CN103076615B - A kind of triones navigation system ionosphere delay method of estimation and corresponding receiving trap - Google Patents
A kind of triones navigation system ionosphere delay method of estimation and corresponding receiving trap Download PDFInfo
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Abstract
A kind of triones navigation system ionosphere delay method of estimation, described method comprises, rough calculation of longitude & latitude step, and Beidou navigation satellite system receiver calculates satellite position and pseudorange, to obtain the rough longitude and latitude positional information of receiver according to satellite ephemeris; Breakthrough point calculation of longitude & latitude step, according to the described rough longitude and latitude positional information obtained and participation position location satellite positional information, calculates the breakthrough point latitude and longitude information participating in position location satellite; Ionosphere time delay correction step, the graticule mesh ionosphere delay information sent according to the GEO satellite of the described Beidou satellite navigation system received and described breakthrough point latitude and longitude information, determine that delayed data is corrected in the ionosphere of the grid points and described breakthrough point comprising breakthrough point; Accurate calculation of longitude & latitude step, corrects the observation equation of Beidou navigation satellite system receiver described in delayed data correction according to the ionosphere of described breakthrough point, calculate accurate accurately longitude and latitude.After adopting technical scheme of the present invention, the graticule mesh ionosphere information of the GEO satellite ephemeris of triones navigation system can be utilized to reduce ionospheric error, improve navigation and positioning accuracy.
Description
Technical field
The present invention relates to a kind of triones navigation system ionosphere delay method of estimation and corresponding receiving trap, especially a kind of ionosphere model parameters according to Beidou satellite navigation system navigation message and grid ionosphere information revise the method for navigator fix result and corresponding receiving trap.
Background technology
Ionosphere is the atmospheric envelope of earth overhead distance ground 50 ~ 1000km, by solar ultraviolet, X ray and high energy particle effect, the atmospheric molecule in this region and atomic ionization form a large amount of free electrons and positive ion, when electromagnetic wave signal passes, travel path bends, and velocity of propagation changes.Showing after deliberation, to navigate Xi Tong ﹝ BeiDou(or BD or COMPASS at big-dipper satellite Dao) in Navigation Satellite System ﹞, ionosphere delay is one of main error source affecting positioning precision.Ionization time delay is generally about several meters, but when Sunspot Activities strengthens, electron density in ionosphere can raise, this makes ionosphere time delay also increase thereupon, its value can reach tens meters even tens meters, and the method for conventional process ionosphere delay has dual frequency correction method, half-sum to correct method, differential correcting method and ionospheric model method etc.For single-frequency satellite navigation receiver, the size of ionosphere time delay can not be measured, can only estimate by ionospheric model method modelling, correct ionospheric delay by some mathematical methods.
Single frequency receiving general Klobuchar model was estimated in the local time
time ionosphere time delay size, the mathematic(al) representation of Klobuchar ionospheric delay model is:
（1）
In formula,
be the vertical zenith delay in ionosphere, unit is second,
receiver to the local time (unit is second, and span is 0 ~ 86400) of satellite links and ionosphere point of intersection,
the amplitude of cosine function,
be the cosine function cycle, this model constant describes the ionosphere time delay between midnight to morning, and describes the ionosphere time delay situation of change on daytime with half cosine function on this basis.This model hypothesis is the local time 14 time, and namely when 2 pm or 50400 seconds, it is the most vigorous that the atmospheric molecule in ionosphere decomposes under sunlight irradiates, and corresponding ionosphere time delay also reaches maximal value.
with
the ionospheric delay model parameters value that provided in its navigation message of broadcasting by satellite of value calculate, specifically resolve into:
（2）
（3）
Wherein, parameter
,
,
,
,
,
,
,
it is the parameters value of the ionospheric delay model that satellite provides in its navigation message of broadcasting.
the geodetic latitude of ionosphere point of puncture, unit be half cycle (
), point crossing with ionospheric average height face when ionosphere point of puncture refers to signal from satellite transmission to receiver, P point is as shown in Figure 1 ionosphere point of puncture, and the geodetic latitude computing formula of ionosphere point of puncture is:
（4）
Wherein,
for user's geodetic latitude, unit is radian,
for satellite aximuth, unit is radian,
for the earth's core subtended angle of user and point of puncture, unit is radian, and its computing formula is:
Wherein,
for earth radius, value is 6378 kilometers;
for elevation of satellite; Unit is radian;
for layer height, value is 375 kilometers.
Formula (1) exports the ionosphere time delay on a zenith direction in seconds
, then be multiplied by a coefficient relevant with frequency
just can calculate the ionosphere time delay suffered by satellite-signal
,
be a function relevant with frequency, for Beidou satellite navigation system, frequency is got
frequency.
The concrete estimation flow process of Klobuchar model assessment ionosphere delay as shown in Figure 1.After step 101 estimation starts, step 102 Beidou navigation satellite system receiver demodulates ionosphere model parameters, i.e. parameter
,
,
,
,
,
,
,
.Step 103 calculates the amplitude of cosine function again according to Klobuchar appraising model
with the cosine function cycle
, obtain the ionosphere time delay of zenith direction
, be multiplied by coefficient at step 104
obtain actual ionosphere time delay, step 105 terminates ionosphere estimation.
Now estimate the ionosphere time delay obtained
can be used as known quantity to bring in the observation equation of Beidou satellite navigation signal and participate in positioning calculation.For the input data of different spaces span, average and the variance of Klobuchar appraising model error are substantially constant, its space distribution shows as being alternately distributed of maximum value or minimum value region, lack the region that error is less and mild, and Klobuchar model is a kind of fitting function form on existing model realization, although consider phase place in it realizes, amplitudes etc. with the change of time and place, this fit procedure inherently reduces the precision of realization, and the time delay of supposition Nighttime ionosphere is constant, also larger ionospheric error can be caused, limit the application that it closes in many positioning requirements high field.
Summary of the invention
The object of this invention is to provide one and can receive GEO(Geostationary Earth Orbit at Beidou satellite navigation receiver, geostationary orbit) satellite participate in location time ionosphere delay estimation method, the grid points ionosphere correcting information correction ionospheric error that GEO satellite can be utilized to broadcast is to improve the positioning precision of Beidou satellite navigation receiver.
The present invention is achieved in that
A kind of triones navigation system ionosphere delay method of estimation, described method comprises, rough calculation of longitude & latitude step, and Beidou navigation satellite system receiver calculates satellite position and pseudorange, to obtain the rough longitude and latitude positional information of receiver according to satellite ephemeris; Breakthrough point calculation of longitude & latitude step, according to the described rough longitude and latitude positional information obtained and participation position location satellite positional information, calculates the breakthrough point latitude and longitude information participating in position location satellite; Ionosphere time delay correction step, the graticule mesh ionosphere delay information sent according to the GEO satellite of the described Beidou satellite navigation system received and described breakthrough point latitude and longitude information, determine that delayed data is corrected in the ionosphere of the grid points and described breakthrough point comprising breakthrough point; Accurate calculation of longitude & latitude step, corrects the observation equation of Beidou navigation satellite system receiver described in delayed data correction according to the ionosphere of described breakthrough point, calculate accurate accurately longitude and latitude.
further, in described ionosphere time delay correction step, delayed data is corrected in the ionosphere being calculated described breakthrough point by grid points interpolate value.
further, the graticule mesh ionosphere information that described GEO satellite sends covers east longitude 70-145 degree, the region between north latitude 10-55 degree.
the present invention also providesa kind of receiving trap of described ionosphere delay method of estimation.
further, in described ionosphere time delay correction step, delayed data is corrected in the ionosphere being calculated described breakthrough point by grid points interpolate value.
further, the graticule mesh ionosphere information that described GEO satellite sends covers east longitude 70-145 degree, the region between north latitude 10-55 degree.
After adopting technical scheme of the present invention, the graticule mesh ionosphere information of the GEO satellite ephemeris of triones navigation system can be utilized to reduce ionospheric error, improve navigation and positioning accuracy.
Accompanying drawing explanation
Fig. 1 is ionosphere pierce point schematic diagram;
Fig. 2 is Klobuchar model assessment Beidou navigation satellite system receiver ionosphere time delay process flow diagram;
Fig. 3 is Beidou navigation satellite system receiver of the present invention estimation ionosphere time delay process flow diagram.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Triones navigation system is by MEO(Medium Earth Orbit, Medium-Earth Orbit) satellite, IGSO(inclination circular orbit Geo-synchronous) satellite and GEO satellite composition, the each branch road of each satellite all broadcasts navigation information, and GEO satellite broadcasts the integrity of satellite-signal simultaneously, difference information, graticule mesh ionosphere information, graticule mesh ionosphere information contains ionospheric grid point vertical delay parameter and ionosphere grid points vertical delay error extension, if Beidou navigation satellite system receiver can receive graticule mesh ionosphere information, just can reduce ionospheric error greatly, improve positioning precision.
The ionospheric grid dot information of Beidou satellite navigation system comprises net point vertical delay parameter, system is by east longitude 70-145 degree, region between north latitude 10-55 degree divides by longitude and latitude 5 degree of * 5 degree, form 160 net points, net point numbering is according to latitude and longitude information arrangement, and table 1 is Partial Mesh point number table signal table.
Table 1 Beidou satellite navigation system GEO satellite portion net point number table
Fig. 2 is Beidou navigation satellite system receiver of the present invention estimation ionosphere time delay process flow diagram, and concrete estimation steps is:
Step 201: Beidou navigation satellite system receiver receives satellite navigation message, starts to estimate ionosphere time delay;
Step 202: Beidou navigation satellite system receiver calculates satellite position and pseudorange, to obtain the rough longitude and latitude positional information of receiver according to satellite ephemeris;
Step 203: the latitude and longitude information determining breakthrough point according to the rough latitude and longitude information of receiver calculated in step 202 and participation position location satellite position;
Step 204: determined to comprise the grid points of breakthrough point and the vertical ionospheric correcting information of grid points by the latitude and longitude information of breakthrough point;
Step 205: the vertical ionospheric correcting information utilizing interpolation method determination receiver;
Step 206: be multiplied by COEFFICIENT K (f) and obtain the time delay of actual electrical absciss layer;
Step 207: according to the observation equation of the receiver actual electrical absciss layer deferred message correction Beidou receiver calculated in step 206;
Step 208: terminate ionospheric corrections process.
In step 205, said interpolation method can be multiple interpolation method, all should within protection scope of the present invention as long as utilize the vertical ionospheric correcting information of grid points to go to calculate vertical ionospheric correcting information.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a triones navigation system ionosphere delay method of estimation, is characterized in that, described method comprises,
Rough calculation of longitude & latitude step, Beidou navigation satellite system receiver calculates satellite position and pseudorange, to obtain the rough longitude and latitude positional information of receiver according to satellite ephemeris;
Breakthrough point calculation of longitude & latitude step, according to the described rough longitude and latitude positional information obtained and participation position location satellite positional information, calculates the breakthrough point latitude and longitude information participating in position location satellite;
Ionosphere time delay correction step, the graticule mesh ionosphere delay information sent according to the GEO satellite of the described Beidou satellite navigation system received and described breakthrough point latitude and longitude information, determine that delayed data is corrected in the ionosphere of the grid points and described breakthrough point comprising breakthrough point, delayed data is corrected in the ionosphere of described breakthrough point, be multiplied by COEFFICIENT K (f) and obtain the time delay of actual electrical absciss layer, described COEFFICIENT K (f) is a function relevant with frequency, for described Beidou satellite navigation system, described frequency gets B3 frequency;
Accurate calculation of longitude & latitude step, the observation equation of Beidou navigation satellite system receiver according to described actual electrical absciss layer time delay correction, calculates accurate accurately longitude and latitude;
Described triones navigation system is made up of MEO satellite, IGSO satellite and GEO satellite; described GEO satellite broadcasts integrity, difference information, the graticule mesh ionosphere information of satellite-signal simultaneously, and graticule mesh ionosphere information contains ionosphere grid points vertical delay parameter and ionosphere grid points vertical delay error extension;
The graticule mesh ionosphere information that described GEO satellite sends covers east longitude 70-145 degree, the region between north latitude 10-55 degree, and described graticule mesh divides by longitude and latitude 5 degree of * 5 degree, forms 160 grid points.
2. ionosphere delay method of estimation as claimed in claim 1, is characterized in that, in described ionosphere time delay correction step, delayed data is corrected in the ionosphere being calculated described breakthrough point by grid points interpolate value.
3. one kind comprises the receiving trap of ionosphere delay method of estimation described in claim 1.
4. receiving trap as claimed in claim 3, is characterized in that, in described ionosphere time delay correction step, delayed data is corrected in the ionosphere being calculated described breakthrough point by grid points interpolate value.
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| CN103389501A (en) * | 2013-08-05 | 2013-11-13 | 东莞市泰斗微电子科技有限公司 | Method for processing auxiliary positioning information, information processing module and terminal |
| CN103353600A (en) * | 2013-08-05 | 2013-10-16 | 东莞市泰斗微电子科技有限公司 | Information processing method for satellite navigation system, information processing module and terminal |
| CN103424751B (en) * | 2013-08-05 | 2016-03-09 | 泰斗微电子科技有限公司 | A kind of disposal route of positioning auxiliary information, message processing module and terminal |
| CN108376477B (en) * | 2017-05-02 | 2021-04-16 | 山东大学 | Bus-road-cooperative-bus accurate data fusion center system and working method |
| CN108872932B (en) * | 2018-05-03 | 2021-04-02 | 中国人民解放军战略支援部队信息工程大学 | Beyond-visual-range target direct positioning result deviation rectifying method based on neural network |
| CN110456391B (en) * | 2018-05-08 | 2023-02-24 | 华北电力大学（保定） | Single-station multi-system multi-satellite hardware delay calculation method based on Beidou GEO satellite constraint |
| CN110794433B (en) * | 2019-09-24 | 2021-12-07 | 中国科学院国家天文台 | Vector ionosphere delay correction method based on Beidou system |
| CN111175789B (en) * | 2020-01-16 | 2022-03-04 | 中国民用航空总局第二研究所 | Ionized layer anomaly monitoring method, device and system of foundation enhancement system |
| CN111208543B (en) * | 2020-03-08 | 2022-05-10 | 湖南跨线桥航天科技有限公司 | Quick positioning method and system by utilizing GEO satellite of BDS (brain-based data service) system |
| CN113671534A (en) * | 2020-05-15 | 2021-11-19 | 华为技术有限公司 | Positioning compensation method, vehicle-mounted unit, medium and system |
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