CN102540213B - Dynamic grouping and satellite selecting method based on self adaption - Google Patents
Dynamic grouping and satellite selecting method based on self adaption Download PDFInfo
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Abstract
The invention relates to a satellite dynamic grouping and selecting method based on self adaption. The method comprises the steps of: (1) setting a satellite selecting initial threshold value; (2) comparing a PDOP (Position Dilution Of Precision) value calculated by new measurement data of last satellite selecting combination with the threshold value, if the PDOP value is more than the threshold value, going to step (3), and otherwise, directly outputting; (3) dynamically grouping current all satellites engaging in positioning; (4) performing time-sharing computing on the PDOP value of each combination, and finding out minimal PDOP value and satellite combination; and (5) according to the minimal PDOP value and satellite receiving situation, dynamically selecting the PDOP threshold value by using a self-adaptive method. According to the satellite selecting method provided by the invention, dynamic grouping adjustment and time-sharing computing strategies are adopted and the threshold value is adaptively adjusted according to the working environment, and more complicated satellite selection environment can be adopted under current hardware resource conditions, so that the application range of the method is enlarged, and the satellite selecting treatment time is shortened on a condition that the precision requirement is guaranteed.
Description
Technical field
The present invention relates to a kind of the select of satellite method for guidance or navigation.
Background technology
Position location satellite combination system of selection in guidance or the navigational environment requires response frequency very high, generally reaches Millisecond.In tradition guidance or the navigational environment, when selecting, the position location satellite combination usually all satellite measurement data that participate in the location are not carried out pre-packet transaction, and all calculating are all finished within a time cycle, thereby cause whole satellite selection method consuming time, require higher to hardware resource, be difficult to reach the requirement on the time performance, and the problem that method lost efficacy in changeable environment easily.In addition, existing position location satellite system of selection is often for specific user or specific work environments research and development.When user's running status changes greatly, when perhaps entering environment complicated and changeable, existing method often is greatly affected or lost efficacy.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of operand little, take hardware resource few based on adaptive Dynamic Packet satellite selection method.
Technical solution of the present invention is: based on adaptive Dynamic Packet satellite selection method, step is as follows:
(1) star threshold value initial value is selected in setting;
(2) obtain the satellite that current time can participate in locating, according to the population of satellite N that participates in the location satellite is divided into groups, if N≤4 item are divided into one group with all satellites; If the satellite at the high elevation angle is then at first selected in 4＜N＜9, then according to
Select arbitrarily other three satellites to make up every group of four satellites; If N 〉=9 item are divided into 4 classes according to the position angle degree of closeness with satellite, number of satellite in every class equates as far as possible, then from each class, respectively select a satellite, according to every group of four satellites all satellites are divided into groups, wherein choose all the time in the class at the satellite place at the high elevation angle this satellite at the high elevation angle participate in grouping;
(3) the PDOP value of each satellite packet and obtain wherein minimum PDOP value in the calculation procedure (2), if the PDOP value of current time minimum is less than selecting the star threshold value, then the satellite packet that the PDOP value of current time minimum is corresponding as current time select the star result, utilize simultaneously formula
The star threshold value is selected in renewal; If the PDOP value of current time minimum greater than selecting the star threshold value, is then returned step (2) and is re-started satellite packet, until the PDOP value of current time minimum is less than selecting the star threshold value; Wherein, x
kFor constantly calculating minimum PDOP value, y by packet assembling k epoch
K-1-iBe the PDOP threshold value that constantly adopts in (k-1-i) individual epoch, n be epoch k constantly receiver can receive the sum of satellite, m be epoch k constantly participate in effective satellite number of PDOP value grouping calculating, s measures adjustment factor epoch;
(4) at next constantly, obtain last time selecting PDOP value corresponding to star result and comparing with selecting the star threshold value of output, if last time output select the star result this moment corresponding PDOP value still less than selecting the star threshold value, what then keep selecting star result and output last time selects that the star result is consistent also to be exported, and utilizes simultaneously formula
The star threshold value is selected in renewal; If that last time exported selects PDOP value corresponding to star result greater than selecting the star threshold value, then return step (2) and re-start satellite packet;
(5) repeating step (2)～(4), constantly training select star threshold value and output each constantly select the star result.
The present invention's advantage compared with prior art is:
(1) the inventive method adopts the Dynamic Packet pre-service before selecting star, has rejected the relatively poor combinations of satellites of position distribution, has effectively dwindled the hunting zone with minimum PDOP value combinations of satellites;
(2) the inventive method adopts the timesharing calculative strategy when calculating the PDOP value of each combinations of satellites, within a time-count cycle, only calculate a combinations of satellites, and finish the writing task of minimum PDOP value, thereby effectively reduced the operand in each time-count cycle, improved the real-time response ability of satellite selection method;
(3) the inventive method has taken into full account satellite distribution and has changed at short notice little characteristics, adopt the last time of the strategy of threshold decision as a result, then illustrate less than threshold value and to select last time the current measure data precision of star combination Satellite to accept, still as this result of calculation, under the prerequisite that guarantees accuracy requirement, reduce calculated amount, can effectively reduce hardware-dependent, and enlarged the use occasion scope of satellite selection method;
(4) the inventive method adopts adaptation theory, and the PDOP threshold value is dynamically adjusted, and has both guaranteed the accuracy quantification index of result of calculation, considers again the compromise of precision and actual use occasion.
Description of drawings
Fig. 1 is the process flow diagram of the inventive method;
Fig. 2 is that the present invention selects star group technology process flow diagram;
Fig. 3 is self-adaptation PDOP Threshold-training block diagram of the present invention.
Embodiment
Be a kind of employing self-adaptation thought training threshold value based on adaptive Dynamic Packet satellite selection method, thereby and distinguish varying environment and dynamically adjust the satellite selection method that the satellite packet combination realizes obtaining fast minimum PDOP value combinations of satellites.Characteristics of the present invention are: (1) adopts the Dynamic Packet strategy; (2) timesharing calculative strategy; (3) adaptive threshold.
As shown in Figure 1, be self-adaptation Dynamic Packet satellite selection method process flow diagram of the present invention, compare with classic method, except the PDOP value is calculated link, this method has increased the PDOP value and has calculated front Dynamic Packet, secondly also increased the feedback utilization of PDOP value result of calculation, thus make through the threshold value of training can Adaptive change working environment, its key step is as follows:
(1) carry out the parameter initialization setting:
By defending the asterisk index, deposit the structure array of the information such as satellite position, be initialized as 0; Press the grouping serial number index, deposit the structure array of satellite packet combination, be initialized as 0; Minimum PDOP value combinations of satellites record pointer is initialized as 0; PDOP value threshold value initial value is rule of thumb set, and is generally 3.0; Satellite packet structure array traversal pointer is initialized as 0.
(2) threshold decision
Obtain the combinations of satellites of selecting the star result last time of preserving in the satellite packet unitized construction body array by minimum PDOP value combinations of satellites record pointer, and recomputate the PDOP value according to their current measurement data.With this PDOP value and PDOP threshold ratio, if less than threshold value, then the asterisk of defending corresponding in this index point combinations of satellites structure array is as a result of exported, calculated link otherwise start.The initial value of threshold value is finished by step (1), and the renewal of threshold value is realized as input and the adaptive threshold training by step (6) by the result of step (5).
The grouping of (3) calculating in the link is calculated
As shown in Figure 2, all satellite informations that participate in the location are kept in the satellite information structure array according to defending the asterisk index, and process respectively according to number: directly export less than or equal to 4 satellites; Greater than 4 during less than 9 satellites, at first select the satellite at the high elevation angle, then according to
Select arbitrarily other three satellites to make up, wherein n represents the number of satellite of current participation location; During more than or equal to 9 satellites, at first according to azimuthal distribution satellite is divided into 4 groups, guarantees that as far as possible every group of Satellite number equates the group number at satellite place, the highest elevation angle of mark.Secondly choosing arbitrarily a satellite from other each grouping makes up with the highest elevation angle satellite.The selection formula is:
Wherein a, b, c represent respectively three packet satellite numbers except the grouping of place, the highest elevation angle.
In order to guarantee the requirement of timesharing strategy, the combinations of satellites number can not be too many.And the number of satellite that participates in the location can't normally be located when being less than 4.Select star when grouping, distribute for better how much for the satellite that guarantees to select has, the satellite at the essential the highest elevation angle.When number of satellite during greater than 9, according to the azimuthal distribution grouping, avoided the adjacent satellite in position angle on the same group PDOP calculate.
(4) the PDOP value is calculated in timesharing: the PDOP value is calculated and is adopted traditional computing formula in this method, namely adopts the positioning error covariance matrix to calculate.Because there are a large amount of matrix operations in the calculation of position errors covariance matrix, and is more consuming time.This method adopts the timesharing strategy.Only calculate the PDOP value of one group of combinations of satellites in each time-count cycle, and catch up with the PDOP value of calculating in the time-count cycle and compare, and record the position at place in the less PDOP value place satellite packet structure array.
(5) etc. after all packet assemblings have calculated, obtain the combinations of satellites of minimum PDOP value.The asterisk combination defended in this combination is and selects the star result, and the minimum PDOP value that obtains will be as the Threshold-training link, the input of step (6).
(6) according to the minimum PDOP value of step (5) gained, and by the receipts star situation that participates in the position location satellite number and infer, formulate a cover PDOP Threshold-training rule, adopt adaptive approach choice of dynamical PDOP threshold value.
Concrete self-adaptation PDOP Threshold-training rule as shown in the formula
Wherein, x
kFor constantly calculating minimum PDOP value, y by packet assembling k epoch
K-1-iBe the PDOP threshold value that constantly adopts in (k-1-i) individual epoch, n be epoch k constantly receiver can receive the sum of satellite, m be epoch k constantly participate in effective satellite number that PDOP value grouping is calculated, s is for measuring adjustment factor (can get s=10 according to engineering experience) epoch of rule of thumb choosing.Self-adaptation PDOP Threshold-training block diagram as shown in Figure 3.
Such as following formula, in the adaptive training rule, by regulating the size of s, can effectively control the response speed that the adaptive training process changes minimum PDOP value, the sensitivity of training process can be improved by the value that reduces s, robustness can be improved by the value that increases s.Population of satellite n according to effective satellite is counted m and received can infer the receipts star situation of receiver.When the ratio of m/n is larger, it is better to show that current k receives the star situation constantly, is correspondingly calculated by grouping and can obtain a less minimum PDOP value, therefore according to the adaptive threshold selection rule, do not need epoch, selected threshold value was carried out too much adjustment before, can judge by passing threshold.When the ratio of m/n hour, it is poor to show that current k receives the star situation constantly, the minimum PDOP value that is calculated by grouping also can be relatively large, if the PDOP threshold value of epoch before still adopting, then may not can passing threshold judge, will cause like this receiver constantly can't locate in this epoch.If at this moment adopt the adaptive threshold selection rule, will automatically adjust the PDOP threshold value and suitably increase threshold value according to receiving the star situation, its passing threshold is judged, occur thereby reduce the situation that receiver can't locate.
For low dynamic subscriber, the position distribution of Navsat changes in general 1 minute affects PDOP value hardly, unless the star result that selects that the satellite that disappears in the visual field belonged in the last computation period makes up.The PDOP value of last computation period with threshold ratio is calculated link thereby start conditionally, namely enters described step (3), and high dynamic subscriber can directly enter the calculating link.
The content that is not described in detail in the instructions of the present invention belongs to those skilled in the art's known technology.
Claims (1)
1. one kind based on adaptive Dynamic Packet satellite selection method, it is characterized in that step is as follows:
(1) star threshold value initial value is selected in setting;
(2) obtain the satellite that current time can participate in locating, according to the population of satellite that participates in the location satellite is divided into groups, be less than and equal four and then all satellites are divided into one group if participate in the population of satellite of location; If the population of satellite that participates in the location less than nine, is then at first selected the satellite at the high elevation angle greater than four, then select arbitrarily other three satellites to make up, every group of four satellites; If participate in the population of satellite of location more than or equal to nine, then according to the position angle degree of closeness satellite is divided into four classes, number of satellite in every class equates as far as possible, then from each class, respectively select a satellite, according to every group of four satellites all satellites are divided into groups, wherein choose all the time in the class at the satellite place at the high elevation angle this satellite at the high elevation angle participate in grouping;
(3) the PDOP value of each satellite packet and obtain wherein minimum PDOP value in the calculation procedure (2), if the PDOP value of current time minimum is less than selecting the star threshold value, then the satellite packet that the PDOP value of current time minimum is corresponding as current time select the star result, utilize simultaneously formula
The star threshold value is selected in renewal; If the PDOP value of current time minimum greater than selecting the star threshold value, is then returned step (2) and is re-started satellite packet, until the PDOP value of current time minimum is less than selecting the star threshold value; Wherein, x
kFor constantly calculating minimum PDOP value, y by packet assembling k epoch
K-1-iBe the PDOP threshold value that constantly adopts in (k-1-i) individual epoch, n be epoch k constantly receiver can receive the sum of satellite, m be epoch k constantly participate in effective satellite number of PDOP value grouping calculating, s measures adjustment factor epoch;
(4) at next constantly, obtain last time selecting PDOP value corresponding to star result and comparing with selecting the star threshold value of output, if last time output select the star result this moment corresponding PDOP value still less than selecting the star threshold value, what then keep selecting star result and output last time selects that the star result is consistent also to be exported, and utilizes simultaneously formula
The star threshold value is selected in renewal; If that last time exported selects PDOP value corresponding to star result greater than selecting the star threshold value, then return step (2) and re-start satellite packet;
(5) repeating step (2)～(4), constantly training select star threshold value and output each constantly select the star result.
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| US10495761B2 (en) | 2015-11-13 | 2019-12-03 | Honeywell International Inc. | Smart satellite distribution into ARAIM clusters for use in monitoring integrity of computed navigation solutions |
| US10613233B2 (en) | 2016-09-21 | 2020-04-07 | Honeywell International Inc. | ARAIM clustering distribution improvement |
| CN106767765B (en) * | 2016-11-17 | 2020-03-06 | 上海卫星工程研究所 | Deep space velocity measurement navigation fixed star selection method based on azimuth matrix orthogonality |
| US10416315B2 (en) | 2017-03-07 | 2019-09-17 | Honeywell International Inc. | False alarm distribution in advanced receiver autonomous integrity monitoring |
| CN107656294B (en) * | 2017-09-28 | 2020-10-16 | 中南大学 | Star selection method of multi-satellite navigation system based on star selection template |
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| EP1596215A2 (en) * | 2004-05-13 | 2005-11-16 | Seiko Epson Corporation | Positioning apparatus, positioning method, positioning program, and computer-readable recording medium for recording positioning program |
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