CN101149428A - Quick satellite selection method for combined satellite navigation system - Google Patents
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Abstract
This invention provides a quick satellites choosing method for together fitted satellites system. It chooses satellites indirectly in this way: first, confirm the number of satellites in need. Then calculate the quadrant elevation and azimuth angle of visible satellites, set them to different parts and choose a group of satellites which has a medium quadrant elevation. Disposal the azimuth angle of the choosing satellites, combine the quadrant elevation information to remove some improper satellites. This satellite choosing method is quick, convenience and needs less calculation than the traditional one. Even it is not as precise as before, but it makes the navigational computer working more easily and guarantee the precision of together fitted navigation.
Description
Technical Field
The invention belongs to the field of satellite navigation, and particularly relates to a satellite selection method of a combined satellite navigation system.
Background
With the implementation of the central european GALILEO program, satellite navigation will shift from the GPS era to the GNSS (global navigation satellite system) era, because GNSS has the advantages of high precision, global coverage, all weather, and the like, and thus, in the situation of coexistence of multiple systems of GPS, GALILEO and other systems (such as GLONASS, BD, and the like), combined navigation of multiple satellite navigation systems will become a necessary trend. When a multi-satellite navigation system is combined for navigation, the number of visible satellites is greatly increased, the positioning accuracy and the reliability of the system are greatly improved, but the calculation amount of navigation positioning is multiplied, and the requirement on the speed of a processor of a user receiver in engineering is improved, so that the burden of the user receiver is increased, and the cost of the user receiver is increased.
In order to solve the above problems, the star selection is very important. The traditional star selection method has an optimal geometric precision factor method and a maximum volume method.
The optimal geometric accuracy factor is also called as an optimal satellite selection method, and m (m < N) satellites with the best distribution are selected from N observable satellites with the elevation angles larger than the shielding angle, namely, the GDOP values corresponding to various possible combinations are calculated by the traversal method, and the group with the minimum GDOP value is selected as the optimal selection result.
Due to the need to carry out C N m The calculation of the secondary GDOP value and the multiplication and inversion of the matrix are involved in each calculation of the GDOP value, so although the best positioning accuracy of the method of selecting the satellite is the best, the calculation amount is too large, and the time is too long.
The maximum volume method is also called the quasi-optimal star selection method. The method is obtained by the evolution of a minimum GDOP method, but does not need the inversion operation of a matrix, thereby reducing the navigation calculation amount, but is a simplified algorithm suitable for satellite selection when fewer navigation satellites exist, generally taking 4 satellites as an example:
wherein the content of the first and second substances,
wherein the content of the first and second substances,
respectively 4 unit vectors from satellite to user, and V is a tetrahedron s formed by the end points of the unit vectors from 4 satellites to user 1 s 2 s 3 s 4 Volume, so:
order to
From the formula (3), the GDOP value and the tetrahedron s 1 s 2 s 3 s 4 Is inversely proportional, while V and a are both functions of the unit vector from satellite to user, and when V is changed by changing the visible star, the change in a is very slight and can be considered to be
Therefore, the method of calculating the tetrahedral volume V is usually used as a basis for selecting the star instead of directly calculating the GDOP.
When the four systems of GPS, GALILEO, GLONASS and BD2 are combined for navigation, the shielding angle is set to be 5 degrees, the number of visible stars is increased to be more than 30, and because space-time unification is needed during the navigation of the combined system, the state variable is increased from 4 dimensions to 7 dimensions, and at least 7 optimal stars are needed to be selected for positioning. Optimal geometric form factor method requires C 30 m (m is more than or equal to 7) times of GDOP operation, and the calculated amount is too large. The maximum volume method is due to the large number of satellites involved, the difficulty and difficulty in calculating the volumeThe quantity is also large, the satellite selection speed is slow, and the satellite selection of the combined system is difficult to realize by using the traditional satellite selection method.
Disclosure of Invention
The invention aims to provide a simple and easy rapid satellite selection method, which is used for selecting visible satellites with better distribution from a plurality of satellite navigation systems, so that the calculation amount of positioning calculation is effectively reduced by sacrificing less positioning precision, and rapid satellite selection is realized.
The quick satellite selection method of the combined satellite navigation system is based on the traditional satellite selection method, carries out layering, sequencing and difference making on the elevation angle and the azimuth angle of the visible satellites in the selected satellite navigation system, removes a part of visible satellites according to the distribution rule of the excluded satellites, indirectly obtains the positioning satellite to be selected, and realizes indirect satellite selection. The method is realized by the following steps:
1. and determining the number of the positioning satellites required to be selected according to the positioning accuracy requirement of the combined satellite navigation system.
2. And calculating the elevation angle and the azimuth angle of the visible stars in the combined satellite navigation system, dividing the elevation angle of the visible stars into three areas, namely a low elevation angle, a medium elevation angle and a high elevation angle, selecting the visible stars with the medium elevation angle, and determining the ratio of the number of the visible stars with the high elevation angle and the low elevation angle.
3. And (3) ordering and subtracting the azimuth angles of the visible stars with the middle elevation angle selected in the step (2), and then removing part of the visible stars in the middle elevation angle area by combining the number ratio of the visible stars with the high elevation angle and the low elevation angle, thereby realizing indirect selection of the positioning satellite.
The method provided by the invention has the following advantages:
1. the method adopts an indirect satellite selection method to realize satellite selection, effectively solves the problem of large calculation amount of the traditional satellite selection method, and can realize simple and quick satellite selection.
2. The method effectively reduces the navigation computation amount by sacrificing less positioning accuracy, reduces the burden of a navigation computer, and also ensures the advantage of high accuracy of combined navigation.
3. The method is suitable for navigation and positioning of various combined satellite navigation systems in the global range.
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FIG. 1 is a flow chart of a method for fast satellite selection for an integrated satellite navigation system;
fig. 2 is a view of the azimuth and elevation angles of visible satellites in the beijing area when t =12 h.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific embodiments.
The invention provides a quick satellite selection method of a combined satellite navigation system, the flow of the method is shown in figure 1, and the method is specifically realized by the following steps:
step 1: and determining the number m of the needed positioning satellites according to the positioning accuracy requirement of the combined satellite navigation system. All satellites in the selected system are numbered first to obtain the numbers of visible stars in the system satellites, and each visible star is distinguished according to the respective number. Let K be the total number of visible stars in the combined system at this time. Under the condition of determining the ranging error, the GDOP value reflects the size of the positioning accuracy, i.e. the smaller the GDOP value, the higher the positioning accuracy. The relation between the change delta GDOP of the GDOP values before and after satellite selection and the number m of the selected positioning satellites can be obtained by adopting a traversal method, and is shown in a table 1:
TABLE 1 relationship of Δ GDOP to the number of selected positioning satellites m
| ΔGDOP | m/ |
| 5％＜ΔGDOP＜8％ 8％＜ΔGDOP＜15％ 15％＜ΔGDOP＜30％ | 4/5 3/4 2/3 |
Compared with single system positioning, the combined system positioning has the outstanding advantages of high positioning precision and smaller GDOP value. In order to ensure the advantage of high positioning accuracy of the combined system, the number of the selected positioning satellites cannot be too small, the rapid satellite selection method provided by the invention is suitable for the condition that the number of the selected positioning satellites is not less than 60% of visible satellites, and in the range, the relation between delta GDOP and the number m of the selected positioning satellites is given in table 1. According to the data provided in table 1, m/K is an empirical value, and a user can reasonably fine-tune the m/K value according to the GDOP value after satellite selection, obtain Δ GDOP within a certain allowable range after several fine-tuning experiments, and obtain the optimal m/K value meeting the requirement of positioning accuracy, namely the required number of positioning satellites.
Step 2: and calculating the elevation angle and the azimuth angle of the visible stars in the combined satellite navigation system, dividing the visible star elevation angle into three areas of a low elevation angle, a medium elevation angle and a high elevation angle, selecting the visible star with the medium elevation angle, and determining the ratio of the number of the visible stars with the high elevation angle and the low elevation angle.
The position of a visible star of the system under the horizontal coordinate system of the user is set as (x) L ，y L ，z L ) Then, then
Visible star elevation:
visible star azimuth:
observation matrix of combined system:
wherein H S 'is the first 3 columns of the user' S navigation satellite observation matrix with the S-th system.
H Si ′＝(e ix e iy e iz )＝(cos EL i sin A i cos EL i cos A i sin E i ) (7)
S is the system number of the combined system, S =1,2 \8230; i (i =1,2 \8230; k) is the number of visible stars per system.
The elevation angle and the azimuth angle of the system visible star can be obtained by substituting the position coordinates of the system visible star into the formula (4) and the formula (5), the matrixes shown by the formula (6) and the formula (7) are only related to the elevation angle and the azimuth angle of the system visible star, and the geometric precision factor GDOP of the combined system can be calculated by substituting the formula (6) and the formula (7) into the formula (1), and the visible GDOP is only related to the elevation angle and the azimuth angle of the visible star. The satellite selection method provided by the invention selects the satellites by judging and screening the elevation angle and the azimuth angle of the visible satellites without performing a large amount of ergodic calculation on the GDOP value of the traditional satellite selection method, thereby effectively shortening the satellite selection time.
Because the number of the positioning satellites obtained in the step 1 is large (namely, the m value is large) and the number value of the excluded satellites is small (namely, the K-m value is small), the positioning satellites are indirectly selected by determining the distribution rule of the excluded satellites. According to the statistics of the minimum GDOP method traversal simulation experiment, all the selected excluded satellites are positioned in satellites with elevation angles of which are more than or equal to 30 degrees and less than or equal to 60 degrees, so that the elevation angles of K visible satellites in the system are layered and divided into three areas: EL of 0 DEG or more and less than 30 DEG or less and EL of 60 DEG or more and EL of 60 DEG or less and EL of 60 DEG and less than 90 DEG, respectively called low elevation angle, medium elevation angle and high elevation angle, visible satellites (i.e., medium elevation angle satellites) having elevation angles of 30 DEG or more and 60 DEG or less are selected, and the number of satellites k, which are elevation angles of more than 60 DEG (high elevation angle) and less than 30 DEG (low elevation angle), is calculated 1 、k 2 。
The smaller the satellite GDOP, the larger the volume V made up of satellite-to-user vectors, and the smaller the effect that a satellite at medium elevation angle has on the volume V relative to high and low elevation angle satellites, which is consistent with the maximum volume law. If the difference in azimuth between two satellites in the medium-elevation satellites is small, the distribution of the whole volume V is less influenced by removing one satellite, so that the excluded satellites selected in the invention are all from the medium-elevation satellites.
And step 3: and (3) ordering and subtracting the azimuth angles of the visible stars with the middle elevation angle selected in the step (2), and then removing part of the visible stars in the middle elevation angle area by combining the ratio of the number of the visible stars with the high elevation angle and the low elevation angle, thereby realizing indirect selection of the positioning satellite.
According to the principle of the maximum volume method, becauseIn order to improve the accuracy of the positioning, the volume V formed by the unit vectors of the selected positioning satellites to the user should be as close to maximum as possible to ensure that the minimum GDOP value is obtained. For visible satellites in the elevation range of 30 EL 60, if any two of the satellites are in relatively close azimuth, the exclusion of one of them in conjunction with the information on the elevation distribution will have little effect on the volume distribution V. According to the statistics of prior experiments, the average number ratio k of satellites with elevation angles larger than 60 degrees (high elevation angles) and satellites with elevation angles smaller than 30 degrees (low elevation angles) is calculated nationwide when the shielding angle is 5 degrees 1 ∶k 2 About 1: 3, k at a certain time 1 ∶k 2 If the ratio is less than 1: 3, selecting a satellite with a higher elevation angle, excluding the satellite with the lower elevation angle, and supplementing altitude direction information; and otherwise, selecting a satellite with a low elevation angle, excluding a satellite with a high elevation angle, and supplementing horizontal direction information.
Sorting the azimuths of the satellites with the medium elevation angle, namely the azimuths of the visible satellites with the elevation angle between 30 degrees and 60 degrees, wherein every two adjacent visible satellites are in one group, calculating the difference of the azimuths of the two satellites in each group, sorting the difference values of the azimuths from small to large, selecting the front K-m groups of satellites with the smallest difference values of the azimuths, and sorting the front K-m groups of satellites according to K 1 、k 2 Excluding each groupOne of the two satellites. Finally, the serial number of the excluded satellite is obtained, so that the serial number of the selected satellite can be indirectly obtained, and the positioning of the satellite is realizedAnd (4) selecting. A special case is if according to k 1 、k 2 In the proportional relationship of (1), the low elevation angle (high elevation angle) visible star excluded in one group is the same as the low elevation angle (high elevation angle) visible star in the other group, and the other group excludes the high elevation angle visible star, which means that the azimuth angles of three visible stars are relatively close, two visible stars are excluded from the three visible stars, and only one visible star is reserved.
The invention is further illustrated by the following specific values. The GPS, GALILEO, GLONASS and BD2 systems are combined for navigation, a user selects the Beijing area, the shielding angle is set to be 5 degrees, and the positioning accuracy is reduced by 10 percent after satellite selection is supposed to be required. The method provided by the invention is used for satellite selection of the four-system combined satellite navigation system, and comprises the following specific steps:
step 1: and determining the number m of the needed positioning satellites according to the positioning precision requirement of the combined satellite navigation system.
Numbering the satellites of each system: GPS (1-24), GLONASS (25-48), GALILEO (49-75), BD2 (76-87). According to the requirement that the positioning accuracy after satellite selection is reduced to 10%, Δ GDOP =10%, the ratio m/K of the number m of satellites selected at this time to the number K of all visible satellites =3/4, as shown in table 1, increases the GDOP value of the satellite after satellite selection by 10.2%, so that the GDOP value after satellite selection is increased by 10% by fine adjustment of m/K =0.76, and 24% of visible satellites with poor distribution can be excluded. When the GPS time is t =12h, the number of visible stars in the system is 35, and the position distribution and the number of the visible stars are shown in fig. 2. Fig. 2 shows an azimuth/elevation view of 35 visible satellites in four systems obtained by beijing users at t =12h, with the visible stars marked with squares representing the excluded visible stars. The user is positioned at the center of the concentric circles, the center of the circle represents a 90-degree elevation angle, the outermost circle represents a 0-degree elevation angle (or a horizon), each circle is sequentially increased by 10 degrees from outside to inside, the second circle is positioned at the 10-degree elevation angle, the steps are carried out in the same way until the center of the circle reaches the 90-degree elevation angle position, the positive north direction of the azimuth direction in the figure 2 is 0 degree, and the elevation angles are increased in the clockwise direction. To ensure the above accuracy requirement of Δ GDOP =10%, 8 visible stars may be excluded, and 27 visible stars may be left as positioning satellites.
Step 2: and calculating the elevation angle and the azimuth angle of the visible stars in the combined satellite navigation system, dividing the visible star elevation angle into three areas of a low elevation angle, a medium elevation angle and a high elevation angle, selecting the visible star with the medium elevation angle, and determining the ratio of the number of the visible stars with the high elevation angle and the low elevation angle. Calculating the elevation angle and the azimuth angle of the visible star as follows:
EL 1 ＝46.292，EL 2 ＝80.911，EL 3 ＝7.8145，……，EL 34 ＝50.828，EL 35 ＝54.228；
A 1 ＝212.94，A 2 ＝163.33，A 3 ＝36.511，……，A 34 ＝293.84，A 35 ＝191.88；
19 visible stars between the elevation angles of more than or equal to 30 degrees and less than or equal to 60 degrees are selected, and the numbers are respectively as follows:
1，13，14，23，26，……81，86，87
number of satellites k with elevation angle greater than 60 DEG 1 =2, number of satellites k at elevation angle less than 30 ° 2 =14, then k 1 ∶k 2 ＜1∶3。
And step 3: and (3) ordering and differentiating the azimuth angles of the visible stars with the middle elevation angle selected in the step (2), and then removing part of the visible stars in the middle elevation angle area by combining the information of the high elevation angle and the low elevation angle to realize indirect selection of the positioning satellite. The method comprises the following specific steps:
(a) Ordering the azimuth angles of the 19 elevation angle visible stars selected in the step 2 from small to large:
22.932，48.83，50.746，……295.78，299.48
(b) Dividing every two adjacent visible stars in the left and right into a group, wherein the total number of the visible stars is 18, and making a difference on the azimuth angles of the two visible stars in each group, wherein the difference is respectively as follows:
25.898，1.916，4.508，……，0.306，3.70
(c) Sorting the azimuth difference values obtained in the step (b) from small to large, and selecting the azimuth difference values of the top 8 groups of satellites as follows:
0.306，1.628，1.916，2.631，3.590，3.703，4.508，8.950
(d) From step 2, k is known 1 ∶K 2 Less than 1: 3, so one visible star with smaller elevation angle in the front 8 groups of two visible stars in each group is excluded, and the obtained serial numbers of the 8 excluded stars are respectively as follows:
31，60，78，77，26，87，81，13
the numbers of the 27 selected visible satellites obtained indirectly from the numbers of all visible satellites and the numbers of all excluded satellites in the four systems are respectively:
1，2，5，14，17，……79，80，86
and realizing the selection of the positioning satellite.
Similarly, the ordering of the azimuth angles and the azimuth angle difference values is performed according to the descending order, the corresponding front 8 groups are the back 8 groups, and the numbers of the exclusion stars and the visible stars can also be obtained in the same way.
After verification: after the positioning satellite is selected by the rapid satellite selection method, the positioning accuracy is reduced by 10% based on the user, and if the user selects the least square method for positioning, the system navigation computation amount is reduced by 23.5% after satellite selection compared with that before satellite selection; if the user selects the weighted least square method for positioning, the system navigation computation amount can be reduced by 38.2% after satellite selection compared with before satellite selection. The rapid satellite selection method provided by the invention can effectively reduce the navigation computation amount and reduce the burden of a navigation receiver processor under the condition of ensuring the positioning accuracy of the combined system.
The rapid satellite selection method of the combined satellite navigation system indirectly determines a large number of positioning satellites by excluding a small number of satellites, overcomes the defect of large calculation amount of the traditional satellite selection method, and can realize simple and rapid satellite selection. In the invention, the navigation computation amount is effectively reduced by sacrificing less positioning accuracy (such as 10 percent), the load of a navigation computer is reduced, and the advantage of high integrated navigation accuracy is also ensured. The method provided by the invention is suitable for navigation and positioning of various combined satellite navigation systems in the whole sphere range.
Claims (4)
1. A quick satellite selection method of a combined satellite navigation system is characterized by comprising the following steps:
step A, determining the number of positioning satellites required to be selected according to the positioning precision requirement of the combined satellite navigation system;
b, calculating the elevation angle and the azimuth angle of the visible satellites in the combined satellite navigation system, dividing the elevation angle of the visible satellites into three areas, namely a low elevation angle area, a medium elevation angle area and a high elevation angle area, selecting the visible satellites with the medium elevation angle area, and determining the ratio of the number of the satellites with the high elevation angle and the low elevation angle;
and C, ordering and differentiating the azimuth angles of the visible stars with the middle elevation angle selected in the step B, and excluding part of the visible stars in the middle elevation angle area by combining the information of the high elevation angle and the low elevation angle to realize indirect selection of the positioning satellites.
2. The method for fast satellite selection of integrated satellite navigation system according to claim 1, wherein: the number of positioning satellites selected in the step A cannot be less than 60% of the total visible satellites in the system.
3. The method for rapid satellite selection for an integrated satellite navigation system according to claim 1, wherein the visible satellite elevation angle in step B is divided into three regions, namely, 0 ° ≦ EL ≦ 30 °, 30 ° ≦ EL ≦ 60 °, and 60 ° < EL ≦ 90 °.
4. The method for fast satellite selection of an integrated satellite navigation system according to claim 1, wherein step C is performed as follows:
(a) Sequencing the visible stars at the medium elevation angle obtained in the step B;
(b) Calculating the difference of the azimuth angles of every two adjacent visible stars after sorting, and then sorting the difference values of the obtained azimuth angles;
(c) Selecting the front k-m groups of satellites with the closest azimuth angles;
(d) According to k obtained in step B 1 、k 2 One of the two satellites in each group is excluded according to the proportional relation, and the serial numbers of k-m excluded satellites are respectively obtained, so that the positioning satellites are indirectly selected.
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| CN109001770A (en) * | 2018-05-25 | 2018-12-14 | 电子科技大学 | Multimodal satellite navigation system user layer geometric dilution of precision minimum calculation method |
| CN113253311A (en) * | 2021-04-06 | 2021-08-13 | 探索数据科技(深圳)有限公司 | Joint satellite navigation method, system, electronic device and storage medium |
| CN113253311B (en) * | 2021-04-06 | 2024-02-06 | 探索数据科技(深圳)有限公司 | Combined satellite navigation method, system, electronic equipment and storage medium |
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