CN101581774A - High-precision point positioning method and system for global navigation satellite system (GNSS) - Google Patents
High-precision point positioning method and system for global navigation satellite system (GNSS) Download PDFInfo
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Abstract
The invention provides a high-precision point positioning method and a high-precision point positioning system for a global navigation satellite system (GNSS). The method comprises the following steps: prestoring an observed value positioning equation with commonality for a compass navigation satellite system, a GPS, a GLONASS and a Galileo satellite navigation system, and interconvertible parameters of coordinate systems and time systems of the various satellite navigation systems into a storage module of a double-frequency GPS receiver; receiving signals of the various satellite navigation systems by the double-frequency GPS receiver through an antenna, and converting the signals into digital signals by a signal converting unit; reading the interconvertible parameters in the storage module and the observed value positioning equation by a data processing unit to process the digital signals; finally obtaining a high-quality PVT result; realizing the combination use of observed quantities and ephemerides of the various satellite navigation systems; and sending the PVT result to a field data acquisition device for recording. The method and the system realize the compatible high-precision point positioning based on the compass navigation satellite system/the GPS/the GLONASS/the Galileo satellite navigation system, and can provide point positioning position information with higher quality.
Description
Technical field
The present invention relates to the satellite positioning tech field, specifically is a kind of Global Navigation Satellite System (GNSS) high-precision point positioning method and system.
Background technology
Satellite positioning tech is since global position system GPS in 1993 builds up, in moving target monitoring, measure, navigation, regularly, many-side such as space technology obtained widespread use, and become continue communication, the 3rd IT new growth point after the internet, location-based information service (LBS) will be the most wide, the tool potentiality of following Technique of Satellite Navigation and Positioning and one of the most noticeable developing direction.After GPS, USSR (Union of Soviet Socialist Republics) has been set up the GOLNASS global position system, and European Union is building the GALILEO global position system, and China is developing the Big Dipper (BEIDOU) navigational satellite system.In the world various global position systems (comprising GPS, GLONASS, GALILEO, BEIDOU) are referred to as Global Navigation Satellite System (GNSS).
The mode of operation of satnav mainly contains: the traditional static station-keeping mode, and every point observation time of this station-keeping mode is long, and precision height (can reach the mm level) is applicable to high-precision control point survey; Real time dynamic differential location (RTK) mode, this mode have characteristics such as precision height, speed be fast, but scope of work is restricted, and generally is no more than 15 kilometers, and need set up base station and real time data communication, so usable range is subjected to certain restriction; Common single-point location uses an instrument to position, and work is convenient, efficient is high, but can only reach the bearing accuracy of plane 10m, elevation 15m, is applicable to low precision navigation, can not satisfy the demand of high-precision measurement and precision navigation.
High-precision point location technology (PPP) is meant and adopts the separate unit satellite positioning receiver to work alone, any dynamic object in the global range is carried out hi-Fix, tests the speed and time service.Based on the PPP technology of GPS one of domestic and international research focus in recent years, obtained achievement preferably.But also there is not high-precision point location technology at present based on the Big Dipper/GPS/GLONASS/ galileo satellite navigation system compatibility.
Summary of the invention
In order to overcome the shortcoming that above-mentioned prior art exists, the object of the present invention is to provide a kind of Global Navigation Satellite System (GNSS) high-precision point positioning method and system, realization can provide higher-quality single-point positioning position information based on the high-precision point location of the Big Dipper/GPS/GLONASS/ galileo satellite navigation system compatibility.
Technical scheme of the present invention is:
The Global Navigation Satellite System (GNSS) high-precision point positioning method may further comprise the steps:
To have the observed reading positioning equation of versatility and the coordinate system of each satellite navigation system to the Big Dipper, GPS, GLONASS, galileo satellite navigation system, the mutual conversion parameter of time system is pre-stored in the memory module of double-frequency GPS receiver;
Double-frequency GPS receiver receives the signal of the Big Dipper, GPS, GLONASS, a plurality of satellite navigation systems of Galileo by antenna, and is converted to digital signal by signal conversion unit;
Mutual conversion parameter and observed reading positioning equation that the data processing unit of double-frequency GPS receiver reads in the memory module are handled described digital signal; Adopt the troposphere model to weaken the delay of neutral atmosphere, utilize the deion layer to postpone double frequency combination cancellation ionosphere delay, adopt precise ephemeris or estimate ephemeris system error correction value in real time, adopt fitting of a polynomial, double frequency combined detection week to transfer, correct the influence of earth tide, earth autobiography, by asking methods such as asking difference between poor, epoch further to weaken atmosphere delay and cancellation clock correction between star, take algorithm to improve and find the solution the precision and the reliability of ill-condition equation, realize that finally the high-precision three-dimensional coordinate resolves; Adopt Kalman filtering, utilize broadcast ephemeris to be separated in real time, the high quality P VT result after utilizing precise ephemeris afterwards to carry out precision processing at last to be improved; Realize the use of uniting of different satellite navigation system observed quantities and ephemeris;
PVT result comprises dual-frequency carrier observed reading, pseudorange observed reading, delivers to a field data harvester is set carries out record.
In this method, described field operation geographic information data harvester also is used to write down survey station information; Survey station information comprises: survey station sign, culture point attribute, antenna height, observation time.
In this method, field operation geographic information data harvester also is used for data are exported to interior industry high-precision GPS single-point locator data treating apparatus, utilizes IGS precise ephemeris, clock correction, GPS double frequency observed reading to carry out coordinate then and resolves.
The present invention also aims to provide a kind of Global Navigation Satellite System (GNSS) high-precision point positioning system, comprising:
One antenna is used to receive the signal of the Big Dipper, GPS, GLONASS, galileo satellite navigation system;
One double-frequency GPS receiver; This double-frequency GPS receiver comprises:
Memory module is used to store the Big Dipper, GPS, GLONASS, galileo satellite navigation system is had the observed reading positioning equation of versatility and the coordinate system of each satellite navigation system, the mutual conversion parameter of time system;
Signal conversion unit, the conversion of signals that is used for each satellite navigation system that will receive is a digital signal;
Data processing unit, being used to read mutual conversion parameter described in the memory module and observed reading positioning equation handles described digital signal, adopt the troposphere model to weaken the delay of neutral atmosphere, utilize the deion layer to postpone double frequency combination cancellation ionosphere delay, adopt precise ephemeris or estimate ephemeris system error correction value in real time, adopt fitting of a polynomial, double frequency combined detection week transfers, correct earth tide, the influence of earth autobiography, by asking poor between star, ask between epoch the difference etc. method further weaken atmosphere delay and cancellation clock correction, take algorithm to improve and find the solution the precision and the reliability of ill-condition equation, realize that finally the high-precision three-dimensional coordinate resolves; Adopt Kalman filtering, utilize broadcast ephemeris to be separated in real time, the high quality P VT result after utilizing precise ephemeris afterwards to carry out precision processing at last to be improved; Realize the use of uniting of different satellite navigation system observed quantities and ephemeris; Described PVT result comprises dual-frequency carrier observed reading, pseudorange observed reading;
Communication unit is used for dual-frequency carrier observed reading, pseudorange observed reading are delivered to a field data harvester;
The field data harvester is used to write down dual-frequency carrier observed reading, pseudorange observed reading.
In this system, described field data harvester also writes down survey station information, and survey station information comprises: survey station sign, culture point attribute, antenna height, observation time.
In this system, described field data harvester is provided with the data export interface, is used for data are exported to interior industry high-precision GPS single-point locator data treating apparatus, utilizes IGS precise ephemeris, clock correction, GPS double frequency observed reading to carry out coordinate then and resolves.
In this system, be connected for blue tooth wireless communication between described data output unit and the described field data harvester.
The invention has the beneficial effects as follows: it is based on the high-precision point location technology of the Big Dipper/GPS/GLONASS/ galileo satellite navigation system compatibility, it is expansion to existing PPP based on GPS, to locate higher-quality positional information for geographical information collection provides than present common single-point, and for the foundation of the base station that flows provides technical guarantee, can realize real time dynamic differential location based on the base station that flows, for global user provides various location-based services, provide in real time moving, dynamically, accurate three-dimensional position, at highway, the guarantee of railway passenger and freight fortune vehicle safety, Fisheries Production Safety ensures and information service, special population and personal monitoring service, and in survey of territorial resources and management, ECOLOGICAL ENVIRONMENTAL MONITORING, urban and rural planning and management monitoring and evaluation, field such as major natural disasters and emergency monitoring has very high society of generation and economic benefit.High-precision point location technology based on GNSS is the new and high technology of satellite navigation positioning field, has wide industrialization prospect.
Description of drawings
The present invention is described further below in conjunction with drawings and Examples:
Fig. 1 is a structural representation block diagram of the present invention,
Fig. 2 is a process flow diagram of the present invention.
Embodiment
As shown in Figure 1, Global Navigation Satellite System (GNSS) high-precision point positioning system comprises:
One antenna is used to receive the signal of the Big Dipper, GPS, GLONASS, galileo satellite navigation system;
One double-frequency GPS receiver; This double-frequency GPS receiver comprises:
Memory module is used to store the Big Dipper, GPS, GLONASS, galileo satellite navigation system is had the observed reading positioning equation of versatility and the coordinate system of each satellite navigation system, the mutual conversion parameter of time system;
Signal conversion unit, the conversion of signals that is used for each satellite navigation system that will receive is a digital signal;
Data processing unit, being used to read mutual conversion parameter described in the memory module and observed reading positioning equation handles described digital signal, adopt the troposphere model to weaken the delay of neutral atmosphere, utilize the deion layer to postpone double frequency combination cancellation ionosphere delay, adopt precise ephemeris or estimate ephemeris system error correction value in real time, adopt fitting of a polynomial, double frequency combined detection week transfers, correct earth tide, the influence of earth autobiography, by asking poor between star, ask between epoch the difference etc. method further weaken atmosphere delay and cancellation clock correction, take algorithm to improve and find the solution the precision and the reliability of ill-condition equation, realize that finally the high-precision three-dimensional coordinate resolves; Adopt Kalman filtering, utilize broadcast ephemeris to be separated in real time, the high quality P VT result after utilizing precise ephemeris afterwards to carry out precision processing at last to be improved; Realize the use of uniting of different satellite navigation system observed quantities and ephemeris; Described PVT result comprises dual-frequency carrier observed reading, pseudorange observed reading;
Communication unit is used for dual-frequency carrier observed reading, pseudorange observed reading are delivered to a field data harvester; This field data harvester can be a palm PC (PDA);
The field data harvester is used to write down dual-frequency carrier observed reading, pseudorange observed reading.
In this system, described field data harvester also writes down survey station information, and survey station information comprises: survey station sign, culture point attribute, antenna height, observation time.
In this system, described field data harvester is provided with the data export interface, is used for data are exported to interior industry high-precision GPS single-point locator data treating apparatus, utilizes IGS precise ephemeris, clock correction, GPS double frequency observed reading to carry out coordinate then and resolves.
In this system, be connected for blue tooth wireless communication between described data output unit and the described field data harvester.
As shown in Figure 2, this Global Navigation Satellite System (GNSS) high-precision point positioning method may further comprise the steps:
To have the observed reading positioning equation of versatility and the coordinate system of each satellite navigation system to the Big Dipper, GPS, GLONASS, galileo satellite navigation system, the mutual conversion parameter of time system is pre-stored in the memory module of double-frequency GPS receiver;
Double-frequency GPS receiver receives the signal of the Big Dipper, GPS, GLONASS, a plurality of satellite navigation systems of Galileo by antenna, and is converted to digital signal by signal conversion unit;
Mutual conversion parameter and observed reading positioning equation that the data processing unit of double-frequency GPS receiver reads in the memory module are handled described digital signal; Adopt the troposphere model to weaken the delay of neutral atmosphere, utilize the deion layer to postpone double frequency combination cancellation ionosphere delay, adopt precise ephemeris or estimate ephemeris system error correction value in real time, adopt fitting of a polynomial, double frequency combined detection week to transfer, correct the influence of earth tide, earth autobiography, by asking methods such as asking difference between poor, epoch further to weaken atmosphere delay and cancellation clock correction between star, take algorithm to improve and find the solution the precision and the reliability of ill-condition equation, realize that finally the high-precision three-dimensional coordinate resolves; Adopt Kalman filtering, utilize broadcast ephemeris to be separated in real time, the high quality P VT result after utilizing precise ephemeris afterwards to carry out precision processing at last to be improved; Realize the use of uniting of different satellite navigation system observed quantities and ephemeris;
PVT result comprises dual-frequency carrier observed reading, pseudorange observed reading, delivers to a field data harvester is set carries out record.
In this method, described field operation geographic information data harvester also is used to write down survey station information; Survey station information comprises: survey station sign, culture point attribute, antenna height, observation time.
In this method, field operation geographic information data harvester also is used for data are exported to interior industry high-precision GPS single-point locator data treating apparatus, utilizes IGS precise ephemeris, clock correction, GPS double frequency observed reading to carry out coordinate then and resolves.
Claims (7)
1, Global Navigation Satellite System (GNSS) high-precision point positioning method is characterized in that: may further comprise the steps:
To have the observed reading positioning equation of versatility and the coordinate system of each satellite navigation system to the Big Dipper, GPS, GLONASS, galileo satellite navigation system, the mutual conversion parameter of time system is pre-stored in the memory module of double-frequency GPS receiver;
Double-frequency GPS receiver receives the signal of the Big Dipper, GPS, GLONASS, a plurality of satellite navigation systems of Galileo by antenna, and is converted to digital signal by signal conversion unit;
Mutual conversion parameter and observed reading positioning equation that the data processing unit of double-frequency GPS receiver reads in the memory module are handled described digital signal; Adopt the troposphere model to weaken the delay of neutral atmosphere, utilize the deion layer to postpone double frequency combination cancellation ionosphere delay, adopt precise ephemeris or estimate ephemeris system error correction value in real time, adopt fitting of a polynomial, double frequency combined detection week to transfer, correct the influence of earth tide, earth autobiography, by asking methods such as asking difference between poor, epoch further to weaken atmosphere delay and cancellation clock correction between star, take algorithm to improve and find the solution the precision and the reliability of ill-condition equation, realize that finally the high-precision three-dimensional coordinate resolves; Adopt Kalman filtering, utilize broadcast ephemeris to be separated in real time, the high quality P VT result after utilizing precise ephemeris afterwards to carry out precision processing at last to be improved; Realize the use of uniting of different satellite navigation system observed quantities and ephemeris;
PVT result comprises dual-frequency carrier observed reading, pseudorange observed reading, delivers to a field data harvester is set carries out record.
2, Global Navigation Satellite System (GNSS) high-precision point positioning method according to claim 1 is characterized in that: described field operation geographic information data harvester also is used to write down survey station information; Survey station information comprises: survey station sign, culture point attribute, antenna height, observation time.
3, Global Navigation Satellite System (GNSS) high-precision point positioning method according to claim 2, it is characterized in that: field operation geographic information data harvester also is used for data are exported to interior industry high-precision GPS single-point locator data treating apparatus, utilizes IGS precise ephemeris, clock correction, GPS double frequency observed reading to carry out coordinate then and resolves.
4, Global Navigation Satellite System (GNSS) high-precision point positioning system is characterized in that, comprising:
One antenna is used to receive the signal of the Big Dipper, GPS, GLONASS, galileo satellite navigation system;
One double-frequency GPS receiver; This double-frequency GPS receiver comprises:
Memory module is used to store the Big Dipper, GPS, GLONASS, galileo satellite navigation system is had the observed reading positioning equation of versatility and the coordinate system of each satellite navigation system, the mutual conversion parameter of time system;
Signal conversion unit, the conversion of signals that is used for each satellite navigation system that will receive is a digital signal;
Data processing unit, being used to read mutual conversion parameter described in the memory module and observed reading positioning equation handles described digital signal, adopt the troposphere model to weaken the delay of neutral atmosphere, utilize the deion layer to postpone double frequency combination cancellation ionosphere delay, adopt precise ephemeris or estimate ephemeris system error correction value in real time, adopt fitting of a polynomial, double frequency combined detection week transfers, correct earth tide, the influence of earth autobiography, by asking poor between star, ask between epoch the difference etc. method further weaken atmosphere delay and cancellation clock correction, take algorithm to improve and find the solution the precision and the reliability of ill-condition equation, realize that finally the high-precision three-dimensional coordinate resolves; Adopt Kalman filtering, utilize broadcast ephemeris to be separated in real time, the high quality P VT result after utilizing precise ephemeris afterwards to carry out precision processing at last to be improved; Realize the use of uniting of different satellite navigation system observed quantities and ephemeris; Described PVT result comprises dual-frequency carrier observed reading, pseudorange observed reading;
Communication unit is used for dual-frequency carrier observed reading, pseudorange observed reading are delivered to a field data harvester;
The field data harvester is used to write down dual-frequency carrier observed reading, pseudorange observed reading.
5, Global Navigation Satellite System (GNSS) high-precision point positioning system according to claim 4, it is characterized in that, described field data harvester also writes down survey station information, and survey station information comprises: survey station sign, culture point attribute, antenna height, observation time.
6, according to claim 4 or 5 described Global Navigation Satellite System (GNSS) high-precision point positioning systems, it is characterized in that, described field data harvester is provided with the data export interface, be used for data are exported to interior industry high-precision GPS single-point locator data treating apparatus, utilize IGS precise ephemeris, clock correction, GPS double frequency observed reading to carry out coordinate then and resolve.
7, Global Navigation Satellite System (GNSS) high-precision point positioning system according to claim 4 is characterized in that: be connected for blue tooth wireless communication between described data output unit and the described field data harvester.
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