CN101710179A - Global navigation satellite system (GNSS) triple-frequency motion-to-motion positioning method - Google Patents
Global navigation satellite system (GNSS) triple-frequency motion-to-motion positioning method Download PDFInfo
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Abstract
The invention relates to a global navigation satellite system (GNSS) triple-frequency motion-to-motion positioning method. In the original epoch, the triple-frequency precision single-point positioning technology is adopted to obtain the coordinates of two movable carriers, one of the two movable carries is selected as the reference station for the triple-frequency double-difference position, the triple-frequency double-difference positioning technology is adopted to calculate the baseline component of the two movable carriers and the integer ambiguity resolution of the double-difference carrier phase, and the baseline component of the two movable carriers and the integer ambiguity resolution of the double-difference carrier phase are used as the constraint conditions for the triple-frequency precision single-point positioning in the subsequent epochs to improve the single-point position precision and the convergence speed thereof. The geometry-Base TCAR ambiguity resolution fixation method is adopted to calculate the triple-frequency integer ambiguity resolution. The three irrelevant combination observation values of the triple-frequency non-ionizing layer and the long wave-length and low noise carrier are adopted to detect and repair the cycle slip of the original observation data.
Description
Technical field
The invention belongs to satellite navigation positioning technical field, especially GNSS three is moving frequently to motion positioning method.
Background technology
The precision that the Global Navigation Satellite System (GNSS) carrier phase difference divides dynamic location technology can reach centimetre-sized is widely used in the high precision navigator fix field.The difference Kinematic Positioning of traditional but " quiet-moving " pattern needs the static reference station that coordinate is known, obtains the mobile observation station location thereby mobile observation station and static reference station form difference modes.And in a lot of occasions, what need care is the relative position of two motion carriers, decides appearance etc. as air refuelling, formation flight, aircraft butt joint, precision.For example shown in Figure 1, can utilize GNSS moving to moving location, the carrier signal that provides is via satellite determined two airplane accurate relative position relation.
This class does not have the dynamic phasing orientation problem of static reference station, is referred to as " moving to moving location ", moving moving location is had a wide range of applications, but domesticly for moving moving navigator fix technical research is remained in blank.The GNSS carrier phase difference divides dynamically, and the location reaches the centimetre-sized precision, need to obtain reliable ambiguity of carrier phase, to provide the satellite-signal of three frequencies for its user after the GPS of America modernization, three frequencies can increase the number of observed reading, obtain more three and make up no ionosphere frequently, the dummy observation of long wavelength and low noise carrier wave, for Carrier Phase Ambiguity Resolution provides new method, reduce the integer ambiguity set time, improve its success ratio, mainly contain for three frequency blur level study on fixation methods both at home and abroad at present: Wu Yue, the theoretical and application [D] of second generation satellite navigation system multifrequency data processing. the .2005 of Wuhan University; Yanming Feng, Chris Rizos.Geometry-Based TCAR Models and Performance Analysis[J] .IUGG 2007 .July2-13, Perugia, Italy; Wentao Zhang.Triple Frequency Cascading AmbiguityResolution for Modernized GPS and GALILEO[D] .Calgary.2005; A NewThree-Frequency, Geometry-Free Technique for Ambiguity Resolution[C] .Proc ofION GNSS 2006, P309-316,26-29 Sept, Fort Worth, TX..For above three frequency blur level fixing meanss, adopt Geometry-free TCAR or Geometry-Based TCAR technology to resolve whole integer ambiguities, but these two kinds of technology existing problems be when observation condition relatively poor, or the observation satellite number more for a long time, resolves all integer ambiguity values and can fail.
Summary of the invention
The objective of the invention is to overcome the prior art defective, provide a kind of new GNSS three moving frequently motion positioning method.
GNSS three provided by the present invention is moving frequently to motion positioning method, and technical scheme is as follows:
In initial epoch, carry out following steps,
In follow-up epoch, two original observation stations in mobile observation station are got three frequency GNSS data carry out pre-service, according to pretreated three frequency GNSS data, by the coordinate at two mobile observation stations of three Static Precise Point Positioning acquisitions frequently, and with the constraint condition of the step 3 gained solving result in initial epoch as three frequency Static Precise Point Positioning.
And, described to two original observation stations in mobile observation station get three frequently the GNSS data carry out pre-service, comprise the uncorrelated combination observation value that adopts three three not have ionosphere, long wavelength and low noise carrier wave frequently, two original observation stations in mobile observation station are got three frequency GNSS data carry out the cycle slip detection and repair.
And, when carrying out three frequency Static Precise Point Positioning, adopt three the three uncorrelated estimation of combination observation values troposphere, receiver location and the motion carrier clock correction parameters of not having ionosphere, long wavelength and low noise carrier wave frequently.And, during find the solution the two frequently differences of step 3 described three location, finding the solution of the integer ambiguity of described two difference carrier phases adopts Geometry-Based TCAR method to realize, then according to success ratio thresholding fixed part blur level, adopts assumed statistical inspection to judge the reliability of fixed part blur level.
And, describedly be according to success ratio thresholding fixed part blur level implementation, obtain the real solution and the variance and covariance battle array thereof of blur level by two poor location models, calculate the fixing success ratio of blur level according to the variance and covariance battle array behind the integer transform, get one group of blur level of its success ratio maximum in default success ratio domain value range.
Baseline component and values of ambiguity constraint Static Precise Point Positioning thereof that the present invention adopts two poor location models to obtain improve the precision of Static Precise Point Positioning and reduce its convergence time, thereby utilize the moving to moving location of three high-accuracy high-efficiency of GNSS data realization frequently rates.The present invention also adopts Geometry-Based TCAR method to determine blur level, further improves counting yield, and by the fixed part blur level, improves the baseline computational accuracy.
Description of drawings
Fig. 1 is moving to moving navigator fix synoptic diagram for GNSS;
Fig. 2 is that the GNSS three of the embodiment of the invention is moving frequently to moving positioning flow figure;
Fig. 3 is the GNSS three frequency Static Precise Point Positioning process flow diagrams of the embodiment of the invention;
Fig. 4 is three frequency observed reading linear combination observed reading wavelength graphs;
Fig. 5 is the GNSS three cycle slip detection frequently process flow diagram of the embodiment of the invention;
Fig. 6 is the GNSS three frequency ambiguity resolution process flow diagrams of the embodiment of the invention;
Fig. 7 is the blur level partial fixing process flow diagram of the embodiment of the invention.
Embodiment
Below in conjunction with drawings and Examples technical solution of the present invention is described:
Three frequencies that embodiment relates to i.e. three frequency ranges, are designated L1/L2/L5 respectively.The GNSS that the embodiment of the invention provides is moving to moving positioning flow as shown in Figure 2:
In initial epoch, carry out following three steps,
In follow-up epoch, under step 3 gained constraint condition, carry out Static Precise Point Positioning.Because the Static Precise Point Positioning in all follow-up epoch can be utilized the result of three two frequently differences location in initial epoch, therefore can be considered two mobile observation stations unites and carries out the single-point location, to carry out the precision of single-point location gained coordinate higher for the ratio of precision step 2 of single-point location gained coordinate in the case, thereby improved bearing accuracy, reduced convergence time.In follow-up epoch, the coordinate at single-point gained mobile observation station 1, location and mobile observation station 2 can directly be exported moving positioning result as moving.
Specific implementation of the present invention can for the sake of ease of implementation, provide the specific implementation of embodiment as follows referring to " GPS measures and data processing " (Li Zhenghang etc. write):
(1) original observation station gets three pre-service of GNSS data frequently
Embodiment three frequently the Static Precise Point Positioning flow processs as shown in Figure 3, process is: before carrying out the single-point location, need convection current in-motion viewing survey station 1 original observation station get three frequently GNSS data and mobile observation station 2 original observation stations get three frequently the GNSS data carry out pre-service respectively; To data after the pre-service, adopt the combination observation value estimation of no ionosphere troposphere, receiver location and motion carrier clock correction parameter then, thereby obtain three-dimensional coordinate, clock correction, the troposphere parameter at mobile observation station 1,2, realize three frequency Static Precise Point Positioning.Single-point location during initial epoch, with the single-point location in follow-up epoch, difference only is that the latter has in initial epoch two differences location find the solution the gained baseline and ambiguity of carrier phase participates in, and adopts frame of broken lines to represent among Fig. 3.As seen at first to solve the problem of pretreatment that original observation station gets three frequency GNSS data.
The detection of cycle slip is the key link in the GPS dynamic navigation location, can be correct detect cycle slip, will directly influence the precision and the reliability of navigator fix, thus the locator data pre-service all can comprise three frequently cycle slips survey and repair.And used three audio data of the present invention have bigger advantage in the detection to cycle slip with reparation.Under the situation for three frequency observed readings, can adopt wavelength longer, the more weak observating characteristic of ionosphere influence three uncorrelated combination observation values preferably carries out the detection of cycle slip, when original observation station gets carrier phase observation data and has cycle slip, to in three uncorrelated combination observation values, amplify, utilize pseudorange information to determine the size of three uncorrelated combination observations jumping on weekly duty, then can calculate the cycle slip size that obtains three original frequency carrier phases.
The GNSS three frequency cycle slip detection methods of the embodiment of the invention as shown in Figure 5, process forms three three frequencies and linear incoherent carrier phase combination observation value for get three frequency GNSS data (comprising carrier phase observation data and pseudorange raw observation) by mobile observation station 1,2 original observation stations.In order to reach good observating characteristic, the embodiment of the invention requires these uncorrelated combination observation values to have the character of no ionosphere, long wavelength's (wavelength is generally greater than 86 centimetres) and low noise carrier wave (noise is generally less than the observation noise of L1 carrier wave), and obtain corresponding combination observation value for (0,1 ,-1) according to these character conditions, (3,1,3), (1,8 ,-7).Begin then carrying out difference detecting cycle slip epoch current epoch, at first whether the judgement of cycle slip takes place, if certain linear combination observed reading is in epoch, difference surpasses certain default thresholding (for example being made as 1 phase wave length) between difference carrier phase place and the level and smooth pseudorange observed reading, then think the generation cycle slip, otherwise directly to carrying out same difference detecting cycle slip epoch next epoch.If generation cycle slip, then utilize level and smooth pseudorange observed reading to determine the cycle slip of above-mentioned three uncorrelated combination observation values, calculate original observation station and get the carrier phase observation data cycle slip, carry out the cycle slip reparation afterwards to carrying out same difference detecting cycle slip epoch next epoch according to the valuation of calculating the gained cycle slip.Described level and smooth pseudorange observed reading is handled the pseudorange raw observation with carrier phase observation data and is obtained, and described difference carrier phase place asks difference to obtain with the carrier phase observation data of adjacent epoch.
According to the GNSS standard, the reference frequency of GNSS carrier phase linear L1, L2, L5 all is 10.23MHz, and therefore frequency separately can be expressed as: f
i=m
if
0, i gets 1,2,5 herein.Reference frequency f wherein
0=10.23MHz (megahertz), wavelength X
0=29.31m (rice).The frequency of combination observation value can be rewritten as: f=f
0(i
1m
1+ i
2m
2+ i
5m
3)
If k=is (i
1m
1+ i
2m
2+ i
5m
3), k has integer characteristic, then f=kf
0, wavelength is:
Coefficient i in k
1, i
2, i
5Get different values, the wavelength of combination observation value is also inequality, according to the span of k, gives the different zone of combination observation value defined, Kuan Xiang territory: 0＜k＜115, inter-road territory: 115≤k≤154, territory, narrow lane: k＞154 respectively.Referring to accompanying drawing 4, get the wavelength of the round values combination observation value in [1-17] scope, when k=1, the maximal value of combination observation value wavelength is 29.31m (rice).
(2) three frequency Static Precise Point Positioning at first illustrate embodiment frequency three in initial epoch Static Precise Point Positioning:
According to prior art, the observation equation of GNSS single-point location is:
P
i＝ρ-c·δt
s+c·δt
t+δtrop+δion+δP
mul+δrel+εp (4)
In the formula, c is the light velocity, δ t
sBe satellite clock correction, δ t
tBe receiver clock correction, i represents the frequency of observed reading, P
iBe the pseudorange raw observation,
It is carrier phase observation data.ρ represents the distance of satellite to motion carrier, and δ trop represents the tropospheric delay error, and δ ion represents ionosphere delay error, δ P
MulMultipath error on the expression pseudorange observed reading, δ rel represents that relativistic effect corrects, and ε p represents observation noise, and λ represents the carrier phase wavelength, and N represents phase ambiguity,
Multipath error on the expression carrier phase observation data.
Precise ephemeris and clock correction data product (will have IGS GNSS precise ephemeris and clock correction file importing single-point positioning calculation process now gets final product) thereof that the GNSS three frequency Static Precise Point Positioning of embodiment utilize IGS to announce, adopt no ionosphere, the uncorrelated combination observation value of long wavelength and low noise carrier wave (abbreviating no ionosphere combination observation value among the present invention as) is eliminated the item influence of single order ionosphere as observed quantity, adopt Kalman filtering technique estimation troposphere parameter, location parameter and receiver clock correction, and correction solid tide, oceanic tide, antenna phase center, phase place is twined equal error, in the present embodiment in the uncorrelated combination observation value of GNSS three employing of Static Precise Point Positioning frequently and the data pre-service cycle slip survey used identical with modification, the combination coefficient of these combination observation values is (0,24 ,-23).
Then, illustrate that embodiment carries out three frequency Static Precise Point Positioning in follow-up epoch:
After additional baseline and the blur level constraint condition, the function model of two mobile observation station three frequency Static Precise Point Positioning the following is:
In the formula, p
IfA i,
p
IfB i,
The pseudorange and the carrier phase that are respectively two mobile observation stations do not have ionosphere combination observation value, i=1, and 2...n, i ≠ j, n are number of satellites, p
IfA j,
p
IfB j,
Being respectively two selected pseudorange and carrier phases with reference to satellite in mobile observation station does not have ionosphere combination observation value, and (Δ X, Δ Y, Δ Z),
Be respectively baseline component and two poor values of ambiguity thereof at two mobile observation stations,
M
A i,
M
B iBe respectively the surplus profound and troposphere projection function of satellite direction at two mobile observation stations,
M
A j,
M
B jBe respectively satellite direction cosine and the troposphere projection function of two mobile observation stations, (X with reference to satellite
A, Y
A, Z
A), (X
B, Y
B, Z
B) be respectively the coordinate at two mobile observation stations, δ T
A, δ T
BBe respectively the receiver clock correction at two mobile observation stations, δ trop
A, δ trop
BBe respectively the troposphere parameter at two mobile observation stations, N
A j, N
B jBe respectively the satellite values of ambiguity at two mobile observation stations, N
A j, N
B jBe respectively the values of ambiguity of the reference star at two mobile observation stations, ξ is an observation noise.
After carrying out three two frequently differences location initial epoch, just can be in follow-up epoch all with baseline and carrier phase ambiguity as constraint condition, according to the parameter estimation of above-mentioned function model, obtain three-dimensional coordinate, clock correction, the troposphere parameter at two mobile observation stations to no ionosphere combination observation value.Other with initial epoch in three identical treatment steps in the Static Precise Point Positioning frequently, the present invention will not give unnecessary details.
(3) three in initial epoch, two frequently differences were located
According to prior art, the two difference of GNSS observation equation is:
I represents the frequency of observed reading, λ
iBe the wavelength of correspondence, P
iBe the pseudorange raw observation, φ
iBe carrier phase observation data, ρ is the distance of satellite to motion carrier,
Expression is two poor,
Be two poor tropospheres residual error,
Be two poor Ionosphere Residual Error,
Be two poor blur leveles,
Expression pseudorange observation noise,
Expression carrier phase observation noise, f
iThe expression signal frequency.When base length during less than 20km (kilometer), two poor tropospheres residual error
With two poor Ionosphere Residual Error
Can ignore.
In the GPS relative positioning, the influence that starting point coordinate changes can be divided into two parts, and one is to make the baseline vector produce translation, and in rectangular coordinate system in space, this influence relation is simple, and its value only depends on the variation of starting point coordinate; Its two, be the deviation of starting point coordinate, by GPS relative positioning model, to the influence of asking baseline vector.This influence is a base length, orientation, initial point position and all multifactor complicated functions such as the satellite geometry distribution of surveying.
Starting point coordinate changes, to the influence of surveys baseline, mainly and base length closely related, under worst situation, the size of its influence, can estimate by following approximation relation formula:
δs＝0.60·10
-4·D·δX (3)
D is a base length, with km (km) is unit, and δ X is for starting at the point coordinate error, and δ s starts at the influence of point coordinate error to baseline, when baseline accuracy requires to be 3mm ± 0.01ppmD when (mm represents that millimeter, ppm represent micrometre), starting at the point coordinate error should be less than 0.2m (rice).
From the above, the moving relative position of three two frequently differences location in the moving location accurately being determined carrier of GNSS, need accurate reference station coordinates, because the position of two motion carriers is all in motion, therefore adopt three frequency Static Precise Point Positioning to determine the initial position of motion carrier, can obtain inferior decimeter grade bearing accuracy, and with this coordinate as the reference station, carry out the difference location and find the solution dynamic baseline, and the integer ambiguity constraint Static Precise Point Positioning of utilizing difference to resolve the baseline component of acquisition and solve, the precision and the convergence time thereof of raising Static Precise Point Positioning.
In the GNSS navigator fix, often utilize low noise, the light current absciss layer, long wavelength's carrier phase combination observation value improves the success ratio that blur level is calculated, and three provide new method for the GNSS ambiguity resolution frequently.In order to improve the success ratio of counting yield and ambiguity resolution, can adopt existing Geometry-based TCAR method to consider the geometry intensity information of satellite constellation during concrete enforcement, adopt existing ambiguity resolution technology Lambda method to find the solution super wide lane ambiguity earlier, find the solution wide lane ambiguity again, find the solution the L1 values of ambiguity at last, that is: the first step, utilize super wide lane combination observation value and pseudorange observed reading to form observation equation, obtain the real solution of super wide lane combination observation value, according to the success ratio thresholding, adopt the super wide lane ambiguity of Lambda method partial fixing, second step is similar with the first step, super wide lane combination observation value and fixing integer ambiguity value and wide lane combination observation value substitution observation equation, find the solution the real solution and the variance and covariance battle array thereof of wide lane ambiguity, adopt the wide lane of Lambda method partial fixing integer ambiguity.The 3rd step was adopted the integer ambiguity of the direct fixed L 1 of similar methods.In the linear combination observed reading that adopts.Super Kuan Xiang and wide lane all belong to the Kuan Xiang territory.The GNSS three of embodiment Ambiguity Solution Methods frequently may further comprise the steps as shown in Figure 6:
Steps A is calculated super wide lane combination observation value WL2 (combination coefficient is (0,1 ,-1)) blur level real solution and variance and covariance thereof, LAMBDA blur level partial fixing, WL2 ambiguity resolution result (comprising fixed value and real number value); Judge whether then all to fix, be then to enter step B, otherwise enter step D;
Step B calculates wide lane combination observation value WL1 (combination coefficient is (1,0 ,-1)) blur level real solution and variance and covariance thereof, LAMBDA blur level partial fixing, WL1 ambiguity resolution result (comprising fixed value and real number value); Judge whether then all to fix, be then to enter step C, otherwise enter step D;
Step C calculates L1 blur level real solution and variance and covariance thereof, LAMBDA blur level partial fixing, and L1 ambiguity resolution result (comprising fixed value and real number value) enters step D;
Step D utilizes the blur level that obtains to calculate the baseline component, output result and corresponding integer ambiguity thereof.
For the GNSS ambiguity resolution, when the blur level number more for a long time, can not correctly fix all blur leveles single epoch, the integer ambiguity according to certain success ratio fixed part can be fixed can improve the precision that baseline resolves.Its specific implementation method is as follows: at first the variance and covariance battle array of real number blur level (being the real solution of blur level) is carried out decorrelation, obtain the integer transition matrix, utilize the integer transition matrix that the real number blur level is carried out integer transform, real number blur level and variance and covariance battle array thereof behind the acquisition integer transform, calculate the fixing success ratio of blur level according to the variance and covariance battle array behind the integer transform, get one group of blur level of its success ratio maximum in domain value range, utilize the search of Lambda method, obtain the optimum solution and the suboptimal solution (when differing greatly) of blur level, utilize existing assumed statistical inspection theory, the fixing correctness of test blur level.If upcheck, think that then the integer ambiguity that optimum solution obtains is exactly the blur level of asking, blur level is fixing correct, adopts the integer ambiguity value to find the solution baseline, if the real number values of ambiguity is then adopted in the check failure.The part blur level fixing means of embodiment is summed up its process and is as shown in Figure 7: for real number blur level and variance and covariance battle array thereof, with real number blur level behind the Lambda integer transform and variance and covariance battle array thereof, by the ordering of variance size; Select to treat fixedly blur level group and variance and covariance battle array thereof according to given success ratio thresholding (suggestion value 96%), utilize the search blur level to obtain to treat the fixedly optimal value and time figure of merit of blur level group, upcheck then as static solution, the check failure is then as real solution.
Claims (5)
1. a GNSS three is moving frequently to motion positioning method, it is characterized in that:
In initial epoch, carry out following steps,
Step 1 as the mobile observation station, gets two motion carriers three frequency GNSS data to two original observation stations in mobile observation station and carries out pre-service;
Step 2 is according to the pretreated three frequency GNSS data of step 1 gained, by the coordinate at two mobile observation stations of three Static Precise Point Positioning acquisitions frequently;
Step 3, establishing arbitrary in two mobile observation stations is the reference station of three two frequently differences location, according to the coordinate at two mobile observation stations of step 2 gained, finds the solution the baseline component at two mobile observation stations and the integer ambiguity of two poor carrier phases by three two frequently differences location;
In follow-up epoch, two original observation stations in mobile observation station are got three frequency GNSS data carry out pre-service, according to pretreated three frequency GNSS data, by the coordinate at two mobile observation stations of three Static Precise Point Positioning acquisitions frequently, and with the constraint condition of the step 3 gained solving result in initial epoch as three frequency Static Precise Point Positioning.
2. GNSS three as claimed in claim 1 is moving frequently to motion positioning method, it is characterized in that: described to two original observation stations in mobile observation station get three frequently the GNSS data carry out pre-service, comprise the uncorrelated combination observation value that adopts three three not have ionosphere, long wavelength and low noise carrier wave frequently, two original observation stations in mobile observation station are got three frequency GNSS data carry out the cycle slip detection and repair.
3. GNSS as claimed in claim 1 is moving to motion positioning method, it is characterized in that: when carrying out three frequency Static Precise Point Positioning, adopt three the three uncorrelated estimation of combination observation values troposphere, receiver location and the motion carrier clock correction parameters of not having ionosphere, long wavelength and low noise carrier wave frequently.
4. moving frequently to motion positioning method as claim 1 or 2 or 3 described GNSS three, it is characterized in that: during find the solution the two frequently differences of step 3 described three location, finding the solution of the integer ambiguity of described two difference carrier phases adopts Geometry-Based TCAR method to realize, according to success ratio thresholding fixed part blur level, adopt assumed statistical inspection to judge the reliability of fixed part blur level then.
5. GNSS three as claimed in claim 4 is moving frequently to motion positioning method, it is characterized in that: describedly be according to success ratio thresholding fixed part blur level implementation, obtain the real solution and the variance and covariance battle array thereof of blur level by two poor location models, calculate the fixing success ratio of blur level according to the variance and covariance battle array behind the integer transform, get one group of blur level of its success ratio maximum in default success ratio domain value range.
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