference base station, and can realize non-real-time differential positioning.
In the application of guided weapons, the ground satellite information generation device can be used as a reference base station of a differential system, is convenient to carry, can be suitable for environments with complex terrains, and solves the problem that a ground base station in a battlefield environment is difficult to establish and maintain.
The fast positioning of the moving carrier can be realized based on the ephemeris information, and the high-precision positioning of the moving carrier can be realized based on the pseudo-range correction number. The device adopts a method of binding parameters once, and solves the problem that the differential signal cannot be normally used due to the interference of the radio data chain broadcasting correction signal.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A non-real-time pseudo-range differential high-precision positioning method is characterized in that the method is applied to a non-real-time pseudo-range differential high-precision positioning system comprising a ground satellite information generation device and a high-dynamic high-precision positioning device, and the method comprises the following steps:
step one, the ground satellite information generating device generates satellite ephemeris information and pseudo-range correction;
step two, the ground satellite information generating device binds the satellite ephemeris information and the pseudo-range correction number to the high-dynamic high-precision positioning device at one time;
and thirdly, the high-dynamic high-precision positioning device realizes self rapid high-precision positioning based on the satellite ephemeris information and the pseudo-range correction.
2. The non-real-time pseudorange differential high accuracy positioning method according to claim 1, wherein said first step comprises: the ground satellite information generation device screens the tracked satellites, eliminates unhealthy satellites with low altitude angles and generates effective satellite ephemeris information and pseudo-range correction numbers.
3. The non-real-time pseudorange differential high accuracy positioning method according to claim 1, wherein the satellite ephemeris information is derived from basic navigation messages sent by the satellites, and comprises satellite clock error parameters, satellite orbit parameters and ionosphere model parameters.
4. A non-real-time pseudorange differential high accuracy positioning method according to claim 3, wherein said step three comprises: the high-dynamic high-precision positioning device rapidly captures and tracks the currently available Beidou satellite by means of the satellite ephemeris information, does not search for the unavailable Beidou satellite, and achieves rapid positioning by means of bound satellite ephemeris parameters after frame synchronization information is obtained.
5. A non-real-time pseudorange differential high accuracy positioning method according to any one of claims 1-4, wherein said terrestrial satellite information generating means comprises a reference receiver; the pseudo-range correction is
In the formula (1)
Generating a pseudo range from the ground satellite information generating device to the jth Beidou satellite measured by the reference receiver at a time element t,
the real distance dt from the time element t to the jth Beidou satellite of the ground satellite information generating devicejThe deviation of the jth satellite clock relative to the Beidou time system, dTrrIs the deviation of the reference receiver clock from the beidou time series,
for the distance deviation caused by the ephemeris error of the Beidou satellite in the ground satellite information generating device,
distance deviations caused at the terrestrial satellite information generating means for ionospheric time delays,
and C is the electromagnetic wave propagation speed, and is the distance deviation caused by troposphere time delay in the ground satellite information generating device.
6. The non-real-time pseudorange differential high accuracy positioning method according to claim 5, wherein said step three comprises: the high dynamic high precision positioning device corrects the measured pseudorange by using the pseudorange correction from the ground satellite information generating device as follows:
in the formula (2)
The pseudo range from the high dynamic high precision positioning device to the jth Beidou satellite is measured by the high dynamic high precision positioning device at a time element t,
the real distance dT from the time element t to the jth Beidou satellite is taken as the high-dynamic high-precision positioning devicekrFor the deviation of the clock of the high dynamic high precision positioning device relative to the Beidou system,
for the distance deviation caused by the Beidou satellite ephemeris error in the high-dynamic high-precision positioning device,
for the distance deviation caused by ionospheric time delay at the high dynamic high precision positioning device,
the distance deviation caused by tropospheric time delay in the high-dynamic high-precision positioning device is obtained.
7. The non-real-time pseudorange differential high accuracy positioning method according to claim 6, wherein when the distance between the stations of the terrestrial satellite information generating device and the high dynamic high accuracy positioning device is within 100km,
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Application publication date: 20200807 |