CN117492054A - Global precision single point positioning method for supporting low orbit satellite enhancement by regional ground station - Google Patents
Global precision single point positioning method for supporting low orbit satellite enhancement by regional ground station Download PDFInfo
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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
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Abstract
The invention provides a global precise single-point positioning method, a device, electronic equipment and a medium for enhancing a low-orbit satellite supported by a regional ground station, which comprise the following steps: the signal transmitting station generates a navigation signal; the first signal observation station and the second signal observation station receive the navigation signals to generate observation data, and the observation data are sent to a data processing center; based on the data processing center, carrying out data calculation on the observed data to obtain an enhanced signal and transmitting the enhanced signal to a first signal observation station; the user side receives the navigation signal of the signal transmitting station and the enhancement signal of the first signal observing station, and performs positioning correction according to the navigation signal and the enhancement signal to obtain a positioning result. In summary, the invention compensates the shortages of overseas ground monitoring stations by taking the low-orbit satellite as the signal observation station, obtains products comprising high-precision navigation satellite orbit correction, clock correction and uncalibrated phase delay by resolving, broadcasts the products to users through the low-orbit satellite, and realizes the PPP ambiguity fixation of the user side in the global scope.
Description
Technical Field
The invention relates to the field of satellite navigation positioning, in particular to a global precise single-point positioning method, a global precise single-point positioning device, electronic equipment and a computer readable storage medium for supporting low-orbit satellites by regional ground stations.
Background
In the satellite navigation positioning field, the precise single point positioning technology (Precise Point Positioning, PPP) has been widely used in the global field due to its high positioning accuracy, simple operation and no limitation of distance. However, the technology needs longer convergence time to reach centimeter-level positioning accuracy, so that popularization and application of the technology are greatly limited. The advent of ambiguity fixing techniques has somewhat shortened convergence time to improve positioning accuracy, but requires a stable uncalibrated phase delay (Uncalibrated Phase Delay, UPD). Then, a precise dynamic Real-Time point positioning technology (Precise Point Positioning-Real-Time Kinematic, PPP-RTK) is developed on the basis, the technology relies on a denser reference station network, the cost is higher, and the positioning effect is reduced along with the increase of the distance between a user and the reference station. The satellite-based augmentation system can realize wide-area precise positioning by transmitting various correction information such as ephemeris error, satellite error, ionosphere delay and the like to a user through a geostationary orbit satellite, however, the satellite-based augmentation system uses pseudo-range observation data and has limited positioning precision. In addition, the problem that a large number of stations are difficult to build in overseas due to the Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS) is limited, and ground stations distributed in China can only obtain satellite observation data of partial arcs, so that the global full-time precise positioning requirement cannot be met.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a global precise single-point positioning method, apparatus, electronic device and computer readable storage medium for enhancing low-orbit satellites supported by regional ground stations, which are used for solving the technical problem that due to the insufficient construction of the ground stations, satellite observation data of partial arcs can only be obtained, so that full-period precise products cannot be obtained in the global scope, and precise single-point positioning cannot be realized in the global scope.
In order to solve the above problems, in one aspect, the present invention provides a global precise single-point positioning method for enhancing low-orbit satellites supported by regional ground stations, which is used for realizing global ambiguity fixation based on a global precise single-point positioning system, wherein the global precise single-point positioning system comprises a signal transmitting station, a first signal observing station, a second signal observing station, a data processing center and a user terminal, the signal transmitting station is a plurality of middle-high-orbit satellites, the first signal observing station is a plurality of low-orbit satellites, the second signal observing station is a plurality of ground monitoring stations, and the method comprises:
the signal transmitting station generates a navigation signal;
the first signal observation station and the second signal observation station receive the navigation signals to generate observation data, and the observation data are sent to a data processing center;
the data processing center performs data calculation on the observed data to obtain an enhanced signal and sends the enhanced signal to the first signal observation station;
the user side receives the navigation signal of the signal transmitting station and the enhancement signal of the first signal observing station, and performs positioning correction according to the navigation signal and the enhancement signal to obtain a positioning result.
Further, the first signal observation station and the second signal observation station receive the navigation signal to generate observation data, including:
the first signal observation station receives a navigation signal of the signal transmitting station based on the satellite end receiver, and processes the navigation signal to obtain a first pseudo-range and a first carrier phase observation value;
the second signal observation station receives the navigation signal of the signal transmitting station based on the ground terminal receiver, and processes the navigation signal to obtain a second pseudo-range and a second carrier phase observation value.
Further, the enhanced signal includes a satellite orbit correction, a clock correction, and an uncalibrated phase delay of the signal transmitting station, and the data processing center performs data calculation on the observed data to obtain the enhanced signal, including:
obtaining satellite orbit correction and clock correction of a signal transmitting station based on a dynamics method and least square batch processing according to the observed data;
constructing an ionosphere combined observation equation according to the observation data;
resolving an ionosphere combined observation equation to obtain floating ambiguity of the signal transmitting station;
and obtaining the uncalibrated phase delay of the signal transmitting station according to the floating ambiguity resolution of the signal transmitting station.
Further, the method for solving the ionosphere combined observation equation to obtain floating ambiguity of the signal transmitting station comprises the following steps:
and a dynamic precise single-point positioning strategy is adopted for the first signal observation station, a static precise single-point positioning strategy is adopted for the second signal observation station, an ionosphere combination observation equation is solved based on the dynamic precise single-point positioning strategy and the static precise single-point positioning strategy to obtain initial floating point ambiguity, and the initial floating point ambiguity is screened to obtain the floating point ambiguity.
Further, the calculating according to the floating ambiguity of the signal transmitting station to obtain the uncalibrated phase delay of the signal transmitting station includes:
determining non-differential ambiguity decimal values of each signal transmitting station and each signal receiving station according to the floating point ambiguity;
selecting an initial signal receiving station, defining an initial value of an uncalibrated phase delay of the initial signal receiving station, and sequentially calculating the initial value of the uncalibrated phase delay of each signal observation station and each signal transmitting station according to the small value of the non-difference ambiguity;
and adjusting the non-difference ambiguity decimal weight obtained by different signal observation stations based on a variance component estimation method to obtain the uncalibrated phase delay of each signal observation station.
Further, determining the non-differential ambiguity fraction value for each signal transmitting station and each signal receiving station based on the floating ambiguity comprises:
obtaining wide lane floating ambiguity of the floating ambiguity based on a MW combined observation value method;
rounding and fixing the wide lane floating ambiguity to obtain the whole-cycle wide lane ambiguity;
obtaining a narrow lane floating ambiguity of the floating ambiguity according to the floating ambiguity and the whole-cycle wide lane ambiguity;
determining the whole-week narrow-lane ambiguity based on an LAMBDA method;
and determining the non-differential ambiguity decimal value according to the wide lane floating ambiguity, the whole-cycle wide lane ambiguity, the narrow lane floating ambiguity and the whole-cycle narrow lane ambiguity.
Further, performing positioning correction according to the navigation signal and the enhancement signal to obtain a positioning result, including:
the user obtains the preliminary floating point ambiguity by resolving according to the navigation signal;
resolving the preliminary floating ambiguity to obtain a wide-lane ambiguity and a narrow-lane ambiguity, and recovering integer characteristics of the wide-lane ambiguity and the narrow-lane ambiguity based on an uncalibrated phase delay;
and searching, fixing and checking the narrow-lane ambiguity based on the LAMBDA algorithm, and updating the user coordinate fixing solution according to the fixed narrow-lane ambiguity to obtain a positioning result.
In another aspect, the present invention provides a global precise single point positioning device for supporting low-orbit satellite enhancement by an area ground station, comprising:
a signal transmitting unit for generating a navigation signal based on the signal transmitting station;
the observation data generating unit is used for generating observation data based on the navigation signals received by the first signal observation station and the second signal observation station and sending the observation data to the data processing center;
the data resolving unit is used for resolving data of the observed data based on the data processing center to obtain an enhanced signal and transmitting the enhanced signal to the first signal observation station;
and the positioning correction unit is used for carrying out positioning correction according to the navigation signal and the enhancement signal to obtain a positioning result based on the navigation signal of the user-received signal transmitting station and the enhancement signal of the first signal observation station.
In another aspect, the invention also provides an electronic device comprising a memory and a processor, wherein,
a memory for storing a computer program;
a processor coupled to the memory for executing a computer program to perform the steps of the global positioning system for low orbit satellite-enhanced global positioning system for regional ground stations of any of the above.
In another aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps in the global positioning system for low orbit satellite based augmentation of regional ground station support of any one of the above.
Compared with the prior art, the beneficial effects of adopting the embodiment are as follows: according to the invention, the low-orbit satellite is used as a first signal observation station to solve the problem of insufficient overseas ground monitoring stations, and a data processing center is used for data calculation to obtain high-precision navigation satellite orbit correction, clock correction and uncalibrated phase delay products, and the low-orbit satellite is used for broadcasting to users, so that PPP ambiguity fixation of the user side in the global range is realized.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being evident that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of one embodiment of a global positioning system for low-orbit satellite-supported low-orbit satellite-based satellite based positioning method according to the present invention;
FIG. 2 is a signaling diagram of a regional ground station supporting low-rail enhanced PPP ambiguity fixing in accordance with one embodiment of the present invention;
FIG. 3 is a flow chart of an uncalibrated phase delay solution according to one embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating one embodiment of a global positioning system with enhanced low-earth orbit satellite supported by an area ground station according to the present invention;
fig. 5 is a schematic structural diagram of an embodiment of an electronic device provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the drawings of the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present invention. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor systems and/or microcontroller systems.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
FIG. 1 is a schematic flow chart of an embodiment of a global precise single point positioning method for supporting low-earth satellites by an area ground station according to the present invention, as shown in FIG. 1, the global precise single point positioning method for supporting low-earth satellites by an area ground station includes:
s101, a signal transmitting station generates a navigation signal;
s102, the first signal observation station and the second signal observation station receive navigation signals to generate observation data, and the observation data are sent to a data processing center;
s103, the data processing center performs data calculation on the observed data to obtain an enhanced signal and sends the enhanced signal to the first signal observation station;
s104, the user side receives the navigation signal of the signal transmitting station and the enhancement signal of the first signal observation station, and performs positioning correction according to the navigation signal and the enhancement signal to obtain a positioning result.
Specifically, fig. 2 is a schematic signaling diagram of an area ground station supporting low-orbit enhanced PPP ambiguity fixing according to an embodiment of the invention. As shown in fig. 2, in the global navigation positioning method for supporting low-orbit satellites (Low orbit satellite, LEO) by using the regional ground stations, the problem of shortage of overseas ground monitoring stations is solved by using the low-orbit satellites as first signal observation stations, high-precision navigation satellite orbit corrections, clock correction and uncalibrated phase delay products are obtained by data calculation of a data processing center, and the low-orbit satellites are used for broadcasting to users to realize the PPP ambiguity fixation of the user side in the global scope.
In a specific embodiment of the present invention, the first signal observation station and the second signal observation station receive navigation signals to generate observation data, including:
the first signal observation station receives a navigation signal of the signal transmitting station based on the satellite end receiver, and processes the navigation signal to obtain a first pseudo-range and a first carrier phase observation value;
the second signal observation station receives the navigation signal of the signal transmitting station based on the ground terminal receiver, and processes the navigation signal to obtain a second pseudo-range and a second carrier phase observation value.
Specifically, the observation data includes pseudorange and carrier phase observations from high and medium orbit satellites received by the low orbit satellite, and pseudorange and carrier phase observations from high and medium orbit satellites received by the ground monitoring station, which in the embodiment are obtained by observing navigation signals of the high and medium orbit satellites by the onboard receiver. Compared with the prior art, the low-orbit satellite is used as the supplement of the ground monitoring station, so that the problem of poor satellite orbit clock error product precision caused by the shortage of the ground monitoring station is solved.
In a specific embodiment of the present invention, the enhanced signal includes a satellite orbit correction, a clock correction, and an uncalibrated phase delay of the signal transmitting station, and the data processing center performs data calculation on the observed data to obtain the enhanced signal, including:
obtaining satellite orbit correction and clock correction of a signal transmitting station based on a dynamics method and least square batch processing according to the observed data;
constructing an ionosphere combined observation equation according to the observation data;
resolving an ionosphere combined observation equation to obtain floating ambiguity of the signal transmitting station;
and obtaining the uncalibrated phase delay of the signal transmitting station according to the floating ambiguity resolution of the signal transmitting station.
Specifically, in the embodiment, after the signal observation station obtains the observation signal, the observation signal is forwarded to the data processing center for data calculation, and clock correction, orbit correction and uncalibrated phase delay products of the high orbit satellite in the BDS are generated. The BDS satellite orbit correction and the clock correction are estimated through a dynamics method and least square batch processing, and the uncalibrated phase delay is obtained through the solution method provided by the invention. FIG. 3 is a flowchart illustrating the calculation of the uncalibrated phase delay according to one embodiment of the present invention, as shown in FIG. 3, the steps of calculating the uncalibrated phase delay are as follows:
firstly, constructing an ionosphere combined observation equation according to observation data:
wherein,and->Respectively represent the high orbit navigation satellite +.>Is>Pseudo-range and phase ionosphere combined observations between; />And->Respectively represent low-orbit satellites in meters +.>And high-orbit navigation satellite in BDS +.>Pseudo-range and phase ionosphere combined observations between; />Representing ground monitoring station->And BDS middle-high orbit navigation satellite +.>Is a geometric distance of (2); />Representing low orbit satellite->And high-orbit navigation satellite in BDS +.>Is a geometric distance of (2); />For the speed of light->Representing receiver clock differences that absorb the pseudo-range hardware delays of the ground monitoring station; />Receiver clock error, indicative of absorbed low-orbit satellite pseudorange hardware delay, +.>Representing the satellite clock difference absorbing the hardware delay of the middle-high orbit navigation satellite; />Is a tropospheric delay; />For wavelength, < >>And->Representing floating ambiguity including hardware delay; />And->Representing pseudorange observation noise +.>And->Representing phase observation noise.
In a specific embodiment of the present invention, resolving the ionosphere combined observation equation to obtain floating ambiguity of the signal transmitting station includes:
and a dynamic precise single-point positioning strategy is adopted for the first signal observation station, a static precise single-point positioning strategy is adopted for the second signal observation station, an ionosphere combination observation equation is solved based on the dynamic precise single-point positioning strategy and the static precise single-point positioning strategy to obtain initial floating point ambiguity, and the initial floating point ambiguity is screened to obtain the floating point ambiguity.
Specifically, as shown in fig. 3, different strategies are used in resolving floating ambiguity, taking into account the different states of the signal observation station. Monitoring the groundStation, adopting static PPP strategy, measuring station coordinate fixed or as constant estimation; and (3) for the low orbit satellite, adopting a dynamic PPP strategy, taking satellite coordinates as white noise estimation, setting screening conditions after resolving floating ambiguity of the medium and high orbit satellites, and reserving the floating ambiguity meeting the conditions to carry out uncalibrated phase delay resolving. The screening conditions are as follows: when the satellite is lifted from a low altitude angle to a high altitude angle, the observation time is required to be longer thanMinute and height angle greater than +.>The method comprises the steps of carrying out a first treatment on the surface of the When the satellite is lowered from a high altitude to a low altitude, the observation time is required to be greater than +.>Minute>And->And is determined in connection with the specific embodiment.
In a specific embodiment of the present invention, the uncalibrated phase delay of the signal transmitting station is obtained according to the floating ambiguity resolution of the signal transmitting station, including:
determining non-differential ambiguity decimal values of each signal transmitting station and each signal receiving station according to the floating point ambiguity;
selecting an initial signal receiving station, defining an initial value of an uncalibrated phase delay of the initial signal receiving station, and sequentially calculating the initial value of the uncalibrated phase delay of each signal observation station and each signal transmitting station according to the small value of the non-difference ambiguity;
and adjusting the non-difference ambiguity decimal weight obtained by different signal observation stations based on a variance component estimation method to obtain the uncalibrated phase delay of each signal observation station.
In a specific embodiment of the present invention, determining the non-differential ambiguity decimal values for each signal transmitting station and each signal receiving station based on the floating point ambiguities comprises:
obtaining wide lane floating ambiguity of the floating ambiguity based on a MW combined observation value method;
rounding and fixing the wide lane floating ambiguity to obtain the whole-cycle wide lane ambiguity;
obtaining a narrow lane floating ambiguity of the floating ambiguity according to the floating ambiguity and the whole-cycle wide lane ambiguity;
determining the whole-week narrow-lane ambiguity based on an LAMBDA method;
and determining the non-differential ambiguity decimal value according to the wide lane floating ambiguity, the whole-cycle wide lane ambiguity, the narrow lane floating ambiguity and the whole-cycle narrow lane ambiguity.
In particular, as shown in FIG. 2, during the resolving process, ionosphere floating ambiguity is resolvedCan be expressed as wide lane floating ambiguity +.>And narrow lane floating ambiguity +.>Is a combination of (a):
wherein,and->Representing the frequency of the carrier wave, ">And->Indicating satellite->Is>And->Frequency floating ambiguity.
Wherein the floating point widelane ambiguity is determined by a MW (Melbourne-Wubeena combination, MW combination) combined observation methodThe floating point widelane ambiguity is further rounded off by rounding>Fix to whole cycle wide lane ambiguity->Then the calculated floating ambiguity of the ionosphere is added>And whole cycle widelane ambiguity->Substituting to obtain the narrow lane floating point ambiguity:
then the narrow lane ambiguity around the whole week can be obtained by searching by adopting the classical LAMBDA methodSatellite of signal transmitting station>And signal observation station receiving terminal->Non-differential wide-lane and narrow-lane ambiguity fraction parts of (2)Expressed as:
wherein,for floating ambiguity, +.>Is integer ambiguity +.>For the receiving end->Is not calibrated for phase delay; />For satellite terminal->Is not calibrated for phase delay.
The non-differential ambiguity fraction part can be uniformly expressed as:
then, the embodiment can assume that L ground monitoring stations and P low-orbit satellites observe m middle-high-orbit satellites in total, and the simultaneous equations can be expressed as:
wherein,indicating station->Decimal part of non-differential ambiguity, +.>And->Indicating that the ground monitoring station and the low-orbit satellite receiver end are not calibrated for phase delay, +.>Indicating an uncalibrated phase delay at the medium-high orbit satellite side,/->Indicating station->The coefficient matrix of the phase delay is not calibrated at the receiver, wherein only one column of elements is 1, and the other elements are 0,>and a coefficient matrix for indicating the uncalibrated phase delay of the medium-high orbit satellite end, wherein only one element of each row is-1, and the other elements are 0.
Optionally selecting one measuring station as an initial signal receiving station, setting an initial value 0 as a reference for the uncalibrated phase delay of the initial signal receiving station, fixing all the uncalibrated floating ambiguity of the measuring station as the nearest integer, substituting the uncalibrated phase delay of the satellite end in the measuring station as a known value into the common view satellite of the adjacent measuring station, eliminating the uncalibrated phase delay of the common view satellite of the measuring station, fixing the uncalibrated floating ambiguity of the measuring station as the nearest integer, and the rest fraction being the uncalibrated phase delay of the receiver end. Repeating the operation yields an approximation of the uncalibrated phase delays at all receiver and satellite ends, which can be expressed as:
the written error equation is:
wherein the method comprises the steps ofA coefficient matrix representing uncalibrated phase delays; />An actual observation representing a non-differential ambiguity fraction; />Indicating an uncalibrated phase delay initial value; />Representation->The final uncalibrated phase delay result is +.>Andand (3) summing.
In addition, the ambiguity resolution varies due to the difference in ground monitoring station and low-orbit satellite observation conditions and data quality, and therefore the ambiguity weight, i.e., the ambiguity fraction F weight, needs to be considered when estimating the uncalibrated phase delay using the least squares method.
In the embodiment, the weight of the ambiguity fraction is calculated by a variance component estimation method, the initial weight is set as a unit array, and the least square adjustment is performed to obtainVariance component estimation is then performed as follows:
wherein:
wherein,，/>the number of observation equations representing the ground monitoring station and the low-orbit satellite is 1 representing the ground monitoring station, 2 representing the low-orbit satellite, and +.>Is a normal equation matrix.
Inverse solution to matrixAnd->：
Readjusting the weight matrix:
wherein,is a constant, usually +.>Is a certain value in the above table.
Finally repeating the above steps untilAnd obtaining a weight matrix.
Compared with the prior art, in the process of resolving the uncalibrated phase delay, the embodiment of the invention comprehensively utilizes the observation data obtained by the first signal observation station formed by a plurality of low-orbit satellites and the second signal observation station formed by a plurality of ground monitoring stations to resolve, adopts a least square estimation method to resolve the uncalibrated phase delay of the signal transmitting station, and adjusts the weight based on a variance component estimation method to achieve the uncalibrated phase delay resolving of the medium-orbit satellite and the high-orbit satellite.
In a specific embodiment of the present invention, performing positioning correction according to a navigation signal and an enhancement signal to obtain a positioning result, including:
the user obtains the preliminary floating point ambiguity by resolving according to the navigation signal;
resolving the preliminary floating ambiguity to obtain a wide-lane ambiguity and a narrow-lane ambiguity, and recovering integer characteristics of the wide-lane ambiguity and the narrow-lane ambiguity based on an uncalibrated phase delay;
and searching, fixing and checking the narrow-lane ambiguity based on the LAMBDA algorithm, and updating the user coordinate fixing solution according to the fixed narrow-lane ambiguity to obtain a positioning result.
Specifically, at the user end, the PPP ambiguity is fixed by receiving the navigation signal of the signal transmitting station and the enhanced signal forwarded by the first signal observation station, i.e. the low-orbit satellite.
Firstly, a user terminal receives a navigation signal of a signal transmitting terminal and initially calculates to obtain initial floating point ambiguity;
then the primary floating ambiguity of the ionosphere obtained by the user side is also usedResolution into widelane ambiguitiesAnd narrow lane ambiguity->：
In the above-mentioned method, the step of,the MW combined observation value method is adopted and epoch smoothing is carried out, wherein the wide lane uncalibrated phase delay of the receiver end is eliminated by using an inter-satellite single difference mode, the wide lane uncalibrated phase delay of the medium-high orbit satellite end is directly corrected by using a wide lane uncalibrated phase delay product broadcast by a low-orbit satellite, and the correction formula is as follows:
wherein the method comprises the steps ofRepresenting the target satellite->Representing reference satellite->Indicating satellite->Is not calibrated for phase delay in the wide lane of (c),indicating satellite->Is wide in lane(s)The phase delay is not calibrated.
Then the ambiguity is rounded and fixed, and the single difference between stars is utilized to eliminate the floating ambiguity of the ionosphereAnd post-fix inter-satellite single difference widelane ambiguity +.>Resolving single-difference narrow lane floating ambiguity +.>The calculation formula is as follows:
wherein,representing the target satellite->Representing a reference satellite.
The obtained narrow lane floating ambiguity of single difference between starsIncludes only satellite-side narrow-lane misalignment phase delays, thus utilizing +.>And->Correcting the difference value of the uncalibrated phase delay products of the narrow lanes of the two satellites, wherein the correction formula is as follows:
wherein,indicating satellite->Is not calibrated phase delay, +.>Indicating satellite->Is not calibrated for phase delay.
Finally, searching, fixing and checking the narrow-lane ambiguity based on LAMBDA algorithm, and utilizing the fixed narrow-lane ambiguityAnd constructing a virtual observation value constraint ionosphere ambiguity floating solution, and updating a fixed solution of a combined PPP of the ionosphere to obtain a positioning result.
In summary, the invention uses the low-orbit satellite as the first signal observation station to make up the shortage of overseas ground monitoring stations by utilizing the characteristics of large number of low-orbit satellites, low orbit, high operation speed, strong global coverage and high ground signal intensity, and calculates the Beidou satellite clock correction, orbit correction and uncalibrated phase delay products in real time by the data processing center data, and broadcasts the products to users by the low-orbit satellite, thereby realizing the PPP ambiguity fixation of the user side in the global scope.
Based on the method for obtaining the global precise single-point positioning enhanced by the low-orbit satellite supported by the regional ground station, the invention also provides a global precise single-point positioning device 400 enhanced by the low-orbit satellite supported by the regional ground station, as shown in fig. 4, which comprises the following steps:
a signal transmitting unit 401 for generating a navigation signal based on the signal transmitting station;
an observation data generating unit 402 configured to generate observation data based on the navigation signals received by the first signal observation station and the second signal observation station, and transmit the observation data to the data processing center;
a data resolving unit 403, configured to perform data resolving on the observation data based on the data processing center to obtain an enhanced signal, and send the enhanced signal to the first signal observation station;
and the positioning correction unit 404 is configured to perform positioning correction according to the navigation signal and the enhancement signal based on the navigation signal received by the user terminal from the signal transmitting station and the enhancement signal from the first signal observation station, so as to obtain a positioning result.
The global precise single-point positioning device 400 for supporting low-orbit satellite enhancement by the regional ground station provided in the above embodiment can implement the technical scheme in the global precise single-point positioning method embodiment for supporting low-orbit satellite enhancement by the regional ground station, and the specific implementation principle of each module or unit can be referred to the corresponding content in the global precise single-point positioning method embodiment for supporting low-orbit satellite enhancement by the regional ground station, which is not described herein again.
The present invention also provides an electronic device 500, as shown in fig. 5, fig. 5 is a schematic structural diagram of an embodiment of the electronic device provided by the present invention, where the electronic device 500 includes a processor 501, a memory 502, and a computer program stored in the memory 502 and capable of running on the processor 501, and when the processor 501 executes the program, the above-mentioned global precise single point positioning method for low-orbit satellite enhancement under regional ground station support is implemented.
The electronic device also includes a display 503 for displaying the process of the global positioning system for low orbit satellite based augmentation by the regional ground station performed by the processor 501.
The processor 501 may be an integrated circuit chip, and has signal processing capability. The processor 501 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC). The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may also be a microprocessor or the processor may be any conventional processor or the like.
The Memory 502 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a Secure Digital (SD Card), a Flash Card (Flash Card), etc. The memory 502 is configured to store a program, and the processor 501 executes the program after receiving an execution instruction, and the method for defining a flow disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 501 or implemented by the processor 501.
The display 503 may be an LED display, a liquid crystal display, a touch display, or the like. The display 503 is used to display various information on the electronic device 500.
It is to be understood that the configuration shown in fig. 5 is merely a schematic diagram of one configuration of the electronic device 500, and that the electronic device 500 may also include more or fewer components than those shown in fig. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the program is executed by a processor, the global precise single point positioning method for supporting low-orbit satellite by the regional ground station is realized.
In general, the computer instructions for carrying out the methods of the present invention may be carried in any combination of one or more computer-readable storage media. The non-transitory computer-readable storage medium may include any computer-readable medium, except the signal itself in temporary propagation.
The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a regional ground station supports global precision single-point positioning method of low orbit satellite reinforcing, its characterized in that is used for realizing global range ambiguity fixed based on global precision single-point positioning system, global precision single-point positioning system includes signal transmitting station, first signal observation station, second signal observation station, data processing center and user terminal, and wherein signal transmitting station is a plurality of middle-high orbit satellites, and first signal observation station is a plurality of low orbit satellites, and the second signal observation station is a plurality of ground monitoring stations, the method includes:
the signal transmitting station generates a navigation signal;
the first signal observation station and the second signal observation station receive the navigation signals to generate observation data, and the observation data are sent to a data processing center;
the data processing center performs data calculation on the observed data to obtain an enhanced signal and sends the enhanced signal to the first signal observation station;
and the user side receives the navigation signal of the signal transmitting station and the enhancement signal of the first signal observing station, and performs positioning correction according to the navigation signal and the enhancement signal to obtain a positioning result.
2. The global positioning system for a low-orbit satellite based enhanced satellite based precise point location method according to claim 1, wherein said first signal observation station and said second signal observation station receiving said navigation signal to generate observation data comprises:
the first signal observation station receives a navigation signal of the signal transmitting station based on the satellite end receiver, and processes the navigation signal to obtain a first pseudo-range and a first carrier phase observation value;
the second signal observation station receives the navigation signal of the signal transmitting station based on the ground terminal receiver, and processes the navigation signal to obtain a second pseudo-range and a second carrier phase observation value.
3. The global precise single point positioning method of low-orbit satellite based on regional ground station support according to claim 1, wherein the enhanced signal comprises a satellite orbit correction, a clock correction of a signal transmitting station and an uncalibrated phase delay of the signal transmitting station, and the data processing center performs data calculation on the observed data to obtain the enhanced signal, comprising:
obtaining satellite orbit correction and clock correction of a signal transmitting station based on a dynamics method and least square batch processing according to the observed data;
constructing an ionosphere combined observation equation according to the observation data;
resolving the ionosphere combination observation equation to obtain floating ambiguity of a signal transmitting station;
and obtaining the uncalibrated phase delay of the signal transmitting station according to the floating ambiguity resolution of the signal transmitting station.
4. The global precise single point positioning method of low-orbit satellite supported low-orbit satellite according to claim 3, wherein said solving said ionosphere combined observation equation to obtain floating ambiguity of the signal transmitting station comprises:
and a dynamic precise single-point positioning strategy is adopted for the first signal observation station, a static precise single-point positioning strategy is adopted for the second signal observation station, the ionosphere combination observation equation is solved based on the dynamic precise single-point positioning strategy and the static precise single-point positioning strategy to obtain initial floating point ambiguity, and the initial floating point ambiguity is screened to obtain floating point ambiguity.
5. The global precise single point positioning method of claim 3, wherein said calculating an uncalibrated phase delay of a signal transmitting station based on a floating ambiguity resolution of said signal transmitting station comprises:
determining non-differential ambiguity decimal values of each signal transmitting station and each signal receiving station according to the floating ambiguity;
selecting an initial signal receiving station, defining an initial value of an uncalibrated phase delay of the initial signal receiving station, and sequentially calculating each signal observation station and each signal transmitting station according to the small value of the non-differential ambiguity to obtain initial values of uncalibrated phase delays of each signal observation station and each signal transmitting station;
and adjusting the non-difference ambiguity decimal weight obtained by different signal observation stations based on a variance component estimation method to obtain the uncalibrated phase delay of each signal observation station.
6. The global positioning system for low-orbit satellite based on regional ground station support according to claim 5, wherein said determining the non-differential ambiguity fraction for each signal transmitting station and each signal receiving station based on said floating ambiguity comprises:
obtaining wide lane floating ambiguity of the floating ambiguity based on a MW combined observation value method;
rounding and fixing the wide lane floating ambiguity to obtain whole-cycle wide lane ambiguity;
obtaining narrow lane floating ambiguity of the floating ambiguity according to the floating ambiguity and the whole-cycle wide lane ambiguity;
determining the whole-week narrow-lane ambiguity based on an LAMBDA method;
and determining a non-differential ambiguity decimal value according to the wide lane floating ambiguity, the whole-cycle wide lane ambiguity, the narrow lane floating ambiguity and the whole-cycle narrow lane ambiguity.
7. The global positioning system for low-orbit satellite based on claim 3, wherein said performing positioning correction based on said navigation signal and said augmentation signal to obtain a positioning result comprises:
the user obtains the preliminary floating point ambiguity by resolving according to the navigation signal;
resolving the preliminary floating ambiguity to obtain a widelane ambiguity and a narrow elane ambiguity, and recovering integer characteristics of the widelane ambiguity and the narrow elane ambiguity based on the uncalibrated phase delay;
and searching, fixing and checking the narrow-lane ambiguity based on the LAMBDA algorithm, and updating a user coordinate fixing solution according to the fixed narrow-lane ambiguity to obtain a positioning result.
8. A global precision single point positioning device enhanced by regional ground stations supporting low-orbit satellites, comprising:
a signal transmitting unit for generating a navigation signal based on the signal transmitting station;
the observation data generating unit is used for generating observation data based on the navigation signals received by the first signal observation station and the second signal observation station and sending the observation data to the data processing center;
the data resolving unit is used for resolving the observed data based on the data processing center to obtain an enhanced signal and transmitting the enhanced signal to the first signal observation station;
and the positioning correction unit is used for carrying out positioning correction according to the navigation signal and the enhancement signal of the first signal observation station based on the navigation signal of the user-received signal transmitting station and the enhancement signal of the first signal observation station, so as to obtain a positioning result.
9. An electronic device comprising a memory and a processor, wherein,
the memory is used for storing a computer program;
the processor, coupled to the memory, for executing a computer program to perform the steps of the global positioning system for low-earth satellite enhanced global positioning method supported by the regional ground station of any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the global positioning system for low-earth satellite enhanced satellite positioning method of any of claims 1 to 7.
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