CN111694037A - Terminal positioning method and terminal equipment - Google Patents

Terminal positioning method and terminal equipment Download PDF

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CN111694037A
CN111694037A CN202010692889.XA CN202010692889A CN111694037A CN 111694037 A CN111694037 A CN 111694037A CN 202010692889 A CN202010692889 A CN 202010692889A CN 111694037 A CN111694037 A CN 111694037A
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double
terminal
carrier phase
difference
uwb base
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CN111694037B (en
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彭佳
王凯
陶光文
王士玲
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Chongqing Institute Of Electronic Technology
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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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • 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
    • G01S19/38—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]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention is suitable for the technical field of satellite navigation positioning, and provides a terminal positioning method and terminal equipment, wherein the method comprises the steps of obtaining original observation data sent by a GNSS reference station; acquiring an original carrier phase and a GNSS pseudo range by a first receiver and a second receiver respectively based on local GNSS data; according to the original carrier phase, the GNSS pseudo range and the original observation data, a double-difference observation equation based on a first receiver and a double-difference observation equation based on a second receiver are established; resolving double-difference carrier phase ambiguity in the double-difference observation equation to obtain a fixed solution of the double-difference carrier phase ambiguity; and utilizing the fixed solution of the double-difference carrier phase ambiguity and the fixed solution baseline vector to assist the ambiguity resolution of the RTK, and obtaining the terminal position information. The resolving process comprises the following steps: and obtaining an integer solution of the double-difference carrier phase ambiguity according to the N distance information constraints as a fixed solution of the double-difference carrier phase ambiguity. The positioning accuracy of the RTK carrier phase differential technology under the GNSS signal can be improved through the method and the device.

Description

Terminal positioning method and terminal equipment
Technical Field
The invention relates to the technical field of satellite navigation positioning, in particular to a terminal positioning method and terminal equipment.
Background
The Beidou satellite navigation system is a global satellite navigation system independently constructed in China, can provide all-weather and high-precision positioning, navigation and time service for vast users on the earth surface and in the near-earth space, is widely applied to the fields of national defense, sea, land and air traffic transportation, surveying and mapping, mobile communication, electric power, electronic finance, fine agriculture, disaster reduction and relief and the like, and is an important space infrastructure for expanding human activities and promoting social development.
The terminal-based positioning function is the largest application market of the Beidou system, the traditional smart phone generally only provides current position information, and the positioning accuracy can only reach about 10 meters in an ideal observation environment; however, with the upgrade and update of software and hardware, many terminals can output GNSS (Global Navigation Satellite System) data at present, and at this time, a relative positioning technology, such as an RTK (Real-time kinematic) carrier phase difference technology, is adopted, so that centimeter-level location service is possible to be realized, and thus the application scene of the mobile phone is expanded.
However, the GNSS antenna built in the terminal is small in size at present, and GNSS signals are seriously blocked in a complex urban environment, so that a positioning effect achieved by using a relative positioning technology of GNSS is unstable, and particularly in a complex environment, the positioning accuracy is obviously reduced.
Disclosure of Invention
The invention mainly aims to provide a terminal positioning method and terminal equipment to solve the problems that in the prior art, the positioning accuracy of a relative positioning technology using a GNSS is unstable, and particularly the positioning accuracy is obviously reduced in a complex environment.
In order to achieve the above object, a first aspect of embodiments of the present invention provides a terminal positioning method, including obtaining original observation data sent by a GNSS reference station;
acquiring an original carrier phase and a GNSS pseudo range by a first receiver and a second receiver respectively based on local GNSS data;
according to the original carrier phase, the GNSS pseudo range and the original observation data, a double-difference observation equation based on a first receiver and a double-difference observation equation based on a second receiver are established;
linearizing the double-difference observation equation to obtain a position parameter of the first receiver and a position parameter of the second receiver;
estimating double-difference carrier phase ambiguities of a first receiver and a second receiver and parameters to be estimated of the first receiver and the second receiver in the double-difference observation equation, and resolving a floating solution of the double-difference carrier phase ambiguities and a variance covariance matrix thereof in real time; simultaneously resolving the double-difference carrier phase ambiguity to obtain a fixed solution of the double-difference carrier phase ambiguity;
calculating an ambiguity resolution result according to the floating solution of the double-difference carrier phase ambiguity, the fixed solution of the double-difference carrier phase ambiguity and the covariance matrix, and updating a fixed solution baseline vector corresponding to the ambiguity resolution result;
using the fixed solution of the double-difference carrier phase ambiguity and the fixed solution baseline vector to assist ambiguity resolution of RTK carrier phase differential positioning to obtain terminal position information;
wherein resolving the double-difference carrier phase ambiguity to obtain a fixed solution of the double-difference carrier phase ambiguity comprises:
acquiring N pieces of distance information from a terminal to a UWB base station, wherein N is a positive integer;
and obtaining an integer solution of the double-difference carrier phase ambiguity according to the N distance information constraints as a fixed solution of the double-difference carrier phase ambiguity.
With reference to the first aspect of the present invention, in the first embodiment of the present invention, when the number of UWB base stations is 1, the method for obtaining 1 distance information from a terminal to a UWB base station, and calculating an integer solution of the double-difference carrier phase ambiguity according to 1 distance information includes:
and constraining an integer solution of the double-difference carrier phase ambiguity according to the distance from the terminal to the UWB base station.
With reference to the first aspect of the present invention, in a second embodiment of the present invention, the integer solution for constraining the double-difference carrier phase ambiguity according to the distance from the terminal to the UWB base station is calculated as:
Figure BDA0002589972530000031
wherein ,
Figure BDA0002589972530000032
for terminal position information,/, i, an error range, x, and the known distance from the terminal to the UWB base stationBIs the UWB base station location.
With reference to the first aspect of the present invention, in a third implementation manner of the present invention, when the number of UWB base stations is 2, obtaining 2 pieces of distance information from a terminal to the UWB base station, and calculating an integer solution of the double-difference carrier phase ambiguity according to the 2 pieces of distance information, includes:
acquiring the distance from the terminal to the 1 st UWB base station and the distance from the terminal to the 2 nd UWB base station;
and obtaining an integer solution of the double-difference carrier phase ambiguity according to the distance from the terminal to the 1 st UWB base station and the distance minimum value constrained by the distance from the terminal to the 2 nd UWB base station.
With reference to the third implementation manner of the first aspect of the present invention, in a fourth implementation manner of the present invention, an integer solution of the double-difference carrier phase ambiguity is obtained according to a distance constraint between the terminal and the 1 st UWB base station and a distance constraint between the terminal and the 2 nd UWB base station, and a calculation formula is as follows:
Figure BDA0002589972530000033
wherein ,
Figure BDA0002589972530000034
for terminal location information,/1Is the distance, l, from said terminal to the 1 st of said UWB base stations2For the terminal to the 2 ndDistance, x, of UWB base stationB1Is the 1 st UWB base station location, xB1Is the 2 nd UWB base station location.
With reference to the first aspect of the present invention, in a fifth embodiment of the present invention, when the number of UWB base stations is greater than 2, the method for acquiring N pieces of distance information from a terminal to a UWB base station, and calculating an integer solution of the double-difference carrier phase ambiguity according to the N pieces of distance information includes:
and calculating the relative position information of the terminal relative to the N UWB base stations according to the N distance information, and obtaining an integer solution of the double-difference carrier phase ambiguity by utilizing the constraint of the relative position information.
With reference to the fifth embodiment of the first aspect of the present invention, in a sixth embodiment of the present invention, the calculating the relative position information of the terminal according to the N pieces of distance information, and obtaining an integer solution of the double-difference carrier phase ambiguity by using the relative position information constraint includes:
Figure BDA0002589972530000041
wherein ,
Figure BDA0002589972530000042
for terminal position information, l is the error range, xUIs the relative position information of the terminal.
With reference to the first aspect, in a seventh implementation manner of the present invention, before linearizing the double-difference observation equation to obtain the position parameters of the first receiver and the position parameters of the second receiver, the method further includes:
carrying out cycle slip detection on the original observation data;
and if the cycle slip exists in the original observation data, re-initializing the double-difference chopper phase ambiguity.
A second aspect of embodiments of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method provided in the first aspect are implemented.
A third aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method as provided in the first aspect above.
The embodiment of the invention provides a terminal positioning method, which is based on original GNSS data of a terminal, respectively obtains GNSS pseudo-range and carrier phase observed values through two receivers, combines the original observed data of a GNSS reference station to form a double-difference observation equation, solves double-difference carrier phase ambiguity in the double-difference observation equation, obtains a fixed solution of the double-difference carrier phase ambiguity and calculates a fixed solution baseline vector in the resolving process, restrains the double-difference carrier phase ambiguity based on distance information of a UWB (Ultra Wideband) base station and the terminal to obtain an integer solution, the integer solution is the restrained fixed solution of the double-difference carrier phase ambiguity and is also the integer ambiguity of the double-difference carrier phase, and finally assists RTK (Real-time kinematic) carrier phase difference division technology to resolve the ambiguity according to the integer solution and the fixed solution baseline vector, and obtaining high-precision positioning information. Because the position of the UWB base station is generally known, and the UWB chip is also arranged in the terminal, the terminal can accurately acquire the distance information from the terminal to the UWB base station without being influenced by signal shielding in a complex urban environment, therefore, in the positioning process, the positioning precision and the stability of an RTK carrier phase difference division technology under a GNSS signal are improved by utilizing the resolution of the whole-cycle ambiguity of the UWB positioning auxiliary double-difference carrier phase.
Drawings
Fig. 1 is a schematic diagram illustrating an implementation flow of a terminal positioning method according to an embodiment of the present invention;
fig. 2 is a detailed implementation flowchart of the process of resolving the double-difference carrier phase ambiguity and obtaining the fixed solution of the double-difference carrier phase ambiguity in step S105 in fig. 1.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Suffixes such as "module", "part", or "unit" used to denote elements are used herein only for the convenience of description of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
In the following description, the serial numbers of the embodiments of the invention are merely for description and do not represent the merits of the embodiments.
Example one
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a terminal positioning method, which may be applied to positioning scenarios with UWB base stations, such as parking lots, electronic warehousing, and the like, and includes, but is not limited to, the following steps:
s101, acquiring original observation data sent by the GNSS reference station.
And S102, acquiring an original carrier phase and a GNSS pseudo range by the first receiver and the second receiver respectively based on local GNSS data.
In the above steps S101 and S102, the terminal has a first receiver and a second receiver, that is, a dual GNSS antenna structure, and outputs the original carrier phase and the GNSS pseudorange after receiving the GNSS data.
In the embodiment of the present invention, the communication protocol is also used to obtain the differential observation data, so that the double-difference observation equation is formed in the following step S103.
S103, according to the original carrier phase, the GNSS pseudo range and the original observation data, a double-difference observation equation based on a first receiver and a double-difference observation equation based on a second receiver are established.
In step S103, the double-difference observation equation based on the first receiver includes the GNSS double-difference pseudoranges and the carrier phase observations, and includes:
Figure BDA0002589972530000061
in the formula (1), A represents a GNSS reference station, B represents a first receiver,
Figure BDA0002589972530000062
for the double-differenced pseudorange observations,
Figure BDA0002589972530000063
representing a double-difference carrier-phase observation in meters,
Figure BDA0002589972530000064
for double-difference distance, λ, of receiver to satellitegIs the wavelength of the carrier wave,
Figure BDA0002589972530000065
in order to provide a double-differential ionospheric delay,
Figure BDA0002589972530000066
in order to double-differenced the tropospheric delay,
Figure BDA0002589972530000071
is composed of
Figure BDA0002589972530000072
The double-difference full-cycle ambiguity value of the carrier wave,
Figure BDA0002589972530000073
the observed noise representing double-differenced pseudoranges,
Figure BDA0002589972530000074
representing observed noise for double-differenced carrier phases.
The double-difference observation equation based on the second receiver comprises a GNSS double-difference pseudo range and a carrier phase observation value, and comprises the following steps:
Figure BDA0002589972530000075
in equation (2), a denotes a GNSS reference station, B denotes a first receiver,
Figure BDA0002589972530000076
for the double-differenced pseudorange observations,
Figure BDA0002589972530000077
representing a double-difference carrier-phase observation in meters,
Figure BDA0002589972530000078
for double-difference distance, λ, of receiver to satellitegIs the wavelength of the carrier wave,
Figure BDA0002589972530000079
in order to provide a double-differential ionospheric delay,
Figure BDA00025899725300000710
in order to double-differenced the tropospheric delay,
Figure BDA00025899725300000711
is composed of
Figure BDA00025899725300000712
The value of the double-difference ambiguity of the carrier,
Figure BDA00025899725300000713
the observed noise representing double-differenced pseudoranges,
Figure BDA00025899725300000714
representing observed noise for double-differenced carrier phases.
In a specific application, since the two antennas are close to each other, and the atmospheric error influence is negligible, the above equations (1) and (2) can be expressed as the following equations (3) and (4):
Figure BDA00025899725300000715
Figure BDA00025899725300000716
and S104, linearizing the double-difference observation equation to obtain the position parameter of the first receiver and the position parameter of the second receiver.
In step S104, the position parameters of the first receiver include direction cosines in three directions x, y, and z, and parameters to be estimated of the first receiver in the three directions, and the position parameters of the second receiver include direction cosines in three directions x, y, and z, and parameters to be estimated of the second receiver in the three directions.
In a specific application, the linearization processes of the above formulas (3) and (4) can adopt taylor expansion linearization to obtain:
Figure BDA0002589972530000081
Figure BDA0002589972530000082
in formulae (5) and (6):
Figure BDA0002589972530000083
Figure BDA0002589972530000084
Figure BDA0002589972530000085
Figure BDA0002589972530000086
Figure BDA0002589972530000087
Figure BDA0002589972530000088
Figure BDA0002589972530000089
Figure BDA00025899725300000810
Figure BDA00025899725300000811
Figure BDA00025899725300000812
in the above formula
Figure BDA00025899725300000813
Is the directional cosine of the first receiver, Δ xB，ΔyB，ΔzBThe parameters to be estimated for the first receiver,
Figure BDA00025899725300000814
is the approximate distance of the satellite k, j to the second receiver, where
Figure BDA00025899725300000815
Figure BDA0002589972530000091
Is the cosine of the direction of the second receiver,ΔxC，ΔyC，ΔzCthe parameters to be estimated for the second receiver,
Figure BDA0002589972530000092
the approximate distance of the satellite k, j to the second receiver,
Figure BDA0002589972530000093
the a antenna coordinates can be obtained from single point positioning for the satellite k, j to a antenna distance. In an embodiment of the invention, a may be a GNSS reference station.
S105, estimating double-difference carrier phase ambiguities of a first receiver and a second receiver and parameters to be estimated of the first receiver and the second receiver in the double-difference observation equation, and resolving a floating solution of the double-difference carrier phase ambiguities and a variance and a covariance matrix thereof in real time; simultaneously resolving the double-difference carrier phase ambiguity to obtain a fixed solution of the double-difference carrier phase ambiguity;
in step S105, the parameter estimation of the double-difference observation equation may adopt a kalman filtering technique, where the state equation and the process equation are as follows:
Figure BDA0002589972530000094
in the embodiment of the present invention, the parameters estimated by the kalman filtering technique include double-difference carrier phase ambiguities of the first receiver and the second receiver, and parameters to be estimated of the first receiver and the second receiver, and the parameters include:
Figure BDA0002589972530000095
and the coefficient matrix of the observed values is:
Figure BDA0002589972530000096
Figure BDA0002589972530000097
its estimation process can be expressed as:
Figure BDA0002589972530000098
Figure BDA0002589972530000099
y in formulae (7) to (10)kIs a pseudo-range and carrier phase observation, AkIs a matrix of coefficients for the observed values,
Figure BDA00025899725300000910
is a state vector for the k-1 epoch,
Figure BDA00025899725300000911
in order to be a predicted state vector,
Figure BDA00025899725300000912
is the state vector of the current K epoch, KkIs a gain matrix, and KkComprises the following steps:
Figure BDA0002589972530000101
in step S105, a constrained LAMBDA method may be used to solve the double-difference carrier phase ambiguity, and before the double-difference carrier phase ambiguity is solved, a floating solution of the double-difference carrier phase ambiguity, its variance, and a covariance matrix need to be obtained.
In the actual calculation process, the ambiguity floating solution calculated by the Kalman technique and the variance covariance matrix thereof are expressed as
Figure BDA0002589972530000102
Then, resolving the ambiguity by using a constrained LAMBDA method, and obtaining a fixed solution of the ambiguity can be expressed as:
Figure BDA0002589972530000103
in the formula (12), z is a integer ambiguity candidate vector,
Figure BDA0002589972530000104
and solving results for the optimal n groups of ambiguities.
S106, calculating an ambiguity resolution result according to the floating solution of the double-difference carrier phase ambiguity, the fixed solution of the double-difference carrier phase ambiguity and the variance covariance matrix, and updating a fixed solution baseline vector corresponding to the ambiguity resolution result.
As can be seen from the above equation (12), the ambiguity resolution results are divided into a plurality of groups, and therefore the fixed solution baseline vector corresponding to the ambiguity values also has a plurality of groups, which are expressed as:
Figure BDA0002589972530000105
in the formula (13), the reaction mixture is,
Figure BDA0002589972530000106
is the covariance of the baseline vector and the ambiguity,
Figure BDA0002589972530000107
in order to solve for the baseline vector of the floating point,
Figure BDA0002589972530000108
in order to fix the baseline vector of the solution,
Figure BDA0002589972530000109
in the form of a covariance matrix,
Figure BDA00025899725300001010
is a floating point solution.
In a particular application, the composition is prepared from
Figure BDA00025899725300001011
And base station coordinates, canObtaining the position of the terminal
Figure BDA00025899725300001012
In the embodiment of the invention, the positioning is assisted according to the position relation between the UWB base station and the terminal. Therefore, in step S105, the process of resolving the double-difference carrier phase ambiguity to obtain a fixed solution of the double-difference carrier phase ambiguity may include:
s1051, acquiring N pieces of distance information from the terminal to the UWB base station.
Wherein N is a positive integer.
And S1052, restraining the integer solution of the double-difference carrier phase ambiguity according to the N pieces of distance information.
In the above steps S1051 and S1052, the number of UWB base stations is not limited, and when there are a plurality of UWB base stations, for example, there are a plurality of parking posts with UWB base stations in an indoor parking lot, an integer solution of double-difference carrier phase ambiguity needs to be constrained according to the actual distance information.
In the embodiment of the present invention, the integer solutions of the ambiguities calculated by the above steps S1051 to S1052, i.e. the fixed solutions of the ambiguities in the above step S105 under the constraint condition
Figure BDA0002589972530000111
That is, in steps S1051 to S1052, the fixed solution of the double-difference carrier phase ambiguity is constrained according to the positional relationship between the UWB base station and the terminal
Figure BDA0002589972530000112
So as to accurately solve the integer ambiguity z during the carrier phase measurement and obtain high-precision positioning information.
And S107, resolving the ambiguity of RTK carrier phase differential positioning by using the fixed solution of the double-difference carrier phase ambiguity and the fixed solution baseline vector to obtain the terminal position information.
In step S107 described above, for the solution of the fixed solution of double-difference carrier-phase ambiguities, terminal position information based on the fixed solution baseline vector may be obtained.
In a specific application, the terminal position information may include terminal coordinates, a terminal pose, a terminal speed, and the like.
The terminal positioning method provided by the embodiment of the invention is characterized in that a GNSS pseudo range and a carrier phase observation value are respectively obtained through two receivers based on original GNSS data of a terminal, then a double-difference observation equation is formed by combining the original observation data of a GNSS reference station, double-difference carrier phase ambiguity in the double-difference observation equation is solved, a fixed solution of the double-difference carrier phase ambiguity is obtained in the resolving process, a fixed solution baseline vector is calculated, the double-difference carrier phase ambiguity is constrained based on distance information of a UWB (ultra Wide band) base station and the terminal to obtain an integer solution, the integer solution is the constrained fixed solution of the double-difference carrier phase ambiguity and is also the integer ambiguity of the double-difference carrier phase, and finally, RTK ambiguity resolution is assisted according to the integer solution and the fixed solution baseline vector to obtain high-precision positioning information. In an application scene with the UWB base station, the position of the UWB base station is generally known, and the terminal is also provided with a UWB chip, so that the terminal can accurately acquire distance information from the UWB base station without being influenced by signal shielding in a complex urban environment, and therefore, in the positioning process, the positioning accuracy and stability of an RTK carrier phase difference division technology under GNSS signals are improved by using resolution of the whole-cycle ambiguity of the UWB positioning auxiliary double-difference carrier phase.
In an embodiment, before the step S104, the method further includes:
carrying out cycle slip detection on the original observation data;
and if the cycle slip exists in the original observation data, re-initializing the double-difference chopper phase ambiguity.
In specific application, when the carrier phase observation value is used for resolving, the carrier phase observation value inevitably has a cycle slip phenomenon due to the low performance influence of a built-in GNSS antenna of the mobile phone, and the cycle slip needs to be detected in real time in order to obtain a reliable resolving result.
In practical application, a doppler cycle slip detection method can be adopted, so as to form a single difference observed value detection cycle slip, and the expression is as follows:
Figure BDA0002589972530000121
in the above formula
Figure BDA0002589972530000122
Is an inter-satellite difference cycle slip observed value,
Figure BDA0002589972530000123
is t2An inter-time-of-satellite difference carrier phase observation,
Figure BDA0002589972530000124
is t1An inter-time-of-satellite difference carrier phase observation,
Figure BDA0002589972530000125
is t2Time of day satellite difference doppler observations.
Due to the fact that observation time intervals are short and satellite changes are small, the method can effectively detect 2-week-jump. In the embodiment of the invention, the threshold value of the inter-satellite difference cycle slip observation value is set to be 1.8, if the threshold value is exceeded, the cycle slip is considered to occur, and the ambiguity parameter is reinitialized.
Example two
The embodiment of the present invention exemplarily shows that when the number of UWB base stations is 1 in the above steps S1051 to S1052, an integer solution of the double-difference carrier phase ambiguity is constrained to be obtained as a calculation process of a fixed solution of the double-difference carrier phase ambiguity.
In this embodiment of the present invention, when the number of the UWB base stations is 1, obtaining 1 distance information from a terminal to the UWB base station, and calculating an integer solution of the double-difference carrier phase ambiguity according to the 1 distance information, includes:
and constraining an integer solution of the double-difference carrier phase ambiguity according to the distance from the terminal to the UWB base station.
In a specific application, since the distance between the terminal and the UWB base station is known, an integer solution of double-difference carrier phase ambiguity can be selected by using the known UWB distance length constraint, and the calculation formula is as follows:
Figure BDA0002589972530000131
wherein ,
Figure BDA0002589972530000132
for terminal position information,/, i, an error range, x, and the known distance from the terminal to the UWB base stationBIs the UWB base station location.
EXAMPLE III
The embodiment of the present invention exemplarily shows that when the number of UWB base stations is 2 in the above steps S1051 to S1052, an integer solution of the double-difference carrier phase ambiguity is constrained to be obtained as a calculation process of a fixed solution of the double-difference carrier phase ambiguity.
In this embodiment of the present invention, when the number of the UWB base stations is 2, obtaining 2 pieces of distance information from a terminal to the UWB base station, and calculating an integer solution of the double-difference carrier phase ambiguity according to the 2 pieces of distance information, includes:
acquiring the distance from the terminal to the 1 st UWB base station and the distance from the terminal to the 2 nd UWB base station;
and obtaining an integer solution of the double-difference carrier phase ambiguity according to the distance from the terminal to the 1 st UWB base station and the distance minimum value constrained by the distance from the terminal to the 2 nd UWB base station.
In a specific application, since the distances between the terminal and the UWB base station are known, a corresponding ambiguity integer solution is obtained by using the distance minimum value constrained by two known distance lengths of the UWB, and the formula is as follows:
Figure BDA0002589972530000133
wherein ,
Figure BDA0002589972530000134
for terminal location information,/1Is the distance, l, from said terminal to the 1 st of said UWB base stations2Distance, x, from said terminal to 2 nd said UWB base stationB1Is the 1 st UWB base station location, xB1Is the 2 nd UWB base station location.
Example four
The embodiment of the present invention exemplarily shows that in the above steps S1051 to S1052, when the number of UWB base stations is more than 2, the integer solution of the double-difference carrier phase ambiguity is constrained to be obtained as the calculation process of the fixed solution of the double-difference carrier phase ambiguity.
In this embodiment of the present invention, when the number of the UWB base stations is greater than 2, acquiring N pieces of distance information from a terminal to the UWB base station, and calculating an integer solution of the double-difference carrier phase ambiguity according to the N pieces of distance information, includes:
and calculating the relative position information of the terminal relative to the N UWB base stations according to the N distance information, and obtaining an integer solution of the double-difference carrier phase ambiguity by utilizing the constraint of the relative position information.
In a specific application, when the number of the UWB base stations is greater than 2, the distance between the UWB base stations and the terminal can be obtained relative to the UMB base station, and an integer solution of double-difference carrier phase ambiguity is selected by using relative position information constraint, where the formula is:
Figure BDA0002589972530000141
wherein ,
Figure BDA0002589972530000142
for terminal position information, l is the error range, xUIs the relative position information of the terminal.
The embodiment of the present invention further provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, each step in the terminal positioning method as described in the first embodiment is implemented.
An embodiment of the present invention further provides a storage medium, where the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps in the terminal positioning method according to the first embodiment are implemented.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the foregoing embodiments illustrate the present invention in detail, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims (10)

1. A terminal positioning method is characterized by comprising the following steps:
acquiring original observation data sent by a GNSS reference station;
acquiring an original carrier phase and a GNSS pseudo range by a first receiver and a second receiver respectively based on local GNSS data;
according to the original carrier phase, the GNSS pseudo range and the original observation data, a double-difference observation equation based on a first receiver and a double-difference observation equation based on a second receiver are established;
linearizing the double-difference observation equation to obtain a position parameter of the first receiver and a position parameter of the second receiver;
estimating double-difference carrier phase ambiguities of a first receiver and a second receiver and parameters to be estimated of the first receiver and the second receiver in the double-difference observation equation, and resolving a floating solution of the double-difference carrier phase ambiguities and a variance covariance matrix thereof in real time; simultaneously resolving the double-difference carrier phase ambiguity to obtain a fixed solution of the double-difference carrier phase ambiguity;
calculating an ambiguity resolution result according to the floating solution of the double-difference carrier phase ambiguity, the fixed solution of the double-difference carrier phase ambiguity and the covariance matrix, and updating a fixed solution baseline vector corresponding to the ambiguity resolution result;
using the fixed solution of the double-difference carrier phase ambiguity and the fixed solution baseline vector to assist ambiguity resolution of RTK carrier phase differential positioning to obtain terminal position information;
wherein resolving the double-difference carrier phase ambiguity to obtain a fixed solution of the double-difference carrier phase ambiguity comprises:
acquiring N pieces of distance information from a terminal to a UWB base station, wherein N is a positive integer;
and obtaining an integer solution of the double-difference carrier phase ambiguity according to the N distance information constraints as a fixed solution of the double-difference carrier phase ambiguity.
2. The terminal positioning method according to claim 1, wherein when the number of the UWB base stations is 1, 1 distance information from the terminal to the UWB base station is obtained, and an integer solution of the double-difference carrier phase ambiguity is calculated based on the 1 distance information, comprising:
and constraining an integer solution of the double-difference carrier phase ambiguity according to the distance from the terminal to the UWB base station.
3. The terminal positioning method according to claim 2, wherein said constraining the integer solution of the double-differenced carrier-phase ambiguities according to the distance of the terminal from the UWB base station is calculated by the formula:
Figure FDA0002589972520000021
wherein ,
Figure FDA0002589972520000022
for terminal position information,/, i, an error range, x, and the known distance from the terminal to the UWB base stationBIs the UWB base station location.
4. The terminal positioning method according to claim 1, wherein when the number of the UWB base stations is 2, obtaining 2 pieces of distance information from the terminal to the UWB base station, and calculating an integer solution of the double-difference carrier phase ambiguity based on the 2 pieces of distance information, comprises:
acquiring the distance from the terminal to the 1 st UWB base station and the distance from the terminal to the 2 nd UWB base station;
and obtaining an integer solution of the double-difference carrier phase ambiguity according to the distance from the terminal to the 1 st UWB base station and the distance minimum value constrained by the distance from the terminal to the 2 nd UWB base station.
5. The terminal positioning method according to claim 4, wherein an integer solution of the double-difference carrier phase ambiguity is obtained according to the distance from the terminal to the 1 st UWB base station and the distance constrained minimum value of the distance from the terminal to the 2 nd UWB base station, and the calculation formula is:
Figure FDA0002589972520000023
wherein ,
Figure FDA0002589972520000024
for terminal location information,/1Is the distance, l, from said terminal to the 1 st of said UWB base stations2Distance, x, from said terminal to 2 nd said UWB base stationB1Is the 1 st UWB base station location, xB1Is the 2 nd UWB base station location.
6. The method as claimed in claim 1, wherein when the number of UWB base stations is greater than 2, obtaining N distance information from the terminal to the UWB base station, and calculating an integer solution of the double-difference carrier phase ambiguity based on the N distance information, comprises:
and calculating the relative position information of the terminal relative to the N UWB base stations according to the N distance information, and obtaining an integer solution of the double-difference carrier phase ambiguity by utilizing the constraint of the relative position information.
7. The method as claimed in claim 6, wherein said calculating the relative position information of the terminal according to the N distance information, obtaining an integer solution of the double-difference carrier phase ambiguity by using the relative position information constraint, and the calculation formula is:
Figure FDA0002589972520000031
wherein ,
Figure FDA0002589972520000032
for terminal position information, l is the error range, xUIs the relative position information of the terminal.
8. The method of claim 1, wherein the linearizing the double-difference observation equation before obtaining the position parameters for the first receiver and the position parameters for the second receiver, further comprises:
carrying out cycle slip detection on the original observation data;
and if the cycle slip exists in the original observation data, re-initializing the double-difference chopper phase ambiguity.
9. A terminal device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the terminal positioning method according to any one of claims 1 to 8 when executing the computer program.
10. A storage medium being a computer readable storage medium having a computer program stored thereon, wherein the computer program, when being executed by a processor, performs the steps of the terminal positioning method according to any of the claims 1 to 8.
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