CN103954982A - Rapid visible satellite selection method based on multimode GNSS receiver - Google Patents

Rapid visible satellite selection method based on multimode GNSS receiver Download PDF

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CN103954982A
CN103954982A CN 201410158310 CN201410158310A CN103954982A CN 103954982 A CN103954982 A CN 103954982A CN 201410158310 CN201410158310 CN 201410158310 CN 201410158310 A CN201410158310 A CN 201410158310A CN 103954982 A CN103954982 A CN 103954982A
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satellites
satellite
visible
multimode
set
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CN 201410158310
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Chinese (zh)
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何晓峰
唐康华
李涛
胡小平
罗兵
练军想
吴文启
王安成
范晨
冯春妮
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中国人民解放军国防科学技术大学
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/24Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28Satellite selection
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/33Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS

Abstract

The invention discloses a rapid visible satellite selection method based on a multimode GNSS receiver. The method comprises the steps that (1) elevation angles, received by the multimode GNSS receiver currently, of all visible satellites are calculated, the satellites with the satellite elevation angles smaller than 10 degrees are eliminated, and a usable visible satellite set S is obtained; (2) according to satellite position information of the satellites and receiver preliminary position information, a coefficient matrix and a weight coefficient matrix are calculated; (3) a GDOP value corresponding to the visible satellite set S is calculated; (4) a contribution value delta Gi of each visible satellite to GDOP is calculated and the contribution values delta Gi are ranked from large to small, so that a set SG is formed; (5) when the multimode GNSS receiver needs to select N visible satellites for navigation and location, the front N satellites in the set SG are selected, and a corresponding visible satellite subset is a selected usable satellite constellation. The method has the advantages of being convenient and quick to operate, simple in implementation, high in accuracy, wide in application range and the like.

Description

基于多模GNSS接收机的可见卫星快速选择方法 Multi-mode visible satellites of the GNSS receiver rapid selection method

技术领域 FIELD

[0001] 本发明主要涉及到卫星导航领域,特指一种基于多模GNSS接收机的可见卫星快速选择方法。 [0001] The present invention generally relates to the field of satellite navigation, in particular to a multi-mode based on the visible satellites of the GNSS receiver quick selection method.

背景技术 Background technique

[0002]随着全球卫星导航系统 GNSS (Global Navigation Satellite System)产业的蓬勃发展,各国对于GNSS日益重视。 [0002] With the rapid development of the global navigation satellite system GNSS (Global Navigation Satellite System) industries, countries for GNSS increasing attention. 目前GNSS主要包括GPS、GL0NASS、欧盟正在建设中的Galileo和中国的北斗卫星导航系统BDS(BeiDou Navigation Satellite System,也称为Compass)。 Currently GNSS include GPS, GL0NASS, under construction in the EU Galileo and Chinese Compass satellite navigation system BDS (BeiDou Navigation Satellite System, also known as Compass). GNSS产业的发展集中体现在包括海陆空天的各行各业都大规模采用GNSS接收机进行导航定位应用。 The development of GNSS industry embodied in all walks of life, including sea and air-day large-scale use of GNSS receivers for navigation location-based applications.

[0003] 美国正在实施GPS现代化计划;俄罗斯为了恢复和提高GLONASS的导航定位能力正在进行技术革新和增加在轨卫星;我国的北斗卫星导航系统已开始为亚太地区提供导航定位服务;欧盟正稳步推进Galileo的建设。 [0003] US GPS modernization program is being implemented; Russia in order to restore and enhance the GLONASS navigation and positioning capabilities of the ongoing technological innovation and increase in-orbit satellites; our country's Beidou satellite navigation system has begun to provide navigation and positioning services for the Asia-Pacific region; the EU is progressing steadily Galileo's construction. 理论和实践表明,采用多模GNSS联合定位的性能在精度、可靠性、完好性等方面均优于采用单一GNSS系统定位的性能。 Theory and Practice shows that multi-mode co-located GNSS performance in terms of accuracy, reliability, integrity and other properties are better than using a single GNSS positioning system. 从早期的GPS/GL0NASS双模接收机至现在的BDS/GPS/GL0NASS三模接收机,到不远将来的BD/GPS/GLONASS/Galileo四模接收机,多模GNSS联合定位是现代卫星接收机的发展应用趋势。 From the early GPS / GL0NASS dual-mode receiver to the current BDS / GPS / GL0NASS tri-mode receiver, to the near future BD / GPS / GLONASS / Galileo receiver four-mode, multi-mode GNSS co-located modern satellite receiver the application trends. 相对于单一GNSS定位而言,由于多模GNSS定位中可用卫星数目多且各GNSS系统体制、星座设计不同等因素的影响,可用卫星的选择方法(简称为选星方法)显得尤为重要。 Impact relative to a single GNSS positioning, since the multi-mode GNSS positioning in the number of available satellites and various multi-system GNSS systems, different constellation design and other factors, the available satellite selection method (referred to as the satellite selection method) is very important. 因此,选星已成为多模GNSS接收机联合定位的关键技术之一,是实现不同GNSS系统共同定位的粘合剂。 Therefore, the election has become one of the key technologies stars multimode joint GNSS receiver positioning is to achieve different GNSS systems co-located adhesive.

[0004] 随着当前用户可以使用的导航卫星数目越来越多,多模GNSS的选星技术越来越受到国内外学者的关注,特别是BD/GPS联合定位的选星算法成为研究热点和重点。 [0004] As the number of navigation satellites for the current user can use more and more of the selected multi-mode GNSS satellite technology more and more attention of scholars at home and abroad, especially in satellite selection algorithm BD / GPS co-location and become a hot topic focus. 早期的GPS接收机由于受到硬件资源的限制,仅有4〜6个信号接收通道,而在开阔环境中GPS —般可正常接收8〜10颗卫星信号;因此,该技术中存在选星的问题。 Early GPS receiver due to the restrictions of hardware resources, only 4 ~ 6 signal receiving channel, while the GPS in an open environment - generally 8~10 normally received satellite signals; therefore, the problem of selecting the art that stars .

[0005] 随着微处理器与大规模集成电路的性能不断得到提高,包含几十甚至上百个信号跟踪通道的GPS接收机已成为现实,接收所有的可见卫星信号进行导航定位已不成为问题,因此对于单一GNSS选星技术的需求并不迫切,但针对GPS/GL0NASS双模定位的选星方法研究较多。 [0005] As the performance of microprocessors and LSI has been continuously improved, include GPS receiver signal tracking dozens or even hundreds of channels has become a reality, receiving all visible satellite navigation and positioning signals have not become a problem therefore selected for a single GNSS satellite technology demand is not urgent, but the study selected dual-mode satellite positioning method for GPS / GL0NASS more. 国内外学者主要是基于几何精度因子(Geometric Dilution ofPrecision,⑶OP)最优的理论推导开展GPS/GL0NASS选星算法研究。 Scholars mainly based on GDOP (Geometric Dilution ofPrecision, ⑶OP) to derive optimal theoretical research satellite selection algorithm GPS / GL0NASS. 由于接收机对GPS和GLONASS卫星的观测误差不同,普遍采用加权⑶OP的改进选星算法。 Since different receivers observation error on GPS and GLONASS satellites, the satellite selection algorithm is commonly used to improve the weighted ⑶OP. 卫星高度角很大程度上决定了观测误差大小,因而许多研究者在改进选星算法的基础上综合考虑了卫星高度角对选星的影响。 Altitude satellite observation angle largely determines the size of the error, so many researchers on the basis of improved satellite selection algorithm based on comprehensive consideration of the impact of satellite elevation angle of the selected stars. 对于加权GDOP的权值确定,主要基于两种思路:一是综合利用经验公式和误差模型对于观测误差进行预测估计得到每颗卫星的权值;二是通过引入包括系统差异的随机模型来确定每颗/每类卫星的权值。 Weights for the weighted GDOP is determined mainly based on two approaches: First, utilization and error empirical observation error prediction model for the estimated weight of each satellite; the second is determined by introducing a stochastic model comprises a difference of each system particles / weight of each type of satellite.

[0006] 迄今为止,多模GNSS接收机可见卫星选择方法主要是采用经验法或近似方法设计选星方法,没有严格的数学理论推导依据,存在精度不高、计算复杂等不足,难以完全适用于多模GNSS接收机定位的需求。 [0006] So far, the multimode receiver of visible GNSS satellite selecting method is the empirical design methods or approximation satellite selection method, there is no rigorous mathematical derivation of the theoretical basis, the presence of high precision, such as lack of computational complexity, it is difficult to fully apply GNSS receiver needs multimode positioned.

发明内容 SUMMARY

[0007] 本发明要解决的技术问题就在于:针对现有技术存在的技术问题,本发明提供一种操作简便快速、实现简单、精度高、适用范围广的基于多模GNSS接收机的可见卫星快速选择方法。 [0007] The present invention is to solve the technical problem is that: for the technical problems of the prior art, the present invention provides a simple, rapid, simple, high precision, wide application range based on the satellites of the GNSS receiver multimode quick selection method.

[0008] 为解决上述技术问题,本发明采用以下技术方案: [0008] To solve the above problems, the present invention employs the following technical solution:

[0009] 一种基于多模GNSS接收机的可用卫星快速选择方法,其步骤为: [0009] Based on one of the available satellite GNSS receiver multimode quick selection method, comprising the steps of:

[0010] (I)计算当前多模GNSS接收机接收到所有可见卫星的仰角,剔除卫星仰角小于10度的卫星,得到可用的可见卫星集合S ; [0010] (I) calculating a current multimode receiver receives all visible GNSS satellite elevation angle, satellite elevation angle excluding 10 degrees less than the satellite, to give a set of available satellites S;

[0011] (2)针对上述步骤(1)得到的可见卫星集合S,根据卫星的卫星位置和接收机概略位置信息,计算系数矩阵和权系数矩阵; [0011] (2) above for step (1) visible satellites obtained set S, the position of the satellite and approximate position information of the satellite receiver, and calculating weighting coefficient matrix of the coefficient matrix;

[0012] (3)计算可见卫星集合S对应的⑶OP值; [0012] (3) a set of visible satellites calculated value S corresponding to ⑶OP;

[0013] (4)计算每颗可见卫星对⑶OP的贡献值Λ Gi,并按照贡献值Λ Gi从大到小排列构成集合Sg ; [0013] (4) calculating the contribution of each tablet visible satellites ⑶OP value of Λ Gi, and their contribution value Λ Gi Sg configuration set in descending order;

[0014] (5)当多模GNSS接收机需要选择N颗可见卫星进行导航定位时,N大于1,选择集合Sg中前面N颗卫星,即为⑶OP最小的N颗可见卫星组合,所对应的可见卫星子集即为选择的可用卫星星座。 [0014] (5) When the GNSS receiver needs to select multimode N visible satellites for satellite navigation, is greater than 1 N, the first N Sg selected set of satellites, i.e. satellites ⑶OP smallest particle composition N, the corresponding is the subset of satellites selected by the available satellite constellation.

[0015] 作为本发明的进一步改进:所述步骤(1)中得到的可见卫星集合S为: [0015] As a further improvement of the invention: the step (1) obtained in the visible satellites for the set S:

[0016] S= (Si I elvsi>10°, I ^ i ^ Μ} [0016] S = (Si I elvsi> 10 °, I ^ i ^ Μ}

[0017] 其中,Si为第i颗可见卫星,elvsi为Si卫星相对于接收机的仰角,M为可见卫星数目; [0017] where, Si is the i-th satellites visible satellites, elvsi of Si with respect to the elevation angle satellite receivers, M being the number of visible satellites;

[0018] 所述步骤(2)的具体流程为: [0018] The step (2) to specific processes:

[0019] (2.1)可见卫星位置和接收机概略位置均为ECEF坐标系的矢量,第j颗可见卫星的位置为X4[xV_z1和接收机概略位置为Xtl= [XtiytlZtl],则系数矩阵A计算公式为: [0019] (2.1) visible satellite position and the receiver position vector are schematic position ECEF coordinate system, the first satellite is visible satellites j X4 [xV_z1 and the position of the receiver is a schematic Xtl = [XtiytlZtl], the calculated coefficient matrix A The formula is:

[0020] [0020]

Figure CN103954982AD00051

[0021] 其中,« eJy ef)为接收机至卫星j观测向量的方向余弦,« eJy ef)的具体 [0021] wherein, «eJy ef) of the satellite receiver to the observation vector j direction cosines,« eJy ef) Specific

计算公式为: The formula is:

Figure CN103954982AD00052
Figure CN103954982AD00061

[0025] (2.2)权系数矩阵Q为: [0025] (2.2) weight coefficient matrix Q is:

[0026] Q= (AtA) -1。 [0026] Q = (AtA) -1.

[0027] 作为本发明的进一步改进:所述步骤(3)中,根据权系数矩阵Q计算GDOP值的公式为: [0027] As a further improvement of the invention: the step (3), a weight coefficient matrix Q according to the formula calculation of GDOP values ​​is:

Figure CN103954982AD00062

[0029] 其中,trace (Q)表示矩阵Q的迹,即为矩阵Q对角线元素之和。 [0029] wherein, the trace (Q) Q represents the trace of a matrix, the matrix Q is the sum of the diagonal elements.

[0030] 作为本发明的进一步改进:所述步骤(4)的具体流程为: [0030] As a further improvement of the present invention: the specific process of said step (4) is:

[0031] (4.1)计算每颗可见卫星对⑶OP的贡献值Λ Gi: [0031] (4.1) is calculated for each satellite visible satellites ⑶OP contribution of Λ Gi:

[0032] AGi = GDOPil , - GDOPil [0032] AGi = GDOPil, - GDOPil

[0033] 其中,⑶OPm为采用M颗可见卫星观测值计算得到的⑶OP值,GDOI^ ,为采用M_1颗且不包含第i颗可见卫星计算得到的⑶OP值; [0033] wherein, ⑶OPm is calculated using M satellites visible satellite observations ⑶OP value obtained, GDOI ^, is calculated using a value obtained ⑶OP M_1 particles do not contain the i-th satellites visible satellites;

[0034] (4.2)对M颗卫星的Λ Gi值,按照从大到小的顺序排列构成集合Sg: [0034] (4.2) Λ Gi value M satellites, arranged in descending order according to the configuration set Sg:

[0035] Sg= {Si I Δ Gi Gh, I ≤ i ≤ Μ}。 [0035] Sg = {Si I Δ Gi Gh, I ≤ i ≤ Μ}.

[0036] 作为本发明的进一步改进:所述步骤(5)中,所选可见卫星集合为 [0036] As a further improvement of the invention: the step (5), the selected set of visible satellites

[0037] Sn= {Si I Δ Gi Gh, (M-N+1)≤ i ≤ Μ} [0037] Sn = {Si I Δ Gi Gh, (M-N + 1) ≤ i ≤ Μ}

[0038] Sn即为⑶OP最小的N颗可见卫星组合,所对应的可见卫星子集即为选择的可用卫 [0038] Sn is the smallest of the N satellites ⑶OP combination satellites, satellites is the subset corresponding to a selected satellite available

星星座。 Constellation.

[0039] 与现有技术相比,本发明的优点在于: [0039] Compared with the prior art, advantages of the present invention:

[0040] 1、本发明的基于多模GNSS接收机的可用卫星快速选择方法,具有计算简单、精度高和应用领域广的优点,可广泛应用于提高海陆空天用多模GNSS导航接收机的定位精度和选星速度。 [0040] 1, based on the available multimode satellite GNSS receiver rapid selection method of the present invention, having a simple calculation, high accuracy and wide application field it can be widely used to improve day by sea and air navigation receiver GNSS multimode positioning accuracy and speed satellite selection.

[0041] 2、本发明的基于多模GNSS接收机的可用卫星快速选择方法,以每颗卫星对⑶OP的贡献值大小为准则,适用于GPS/BDS等多模GNSS接收机,该方法同样适用于单系统GNSS接收机可见卫星的选择,从而拓展了该方法的适用领域。 [0041] 2, based on the available multimode satellite GNSS receiver of the present invention quick selection method, the size of the value of the contribution of each satellite ⑶OP as a criterion for GPS / BDS Multimode GNSS receiver, the method is equally applicable GNSS receiver selects a single system of satellites, thereby expanding the field of application of the method.

附图说明 BRIEF DESCRIPTION

[0042] 图1是本发明方法的流程示意图。 [0042] FIG. 1 is a schematic flow diagram of the method of the present invention.

具体实施方式 detailed description

[0043] 以下将结合说明书附图和具体实施例对本发明做进一步详细说明。 [0043] The following description in conjunction with the accompanying drawings and specific embodiments described in further detail of the present invention.

[0044] 如图1所示,本发明的基于多模GNSS接收机的可见卫星快速选择方法,为:首先,通过剔除仰角小于10度的可见卫星,得到可用的可见卫星集合;然后,针对上述得到的可见卫星集合,根据卫星的卫星位置和接收机概略位置信息,计算系数矩阵和权系数矩阵,从而计算得到GDOP值;接着,计算每颗可见卫星对GDOP值的贡献值,并按照贡献值从大到小排列构成;最后,选择对⑶OP值贡献值大的若干颗卫星,即为⑶OP最小的可见卫星组合,所对应的可见卫星子集即为选择的可用卫星星座。 [0044] 1, satellites based on multimodal GNSS receiver rapid selection method of the present invention, as follows: First, visible satellite elevation angle less than 10 degrees removed, to obtain a set of available satellites; then, for the above the resulting set of satellites, the satellite position and approximate position information satellite receiver, and the coefficient matrix calculated weight coefficient matrix to calculate GDOP value; Next, calculate the contribution value of each of the satellites visible satellites GDOP value, and the value of their contribution configuration in descending order; Finally, select a number of satellites to a large value ⑶OP contribution values, namely a combination of satellites ⑶OP minimum, satellites corresponding to the subset that is selected available satellite constellation.

[0045] 在具体的应用实例中,本发明的具体流程为: [0045] In a particular example application, the specific process of the present invention are:

[0046] 1.计算多模GNSS接收机接收到的所有可见卫星的仰角,剔除卫星仰角小于10度的卫星,得到可用的可见卫星集合S为: [0046] 1. Calculate all visible satellites received GNSS receiver multimode elevation, satellite elevation angle excluding 10 degrees less than the satellite, to give the set of available satellites S is:

[0047] S= {Si|elvsi ^ 10°, I ^ i ^ M} (I)其中,Si 为第i 颗可见卫星,elvsi 为Si 卫星相对于接收机的仰角,M为可见卫星数目。 [0047] S = {Si | elvsi ^ 10 °, I ^ i ^ M} (I) where, Si is the i-th satellites visible satellites, elvsi of Si with respect to the satellite receiver elevation, M being the number of visible satellites. 对于BDS/GPS双模接收机而言,目前M不大于26,BDS/GPS/GL0NASS三模接收机的M不大于40,未来BDS/GPS/GLONASS/Galileo四模接收机的M不大于52。 For BDS / GPS dual mode receiver, the current is not greater than M 26, BDS / GPS / GL0NASS tri-mode receiver is no greater than 40 M, the next BDS / GPS / GLONASS / Galileo M is not greater than four-mode receiver 52.

[0048] 2.对上述步骤I得到的可见卫星集合S,根据卫星的卫星位置和接收机概略位置信息,计算系数矩阵和权系数矩阵。 Visible satellites obtained above in step I [0048] 2. Set S, the position of the satellite and the receiver approximate position information satellite, and the coefficient matrix calculated weight coefficient matrix. 具体步骤如下: Specific steps are as follows:

[0049] 2.1、可见卫星位置和接收机概略位置均为ECEF坐标系的矢量,第j颗可见卫星的位置为x&[x^HV]和接收机概略位置为XfkoyoZcJ,则系数矩阵A计算公式为: [0049] 2.1, visible satellite position and the receiver position are schematic vector ECEF coordinate system, the position of the satellites is visible satellites j x & [x ^ HV] and the receiver approximate position is XfkoyoZcJ, the coefficient matrix A is calculated as :

[0050] [0050]

Figure CN103954982AD00071

[0051] 其中,« < 为接收机至卫星j观测向量的方向余弦,(ee; 的具体计算公式为: [0051] wherein, «<j as the direction to the satellite receiver cosine observation vector, (EE; The formula is as follows:

Figure CN103954982AD00072

[0055] 2.2、权系数矩阵Q为: [0055] 2.2, weight coefficient matrix Q is:

[0056] Q= (AtA) -1 (6) [0056] Q = (AtA) -1 (6)

[0057] 3.根据上述步骤2得到的权系数矩阵Q,计算⑶OP值的公式为: [0057] The weight coefficient matrix obtained in the above step 2 Q, formula ⑶OP values ​​is:

[0058] [0058]

Figure CN103954982AD00073

[0059] 其中,trace (Q)表示矩阵Q的迹,即为矩阵Q对角线元素之和。 [0059] wherein, the trace (Q) Q represents the trace of a matrix, the matrix Q is the sum of the diagonal elements.

[0060] 4.计算每颗可见卫星对⑶OP的贡献值Λ Gi,并按照Λ Gi从大到小排列构成集合SG。 [0060] 4. Calculate the contribution of every single visible satellites ⑶OP value of Λ Gi, and in accordance with the configuration set Λ Gi SG descending order. 具体步骤如下: Specific steps are as follows:

[0061] 4.1、计算每颗可见卫星对⑶OP的贡献值Λ Gi [0061] 4.1, calculated for each satellite visible to the satellites of the contribution values ​​Λ Gi ⑶OP

[0062] [0062]

Figure CN103954982AD00074

[0063] 其中,⑶OPm为采用M颗可见卫星观测值计算得到的⑶OP值,GDOP:,,为采用(M-1)颗且不包含第i颗可见卫星计算得到的⑶OP值。 [0063] wherein, ⑶OPm ⑶OP value M to employ satellites visible satellite observations calculated, GDOP: ,, is calculated using a value obtained ⑶OP (M-1) does not contain particles of satellites visible satellites i.

[0064] 根据计算⑶OP的单调性,则必然Λ GiX),而且Λ Gi越大,表明第i颗卫星对⑶OPm的贡献越大,因而将Λ Gi的值作为第i颗卫星贡献重要性的衡量指标。 [0064] According to the monotony calculated ⑶OP, is bound Λ GiX), and Gi Lambda greater, indicating that the larger the contribution of the i-th satellite ⑶OPm thus the Lambda value Gi of the i-th satellite as a measure of the importance of the contribution index.

[0065] 4.2、对M颗卫星的Λ Gi值,按照从大到小的顺序排列构成集合Sg [0065] 4.2, the value of Λ Gi M satellites, arranged in descending order configuration set Sg

[0066] Sg= {Si I Δ Gi ≥Λ Gh, I ≤ i ≤ Μ} (9) [0066] Sg = {Si I Δ Gi ≥Λ Gh, I ≤ i ≤ Μ} (9)

[0067] 5.需要选择N (N < Μ)颗可见卫星进行导航定位,则选择可见卫星集合Sg中前面N颗卫星,即所选可见卫星集合为 [0067] The need to select N (N <Μ) satellite navigation positioning satellites visible, selecting the set of visible satellites earlier Sg N satellites, i.e., the selected set of satellites

[0068] Sn= {Si I Δ Gi Gh, (M-N+1)≤ i ≤ Μ} (10) [0068] Sn = {Si I Δ Gi Gh, (M-N + 1) ≤ i ≤ Μ} (10)

[0069] Sn即为⑶OP最小的N颗可见卫星组合,所对应的可见卫星子集即为选择的可用卫 [0069] Sn is the smallest of the N satellites ⑶OP combination satellites, satellites is the subset corresponding to a selected satellite available

星星座。 Constellation.

[0070] 以上仅是本发明的优选实施方式,本发明的保护范围并不仅局限于上述实施例,凡属于本发明思路下的技术方案均属于本发明的保护范围。 [0070] The above are only preferred embodiments of the present invention, the scope of the present invention is not limited to the above embodiments, where the aspect belonging to the idea of ​​the present invention belong to the scope of the present invention. 应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理前提下的若干改进和润饰,应视为本发明的保护范围。 It should be noted that those of ordinary skill in the art, in a number of improvements and modifications without departing from the principles of the present invention is provided, should be considered in the scope of the invention.

Claims (5)

  1. 1.一种基于多模GNSS接收机的可用卫星快速选择方法,其特征在于,步骤为: (1)计算当前多模GNSS接收机接收到所有可见卫星的仰角,剔除卫星仰角小于10度的卫星,得到可用的可见卫星集合S ; (2)针对上述步骤(1)得到的可见卫星集合S,根据卫星的卫星位置和接收机概略位置信息,计算系数矩阵和权系数矩阵; (3)计算可见卫星集合S对应的⑶OP值; (4)计算每颗可见卫星对⑶OP的贡献值Λ Gi,并按照贡献值Λ Gi从大到小排列构成集合Sg ; (5)当多模GNSS接收机需要选择N颗可见卫星进行导航定位时,N大于1,选择集合Sg中前面N颗卫星,即为⑶OP最小的N颗可见卫星组合,所对应的可见卫星子集即为选择的可用卫星星座。 A multimode available satellites based GNSS receiver quick selection method, comprising the steps of: (1) calculating a current elevation multimode receiver receives all visible GNSS satellites, the satellite excluded satellite elevation angle less than 10 degrees to obtain a set of available satellites S; (2) for the above step (1) visible satellites obtained set S, the position of the satellite and approximate position information of the satellite receiver, and the coefficient matrix calculated weight coefficient matrix; (3) calculate visible satellite set value S corresponding ⑶OP; (4) calculate the contribution value of each of the satellites visible satellites ⑶OP Λ Gi, and Λ Gi in descending order according to the configuration set Sg contribution; (5) when the GNSS receiver needs to select multimode N visible satellites when the satellite navigation positioning, N is greater than 1, select the set of N Sg earlier satellites, satellites is the smallest combination ⑶OP N satellites, satellites corresponding to the subset that is selected available satellite constellation.
  2. 2.根据权利要求1所述的基于多模GNSS接收机的可用卫星快速选择方法,其特征在于,所述步骤(1)中得到的可见卫星集合S为: 2. The method of rapid selection available on the multimode satellite GNSS receiver according to claim 1, wherein said obtained in step (1) visible satellites S is set:
    Figure CN103954982AC00021
    其中,Si为第i颗可见卫星,elvsi为Si卫星相对于接收机的仰角,M为可见卫星数目; 所述步骤(2)的具体流程为: (2.1)可见卫星位置和接收机概略位置均为ECEF坐标系的矢量,第j颗可见卫星的位置为X^j=IixVV]和接收机概略位置为Xtl= [Xc^ciZtl],则系数矩阵A计算公式为: Where, Si is the i-th satellites visible satellites, elvsi of Si with respect to the elevation angle satellite receivers, M being the number of visible satellites; specific flow of the step (2) of: (2.1) schematic visible satellite position and the position of each receiver ECEF coordinate system of the position vector of the j-th satellites visible satellites is X ^ j = IixVV] and the position of the receiver is a schematic Xtl = [Xc ^ ciZtl], the coefficient matrix a is calculated as follows:
    Figure CN103954982AC00022
    其中,(ei ejy 为接收机至卫星j观测向量的方向余弦,(e eJy e)的具体计算公式为: Wherein, (ei ejy the receiver to the satellite direction cosine observation vector j, (e eJy e) The formula is as follows:
    Figure CN103954982AC00023
    (2.2)权系数矩阵Q为: Q= (AtA) -1。 (2.2) weighting coefficient matrix Q as: Q = (AtA) -1.
  3. 3.根据权利要求2所述的基于多模GNSS接收机的可用卫星快速选择方法,其特征在于,所述步骤(3)中,根据权系数矩阵Q计算GDOP值的公式为: GDOP = ^trace(Q) = ^trace((A' A) 1)其中,trace (Q)表示矩阵Q的迹,即为矩阵Q对角线元素之和。 3. The rapid selection available to claim multimode satellite-based GNSS receiver method of claim 2, wherein said step (3), the GDOP value is calculated based on the formula weight coefficient matrix Q is: GDOP = ^ trace (Q) = ^ trace ((a 'a) 1) wherein, the trace (Q) Q represents the trace of a matrix, the matrix Q is the sum of the diagonal elements.
  4. 4.根据权利要求3所述的基于多模GNSS接收机的可用卫星快速选择方法,其特征在于,所述步骤(4)的具体流程为: (4.1)计算每颗可见卫星对⑶OP的贡献值Λ Gi: AG =GDOPI1 A-GDOPu 其中,⑶OPm为采用M颗可见卫星观测值计算得到的⑶OP值,GDOP。 4. The multimode available satellites based GNSS receiver according to claim 3 quick selection method, wherein said step (4) is a specific procedure: (4.1) Calculated value of the contribution of every single visible satellites of ⑶OP Λ Gi: AG = GDOPI1 a-GDOPu wherein, ⑶OPm ⑶OP value M to employ satellites visible satellite observations calculated, GDOP. :为采用M-1颗且不包含第i颗可见卫星计算得到的⑶OP值; (4.2)对M颗卫星的Λ Gi值,按照从大到小的顺序排列构成集合Sg: Sg= {Si | ΔGi ≥ Δ Gi-1, 1≤ i ≤M}。 : M-1 for the use of particles does not contain ⑶OP value of the i satellites visible satellites calculated; (4.2) Λ Gi value of M satellites, arranged in descending order according to the configuration set Sg: Sg = {Si | ΔGi ≥ Δ Gi-1, 1≤ i ≤M}.
  5. 5.根据权利要求4所述的基于多模GNSS接收机的可用卫星快速选择方法,其特征在于,所述步骤(5)中,所选可见卫星集合为Sn= {Si | ΔGi ≥ΔGi-1,(M-N+1) ≤ i ≤Μ} Sn即为⑶OP最小的N颗可见卫星组合,所对应的可见卫星子集即为选择的可用卫星星座。 5. The method of rapid selection available on the multimode satellite GNSS receiver according to claim 4, wherein said step (5), the selected set of satellites Sn = {Si | ΔGi ≥ΔGi-1 , (M-N + 1) ≤ i ≤Μ} Sn satellites N is the minimum ⑶OP combination of satellites, satellites corresponding to the subset that is selected available satellite constellation.
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