CN104122566B - Multi-path error removing method of navigation satellite system and multi-path hemisphere model - Google Patents
Multi-path error removing method of navigation satellite system and multi-path hemisphere model Download PDFInfo
- Publication number
- CN104122566B CN104122566B CN201410310467.6A CN201410310467A CN104122566B CN 104122566 B CN104122566 B CN 104122566B CN 201410310467 A CN201410310467 A CN 201410310467A CN 104122566 B CN104122566 B CN 104122566B
- Authority
- CN
- China
- Prior art keywords
- multipath
- carrier
- referential
- receiver
- errors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/428—Determining position using multipath or indirect path propagation signals in position determination
Abstract
The invention discloses a multi-path error removing method of a navigation satellite system. The method comprises the following steps: building a multi-path hemisphere model; building the multi-path hemisphere model for describing multi-path error according to a relative position between a satellite of a global navigation satellite system (GNSS) and a receiver; estimating the value of the multi-path hemisphere model, namely, estimating the multi-path error of the receiver on the basis of the multi-path hemisphere model, and estimating the multi-path hemisphere model value of corresponding lattice points at different azimuth angles and height angles in a carrier reference system; removing the multi-path error; acquiring observation data of the receiver on real time; acquiring the corresponding multi-path hemisphere model value according to the azimuth angles and height angles of the receiver; correcting the observation data according to the multi-path hemisphere model; removing the multi-path error of the GNSS. The method is applicable to the field of high-precision application of the GNSS in static environments. The invention also discloses a multi-path hemisphere model.
Description
Technical field
The present invention relates to GLONASS field, more particularly to a kind of elimination navigational satellite system Multipath Errors
Method and multipath spherical model half a day.
Background technology
Multipath effect always puzzlement high-precision GNSS (Global Navigation Satellite System, entirely
Ball navigational satellite system) fields of measurement main still unsolved error source.The satellite data of ground receiver is not only comprising reception
The useful information such as is put in seat in the plane, also comprising random observational error and various systematic errors.Wherein ionospheric error, tropospheric error,
The systematic error of orbit error, satellite clock correction and receiver clock-offsets can be by Dual Frequency Observation, double difference observation and accurate mould
Type amendment is eliminated or weakens significantly.But pass through with the multipath effect of website environmental correclation and the waveform of observed quantity is interfered
Cause non-linear observation phase distortion, this error that not there is spatial coherence, it is impossible to eliminate using difference modes, also cannot lead to
Cross linear model following to separate.The various multipath correction models for proposing in the world at present and algorithm still existing defects, especially
It is that they are mainly used in reprocessing analysis, it is difficult to realize that real-time multichannel footpath is corrected.Theoretical research shows Multipath Errors maximum
For the 1/4 of signal wavelength.The corresponding signal wavelength of L1 and L2 frequency ranges of GPS is respectively 19.04cm and 24.44cm, then correspond to most
Big non-poor phase place Multipath Errors are respectively 4.76cm and 6.11cm.Baseline is observed, carrier phase error maximum is reachable
9.52cm and 12.22cm.The multipath effect of pseudorange code observation is more more complicated also stronger, generally the multipath of P codes
, up to 15 meters, the Multipath Errors of C/A codes are up to 150 meters for error.The popularization applied with GNSS and in-depth, to positioning and surveying appearance
The requirement of precision especially real-time accuracy further improve.Therefore in high-precision GNSS positioning, the survey work such as appearance and deformation monitoring
In Cheng Yingyong and research, can elimination Multipath Errors become and currently put forward high-precision key.
In the method that Multipath Errors affect is weakened except select suitable site it is outer (avoid GNSS survey stations be located at strong reflection with
In strong radiation environment, but it is often subject to objective condition restriction), mainly from after the anti-interference quality of raising receiver and improvement data
Process software algorithm both direction to launch.Mainly there are particular antenna method, narrow correlation technique, multichannel in terms of receiver hardware modifications
Cut down technology MET (Multipath Elimination Technology) and multipath signal delays phaselocked loop MEDLL in footpath
Technologies such as (Multipath Estimating Delay Lock Loop), the improvement based on receiver hardware and signal transacting is right
Suppress Multipath Errors to show certain benefit, but at present can only weakened part multipath effect, especially to height
The larger Multipath Errors sensitiveness in angle is poor.Meanwhile, the cost of receiver has been raised in the improvement of hardware and antenna, limits it
Practical application.
At present, Data Post technology be still weaken multipath effect a main path, such as signal to noise ratio method, little wavelength-division
Analysis method, empirical mode decomposition method and the sidereal day filtering based on satellite constellation Sunday repeatability etc..The change of snr value is by more
The impact of aspect factor, is not all multipath effect, makes the double difference observation finally tried to achieve weigh paroxysm life deviation.Sidereal day filters
It is the method (the gps satellite operation cycle of 2 weeks is about 56 minutes 23 hours) based on the nearly sidereal day repetition sexual development of satellite constellation,
Simply random observational error is different with the separation means of Multipath Errors.There is common deficiency in them, such as calculate complexity, need
Time series is analyzed to weaken Multipath Errors therefore be primarily adapted for use in post-processing etc., multipath is realized in inconvenience
The real-time online of effect is resolved and corrected；Secondly, in the separation means of random observational error and Multipath Errors, it is individually present
Some shortcomings；Main, they can not all break away from the dependence to concrete satellite, thus may also contain in the amount for eliminating
Satellite itself has the systematic error (such as once per rev systematic errors) of repeatability of nearly Sunday beyond multipath.
Therefore, in order to overcome drawbacks described above, the present invention propose the method that eliminates navigational satellite system Multipath Errors and
Multipath spherical model half a day
The content of the invention
The present invention proposes a kind of method of elimination navigational satellite system Multipath Errors, comprises the steps：
Set up multipath spherical model half a day：According to the relative position between GLONASS Satellite and receiver
Multipath spherical model half a day is set up, for describing Multipath Errors；
Estimate multipath hemisphere model value：Estimate that the multipath of receiver is missed based on spherical model multipath half a day
Difference, estimates the multipath hemisphere model value of different orientations and the lattice point corresponding to elevation angle in carrier referential；
Eliminate Multipath Errors：The observation data of receiver are obtained in real time, according to azimuth and the height of the receiver
Angle obtains corresponding multipath hemisphere model value, and using described in the multipath hemisphere model value amendment data are observed, and disappears
Except GLONASS Multipath Errors.
In the method for eliminating navigational satellite system Multipath Errors proposed by the present invention, the multipath hemisphere mould
Type such as below equation is represented：
What receiver was received carries
In formula,For the corresponding phase place of geometric delay, τotherIt is the delay in addition to Multipath Errors,For multipath
The carrier phase amount of distortion that error is caused.φobsFor the carrier phase that antenna is determined, η is what the excessive path difference of multipath was caused
Phase mass, α is the decay factor of multi-path signal, and to represent the amplitude distortion factor, A represents the amplitude of carrier signal before distortion to β.
In the method for eliminating navigational satellite system Multipath Errors proposed by the present invention, described estimation multipath half a day
The step of spherical model value, includes：Obtain the observation data of actual receiver；The observation data are carrier phase or pseudorange observation；
Set up estimation parameter and constraints：The estimation parameter includes geometric delay phase place and floating-point carrier phase ambiguity, and root
Constraints is set up according to the floating-point carrier phase ambiguity；Detection estimates cycle slip and rejects outlier；Fitting observation residual error, estimates
Meter multipath spherical model half a day；Set up carrier referential；Estimate different orientations and elevation angle corresponding lattice point in carrier referential
Multipath hemisphere model value.
In the method for eliminating navigational satellite system Multipath Errors proposed by the present invention, it is fitted observation residual error and estimates
The step of meter multipath spherical model half a day, includes：Estimate position of the corresponding satellite of observation residual error after each fitting on celestial sphere
Put, the position includes elevation angle and azimuth；The resolution ratio of the celestial sphere of multipath spherical model half a day is determined, so that it is determined that described
The lattice site and quantity of multipath spherical model half a day；With the observation residual error after the corresponding fitting of identical satellite day ball position
By the corresponding multipath value of the corresponding celestial sphere lattice point of least-squares estimation, the corresponding multipath value of lattice point of all estimations is constructed
Spherical model multipath half a day.
In the method for eliminating navigational satellite system Multipath Errors proposed by the present invention, receiver is statically arranged on
When on ground, it is x-axis that the carrier referential takes east orientation, and north orientation is y-axis；It is described when the receiver is arranged on dynamic carrier
It is x-axis that carrier referential generally takes the transverse axis of the dynamic carrier, and the longitudinal axis of the dynamic carrier is y-axis.
In the method for eliminating navigational satellite system Multipath Errors proposed by the present invention, the carrier referential is estimated
Middle azimuth represents with elevation angle such as following formula：
In formula, Δ x, Δ y and Δ z represent respectively three axle components of the carrier referential.
In the method for eliminating navigational satellite system Multipath Errors proposed by the present invention, the multichannel of the corresponding lattice point
Footpath hemisphere model value such as below equation is represented：
In formula, θ represents elevation angle of the satellite correspondence observation station in celestial sphere, and λ represents satellite correspondence observation station in celestial sphere orientation
Angle.
In the method for eliminating navigational satellite system Multipath Errors proposed by the present invention, the elimination Multipath Errors
The step of include：The observation data of receiver are obtained in real time；Obtain the multipath hemisphere model value；Obtain the receiver
Line vector, by the line vector median filters to the carrier referential；Calculate the azimuth that the line vector obtains satellite
And elevation angle, determine the lattice point that the satellite is located；The multipath hemisphere model value of the lattice point is read, the observation is corrected
The Multipath Errors of data.
In the method for eliminating navigational satellite system Multipath Errors proposed by the present invention, the line vector median filters are arrived
The step of carrier referential, includes：
Geographic coordinate system is transformed into from geocentric rectangular system, the component such as following formula of the geographic coordinate system is represented：
In formula, λ andThe respectively geographic logitude and latitude of main antenna；Δ x, Δ y and Δ z represent respectively the referential
Three axle components；
It is transformed into the carrier referential, the component such as following formula table of the carrier referential from the geographic coordinate system again
Show：
In formula, ψ, θ, γ are respectively course angle of the carrier in geographic coordinate system, the angle of pitch and roll angle, dextrorotation for just,
It is origin that carrier coordinate system takes carrier center of gravity, and transverse axis is x-axis, and the longitudinal axis is y-axis, and z-axis is upwards.Δ x, Δ y and Δ z are represented defend respectively
Championship puts the three axle components in the referential.
The invention allows for a kind of spherical model multipath half a day, the spherical model multipath half a day such as below equation table
Show：
What receiver was received carries
In formula,For the corresponding phase place of geometric delay, τotherIt is the delay in addition to Multipath Errors,For multipath
The carrier phase amount of distortion that error is caused.φobsFor the carrier phase that antenna is determined, η is what the excessive path difference of multipath was caused
Phase mass, α is the decay factor of multi-path signal, and to represent the amplitude distortion factor, A represents the amplitude of carrier signal before distortion to β.
It is used to eliminate multipath hemisphere model M HM of Multipath Errors in the present invention compared with current techniques, the present invention
Method do not limited by GNSS navigational satellite systems, it is adaptable to any satellite, it is adaptable to which the GNSS under any static environment is high
Precision applications field.It is repeated using it after the Multipath Errors for estimating satellite relative receiver difference Angle Position, afterwards
The impact of multipath effect can be in real time eliminated, real-time is provided with.
Description of the drawings
Fig. 1 is the flow chart of the method that navigational satellite system Multipath Errors are eliminated in the present invention；
Fig. 2 is the flow chart that multipath hemisphere model value is estimated in the present invention；
Fig. 3 a are the running orbit figures of two satellites in embodiment；Fig. 3 b and Fig. 3 c are respectively two Satellite Phase observations
Residual plot；
Fig. 4 is the Multipath Errors figure of multipath spherical model half a day；
Fig. 5 is the flow chart that Multipath Errors are eliminated in the present invention.
Specific embodiment
With reference to specific examples below and accompanying drawing, the present invention is described in further detail.The process of the enforcement present invention,
Condition, experimental technique etc., in addition to the following content for specially referring to, are the universal knowledege and common knowledge of this area, this
It is bright that content is not particularly limited.
The method of the elimination navigational satellite system Multipath Errors of the present invention includes brand-new MHM concepts and model, sharp
MHM models have been set up with GNSS actual observations data estimation has obtained MHM illustratons of model, and the MHM illustratons of model set up are seen to GNSS
Multipath Errors amendment when survey is put into effect.Refering to Fig. 1, the present invention eliminates the method for navigational satellite system Multipath Errors including as follows
Step：
Set up multipath spherical model half a day：According to the relative position between GLONASS Satellite and receiver
Multipath spherical model half a day is set up, for describing Multipath Errors；
Estimate multipath hemisphere model value：The Multipath Errors of receiver are estimated based on multipath spherical model half a day, is estimated
The multipath hemisphere model value of different orientations and the lattice point corresponding to elevation angle in meter carrier referential；
Eliminate Multipath Errors：The observation data of receiver are obtained in real time, are obtained according to azimuth and the elevation angle of receiver
Corresponding multipath hemisphere model value is taken, using the amendment of multipath hemisphere model value data are observed, eliminated worldwide navigation and defend
Star system Multipath Errors.
Wherein, the present invention proposes a kind of new multipath spherical model half a day (MHM, Multipath Hemispherical
Model), the concept and model of the MHM is the spatio-temporal invariant according to Multipath Errors under static environment, and proposition from spatial domain
Hand, by the Angle Position of the relative GNSS receiver of satellite the model of Multipath Errors is obtained.MHM concepts and model set up process such as
Under：
First, the carrier phase of GNSS receiver antenna output can be expressed as：
φ=f τ=f (τg+τr+τs+τa+τi+τm)
In formula：τg,τr,τs,τa,τi,τmGeometric delay, receiver clock-offsets, satellite clock correction, atmosphere delay, electricity are represented respectively
Absciss layer postpones and multipath postpones (i.e. Multipath Errors).In fact, only receiver clock-offsets, satellite clock correction, atmosphere delay and
Ionosphere delay can be detached with real geometric delay, and multipath postpones to be and geometric delay is coupled, it is impossible to point
From calculating.Therefore, above formula is represented by：
In formula：For the corresponding phase place of geometric delay, τotherIt is other delays in addition to multipath,For multipath
The carrier phase amount of distortion that error is caused, φobsThe carrier phase that representative antennas are determined.
Jing researchs show that the carrier phase and the distortion factor of amplitude that Multipath Errors are caused is：
What receiver was received carries
In formula, the phase mass that η is caused for the excessive path difference of multipath, α is the decay factor of multi-path signal, and A is represented
The amplitude of carrier signal before distortion.The where the shoe pinches of multipath problem are that quantity, position and the property of reflection sources is all not
Know, thus excessive path difference η be it is unknown, it can neither direct estimation be also difficult to simulate.However, above-mentioned in a static environment
Invariant when distortion factor is, excessive path difference is only and emission source in the sky, the phase between ground return source and receiver antenna
It is relevant to geometric position and unrelated as the concrete satellite of emission source.Therefore, in reflection sources and the relative position of receiver antenna
On the premise of constant, geometry lattice point Angle Position of the multipath effect only with emission source in the sky is relevant.Fig. 3 a show first
Satellite is identical with the carrier phase observable residual error of second satellite intersection, refering to the mark in Fig. 3 b and Fig. 3 c, identifies at two
Carrier phase observable residual error corresponds to same lattice site, and the carrier phase observable residual error at this is equal.
It can be seen that spherical model multipath half a day (MHM) proposed by the present invention has broken away from dependence of the sidereal day Filtering Model to satellite
Relation, highlights the spatio-temporal invariant of the multipath effect under more essential static environment.So, multipath effect under static environment
Should be estimated to be expressed as the multipath hemisphere model value of emission source corresponding lattice site on high with observation residual error
(MHM values).So, by the MHM models of the Multipath Errors of prior estimation, the multipath for therefrom obtaining a certain lattice site is missed
Difference, can eliminate the Multipath Errors received in signal that satellite is produced in correspondence sky lattice site.
Refering to Fig. 2, estimate that the process of multipath hemisphere model value comprises the steps in the present invention：
Obtain the observation data of actual receiver；Observation data are carrier phase or pseudorange observation, carrier phase or pseudorange
Observation is suitable for the estimate of multipath delay method of MHM models.
Set up estimation parameter and constraints：Estimate that parameter includes geometric delay phase place and floating-point carrier phase ambiguity,
And constraints is set up according to floating-point carrier phase ambiguity, for solving the problems, such as multipath parameter Estimation in rank defect.
Detection estimates cycle slip and rejects outlier, can be prevented effectively from because cycle slip phenomenon causes to estimate in Multipath Errors are estimated
The inaccurate situation of evaluation；
Fitting observation residual error, estimates multipath spherical model half a day；Estimate multipath hemisphere after fitting observation residual error
The step of model, includes：Estimate position of the corresponding satellite of observation residual error after each fitting on celestial sphere, the position bag
Include elevation angle and azimuth；The resolution ratio of the celestial sphere of multipath spherical model half a day is determined, so that it is determined that the multipath hemisphere
The lattice site and quantity of model；Pass through least square with the observation residual error after the corresponding fitting of identical satellite day ball position
Estimate the corresponding multipath value of corresponding celestial sphere lattice point, the corresponding multipath value of lattice point of all estimations constructs the multipath half
Its spherical model.
Set up carrier referential；When receiver is statically arranged on the ground, carrier referential takes east orientation for x-axis, north orientation
For y-axis；When receiver is arranged on dynamic carrier, it is x-axis that carrier referential generally takes the transverse axis of dynamic carrier, dynamic carrier it is vertical
Axle is y-axis.
Estimate the multipath hemisphere model value of different orientations and elevation angle corresponding lattice point in carrier referential.
Wherein, estimate that respective heights angle and azimuthal lattice point MHM values are calculated by following formula.If Δ x, Δ y, Δ z be satellite-
Component of the receiver antenna vector in antenna carrier referential, its azimuth and elevation angle in carrier referential is (also
It is azimuth and the elevation angle of MHM model corresponding lattice points) be：
Estimate that MHM models are carried out in geocentric rectangular referential by carrier phase and pseudorange, by satellite-baseline line arrow
It is carried out in two steps with reference to the conversion for being tied to carrier referential from geocentric rectangular.The first step goes to main antenna from geocentric rectangular referential
Location geographic coordinate system.
λ in formula,For the geographic logitude and latitude of main antenna.Second step goes to carrier referential from geographic coordinate system.
In formula, ψ, θ, γ is respectively course angle of the carrier in geographic coordinate system, the angle of pitch and roll angle, and dextrorotation is for just.
It is origin that carrier coordinate system takes carrier center of gravity, and transverse axis is x-axis, and the longitudinal axis is y-axis, and z-axis is upwards.Δ x, Δ y and Δ z are represented defend respectively
Championship puts the three axle components in the referential.For the observation for fixing on the ground, the earth is exactly carrier, and carrier coordinate system is just
Take geographic coordinate system.The multipath hemisphere model value such as below equation of corresponding lattice point is represented：
In formula, θ represents elevation angle of the satellite correspondence observation station in celestial sphere, and λ represents satellite correspondence observation station in celestial sphere orientation
Angle.
Lattice point multipath value file can be generated for real-time monitored or reprocessing analysis according to multipath hemisphere model value
When make Multipath Errors amendment, it is also possible to be depicted as intuitively MHM Multipath Errors figure for analysis and research.Refering to Fig. 4, MHM is more
The center of circle of tracking error figure represents elevation angle as 90 degree of position, and rounded edge represents elevation angle as 0 degree of position；Radius of circle rotates
Angle represent azimuth.Learn any time satellite and elevation angle and azimuth of the receiver line in carrier referential
Afterwards, you can find out corresponding Multipath Errors in corresponding lattice point multipath value file.
Refering to Fig. 5, the process that Multipath Errors are eliminated in the present invention comprises the steps：
The observation data of receiver are obtained in real time；Observation data are carrier phase or pseudorange observation.
The multipath hemisphere model value that acquisition is completed in step before；
Receiver line vector is obtained, by line vector median filters to carrier referential；
Azimuth and elevation angle that line vector obtains satellite are calculated, the lattice point that satellite is located is determined；
Read the multipath hemisphere model value of lattice point, the Multipath Errors of amendment observation data.Using revised sight
Survey data carry out positioning and realize GNSS high accuracy engineer applieds.
Estimate that MHM models are carried out in geocentric rectangular referential by carrier phase and pseudorange, by satellite-baseline line arrow
It is carried out in two steps with reference to the conversion for being tied to carrier referential from geocentric rectangular.The first step goes to main antenna from geocentric rectangular referential
Location geographic coordinate system.
λ in formula,For the geographic logitude and latitude of main antenna.Second step goes to carrier referential from geographic coordinate system.
In formula, ψ, θ, γ is respectively course angle of the carrier in geographic coordinate system, the angle of pitch and roll angle, and dextrorotation is for just.
It is origin that carrier coordinate system takes carrier center of gravity, and transverse axis is x-axis, and the longitudinal axis is y-axis, and z-axis is upwards.Δ x, Δ y and Δ z are represented defend respectively
Championship puts the three axle components in the referential.For the observation for fixing on the ground, the earth is exactly carrier, and carrier coordinate system is just
Take geographic coordinate system.
The process for eliminating the method for Multipath Errors to the present invention below by way of specific embodiment is described further.
So that double antenna is with the short baseline carrier phase observation of clock GPS as an example, structural health prison is carried out to building
During survey, two GPS antennas can be positioned over building diverse location, be judged by the vector change between monitoring aerial
The deformation situation of building.Here, it is believed that the GPS receiving antenna surrounding environment being erected on building is approximately constant.Two days
Line constitutes difference observation to the carrier phase observation data (L1 or L2) of same satellite.Two antennas are set to into identical appearance
State, makes the Phase center variation of two reception antennas consistent, and the difference of receiver antenna phase change is after phase difference
Zero.Due to being short baseline, ionosphere delay and atmosphere delay are eliminated without being estimated in difference, at the same Ghandler motion, earth tide,
Tide etc. affects also to be eliminated by difference and is not used as Modifying model；Due to sharing same clock, satellite clock correction and receiver clock-offsets are all
Eliminate in differential process without estimating.So, estimate that parameter is only the baseline under the geocentric rectangular referential in geometric delay
Carrier phase ambiguity between resultant satellite baseline.Position under the geocentric rectangular referential of satellite is obtained by precise ephemeris.
First, the carrier phase of two GPS receiving antennas is measured.Estimation parameter and constraint are set up, filtering algorithm is first passed through
(such as Kalman filtering) estimates geometric delay phase place and floating-point carrier phase ambiguity (antenna initial phase and integer ambiguity
Sum), the scope of floating-point carrier phase ambiguity is obtained, in this, as constraints, obtain the observation after parameter fitting residual
Difference, by setting up carrier referential, estimates MHM models in carrier referential, and the vector sum for obtaining satellite relative receiver exists
The elevation angle and azimuthal lattice point MHM values of satellite are estimated in carrier referential.
Finally, Multipath Errors amendment when being put into effect to GPS observations with the MHM illustratons of model set up.Two days are read in real time
The carrier phase observation data of line, reads in the MHM values for having generated, obtains the line vector of receiver and is transformed into carrier referential,
Elevation angle and azimuth of the satellite-baseline line in carrier referential is calculated, satellite versus baseline place lattice site is found out,
The Multipath Errors value of corresponding lattice point is obtained, makees Multipath Errors amendment to observing data, finally with revised observation data
Solved, i.e., using the baseline vector monitoring building whether deformation for eliminating multipath effect.The present invention is using multipath half
The repeatability of the space angle position of its spherical model eliminates multipath effect, obtains the baseline arrow between accurate antenna, and it is right to realize
The purpose of fabric structure high precision monitor.
The protection content of the present invention is not limited to above example.Under the spirit and scope without departing substantially from inventive concept, this
Art personnel it is conceivable that change and advantage be all included in the present invention, and with appending claims as protect
Shield scope.
Claims (8)
1. it is a kind of eliminate navigational satellite system Multipath Errors method, it is characterised in that comprise the steps：
Set up multipath spherical model half a day：Set up according to the relative position between GLONASS Satellite and receiver
Multipath spherical model half a day, for describing Multipath Errors；The spherical model multipath half a day such as below equation is represented：
What receiver was received causes what is distorted with multipath
In formula,For the corresponding phase place of geometric delay, τotherIt is the delay in addition to Multipath Errors,For Multipath Errors
The carrier phase amount of distortion for causing, φobsFor the phase place that the carrier phase that antenna is determined, η are caused for the excessive path difference of multipath
Amount, α is the decay factor of multi-path signal, and to represent the amplitude distortion factor, A represents the amplitude of carrier signal before distortion to β；
Estimate multipath hemisphere model value：The Multipath Errors of receiver are estimated based on spherical model multipath half a day, is estimated
The multipath hemisphere model value of different orientations and the lattice point corresponding to elevation angle in meter carrier referential；
Eliminate Multipath Errors：The observation data of receiver are obtained in real time, are obtained according to azimuth and the elevation angle of the receiver
Corresponding multipath hemisphere model value is taken, using data are observed described in the multipath hemisphere model value amendment, eliminates complete
Ball navigational satellite system Multipath Errors.
2. the method for eliminating navigational satellite system Multipath Errors as claimed in claim 1, it is characterised in that the estimation is more
The step of path hemisphere model value, includes：
Obtain the observation data of actual receiver；The observation data are carrier phase or pseudorange observation；
Set up estimation parameter and constraints：The estimation parameter includes geometric delay phase place and floating-point carrier phase ambiguity,
And constraints is set up according to the floating-point carrier phase ambiguity；
Detection estimates cycle slip and rejects outlier；
Fitting observation residual error, estimates multipath spherical model half a day；
Set up carrier referential；
Estimate the multipath hemisphere model value of different orientations and elevation angle corresponding lattice point in carrier referential.
3. the method for eliminating navigational satellite system Multipath Errors as claimed in claim 2, it is characterised in that fitting observation
Residual error simultaneously includes the step of estimate multipath spherical model half a day：
Estimate position of the corresponding satellite of observation residual error after each fitting on celestial sphere, the position includes elevation angle and side
Parallactic angle；
The resolution ratio of the celestial sphere of multipath spherical model half a day is determined, so that it is determined that the lattice site of spherical model multipath half a day
And quantity；
Pass through the corresponding celestial sphere lattice point of least-squares estimation with the observation residual error after the corresponding fitting of identical satellite day ball position
Corresponding multipath value, the corresponding multipath value of lattice point of all estimations constructs spherical model multipath half a day.
4. the method for eliminating navigational satellite system Multipath Errors as claimed in claim 2, it is characterised in that receiver is static
When ground is arranged on the ground, it is x-axis that the carrier referential takes east orientation, and north orientation is y-axis；The receiver is arranged on dynamic carrier
When, it is x-axis that the carrier referential generally takes the transverse axis of the dynamic carrier, and the longitudinal axis of the dynamic carrier is y-axis.
5. the method for eliminating navigational satellite system Multipath Errors as claimed in claim 2, it is characterised in that estimate the load
Azimuth represents with elevation angle such as following formula in body referential：
In formula, Δ x, Δ y and Δ z represent respectively three axle components of the carrier referential.
6. the method for eliminating navigational satellite system Multipath Errors as claimed in claim 2, it is characterised in that the correspondence lattice
The multipath hemisphere model value such as below equation of point is represented：
In formula, θ represents elevation angle of the satellite correspondence observation station in celestial sphere, and λ represents satellite correspondence observation station at celestial sphere azimuth.
7. the method for eliminating navigational satellite system Multipath Errors as claimed in claim 1, it is characterised in that the elimination is more
The step of tracking error, includes：
The observation data of receiver are obtained in real time；
Obtain the multipath hemisphere model value；
The receiver line vector is obtained, by the line vector median filters to the carrier referential；
Azimuth and elevation angle that the line vector obtains satellite are calculated, the lattice point that the satellite is located is determined；
The multipath hemisphere model value of the lattice point is read, the Multipath Errors of the observation data are corrected.
8. the method for eliminating navigational satellite system Multipath Errors as claimed in claim 7, it is characterised in that the line arrow
The step of amount is transformed into the carrier referential includes：
Geographic coordinate system is transformed into from geocentric rectangular system, the component such as following formula of the geographic coordinate system is represented：
In formula, λ andThe respectively geographic logitude and latitude of main antenna；Δ x, Δ y and Δ z represent respectively the three of the referential
Axle component；
Again the carrier referential is transformed into from the geographic coordinate system, the component such as following formula of the carrier referential is represented：
In formula, ψ, θ, γ are respectively course angle of the carrier in geographic coordinate system, the angle of pitch and roll angle, dextrorotation for just, carrier
It is origin that coordinate system takes carrier center of gravity, and transverse axis is x-axis, and the longitudinal axis is y-axis, and upwards, Δ x, Δ y and Δ z represent respectively satellite position to z-axis
Put the three axle components in the referential.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410310467.6A CN104122566B (en) | 2014-07-01 | 2014-07-01 | Multi-path error removing method of navigation satellite system and multi-path hemisphere model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410310467.6A CN104122566B (en) | 2014-07-01 | 2014-07-01 | Multi-path error removing method of navigation satellite system and multi-path hemisphere model |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104122566A CN104122566A (en) | 2014-10-29 |
| CN104122566B true CN104122566B (en) | 2017-04-19 |
Family
ID=51768053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410310467.6A Active CN104122566B (en) | 2014-07-01 | 2014-07-01 | Multi-path error removing method of navigation satellite system and multi-path hemisphere model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104122566B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104601508A (en) * | 2014-11-29 | 2015-05-06 | 江西洪都航空工业集团有限责任公司 | FM-CW (Frequency Modulated Continuous Wave) intermediate frequency signal processing device |
| CN104569929A (en) * | 2014-12-26 | 2015-04-29 | 大连海事大学 | Range-based localization multipath interference correction model of AIS (automatic identification system) and signal processing method |
| CN104749601B (en) * | 2015-03-04 | 2017-04-19 | 华东师范大学 | Method for calculating course angle by utilizing phase wrapping of clock synchronization GNSS (global navigation satellite system) receiver |
| CN105068091B (en) * | 2015-07-31 | 2017-04-19 | 宁波成电泰克电子信息技术发展有限公司 | Multi-path error elimination method of Beidou receiver |
| CN106814376B (en) * | 2015-12-02 | 2022-03-04 | 成都联星技术股份有限公司 | Rapid and accurate centimeter-level single-point positioning method |
| CN106054214B (en) * | 2016-08-18 | 2018-05-11 | 武汉大学 | A kind of GNSS data processing method for weakening multipath effect |
| CN108957490B (en) * | 2018-06-22 | 2022-08-12 | 东南大学 | Multipath error correction method based on satellite altitude |
| CN109541663B (en) * | 2018-11-12 | 2022-04-05 | 华东师范大学 | GNSS positioning and attitude determination multi-path error correction method |
| CN109541647B (en) * | 2018-12-13 | 2019-12-10 | 武汉大学 | GNSS multi-path effect correction method based on semi-celestial sphere grid point model |
| CN110531394A (en) * | 2019-08-16 | 2019-12-03 | 桂林电子科技大学 | A kind of fuzziness fast resolution algorithm and device based on case theory and least square method |
| CN110658537A (en) * | 2019-11-13 | 2020-01-07 | 深圳市鼎耀科技有限公司 | High-precision calibration method for absolute phase center of GNSS receiver antenna in microwave darkroom |
| CN111103600B (en) * | 2020-01-17 | 2022-12-13 | 东南大学 | GPS/BDS multi-path real-time inhibition method based on single-frequency signal-to-noise ratio normalization |
| CN111323795B (en) * | 2020-03-20 | 2022-03-22 | 湖南联智科技股份有限公司 | Multi-path error weakening method in Beidou deformation monitoring |
| CN112068161B (en) * | 2020-09-17 | 2024-03-29 | 国网浙江省电力有限公司检修分公司 | Multipath error reduction method and device |
| CN112612039B (en) * | 2020-12-23 | 2023-08-15 | 武汉大学 | GNSS non-direct signal detection and elimination method and system for static station |
| CN113552599B (en) * | 2021-07-07 | 2023-11-21 | 杭州中科微电子有限公司 | GNSS receiver antenna phase center correction method and device based on information fusion |
| CN114488228B (en) * | 2022-04-11 | 2022-07-01 | 南京北斗创新应用科技研究院有限公司 | GNSS multi-path error weakening method suitable for dynamic carrier platform |
| CN115963516B (en) * | 2022-12-09 | 2024-01-05 | 武汉大学 | Multi-path error joint modeling correction method for multi-system GNSS signals |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1579058A (en) * | 2001-08-31 | 2005-02-09 | 皇家飞利浦电子股份有限公司 | Radio station with multipath signal modeling |
| CN102508265A (en) * | 2011-10-25 | 2012-06-20 | 中国民航大学 | Signal separation estimation theory-based satellite navigation signal multipath interference suppression method |
| CN103245956A (en) * | 2013-04-19 | 2013-08-14 | 哈尔滨工程大学 | GPS (global positioning system) multipath mitigation method based on robust beam forming algorithm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1856550A1 (en) * | 2005-01-19 | 2007-11-21 | The Charles Stark Draper Laboratory, Inc. | Systems and methods for positioning using multipath signals |
-
2014
- 2014-07-01 CN CN201410310467.6A patent/CN104122566B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1579058A (en) * | 2001-08-31 | 2005-02-09 | 皇家飞利浦电子股份有限公司 | Radio station with multipath signal modeling |
| CN102508265A (en) * | 2011-10-25 | 2012-06-20 | 中国民航大学 | Signal separation estimation theory-based satellite navigation signal multipath interference suppression method |
| CN103245956A (en) * | 2013-04-19 | 2013-08-14 | 哈尔滨工程大学 | GPS (global positioning system) multipath mitigation method based on robust beam forming algorithm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104122566A (en) | 2014-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104122566B (en) | Multi-path error removing method of navigation satellite system and multi-path hemisphere model | |
| Bisnath et al. | Current state of precise point positioning and future prospects and limitations | |
| CN104714244B (en) | A kind of multisystem dynamic PPP calculation methods based on robust adaptable Kalman filter | |
| CN104597471B (en) | Orientation attitude determination method oriented to clock synchronization multi-antenna GNSS receiver | |
| Groves et al. | Height aiding, C/N0 weighting and consistency checking for GNSS NLOS and multipath mitigation in urban areas | |
| Jiang et al. | GNSS NLOS and multipath error mitigation using advanced multi-constellation consistency checking with height aiding | |
| CN103728643B (en) | With the Big Dipper three network RTK blur level single epoch fixing means frequently that wide lane retrains | |
| CN110208831A (en) | A method of realizing No. three Satellite Orbit Determinations of Beidou and time synchronization | |
| CN104483691A (en) | GNSS combined precise single-point positioning method | |
| CN106405582A (en) | Ionosphere error processing method and apparatus | |
| Bhardwaj et al. | Study of temporal variation of vertical TEC using NavIC data | |
| CN109613582A (en) | A kind of vehicle-mounted real-time single-frequency meter level pseudorange localization method | |
| CN104991265A (en) | Beidou satellite navigation system user uniformity positioning method | |
| Choy et al. | An evaluation of various ionospheric error mitigation methods used in single frequency PPP | |
| Banville et al. | Antenna rotation and its effects on kinematic precise point positioning | |
| CN105158781A (en) | Method for realizing outer space use positioning by earth GNSS satellites | |
| Wang | Integrated processing of GNSS and VLBI on the observation level | |
| Li et al. | Inertial aided cycle slip detection and repair for PPP/INS tightly coupled navigation | |
| CN112596088B (en) | High-precision positioning method, device and storage medium applied to land measurement | |
| Kirkko-Jaakkola et al. | Improving TTFF by two-satellite GNSS positioning | |
| Dai | On GPS based attitude determination | |
| Davidovic et al. | Analysis of the influence of satellites constellation in GNSS positioning accuracy | |
| Yeh et al. | Automatic data-quality monitoring for continuous GPS tracking stations in Taiwan | |
| Xu | A concept of precise kinematic positioning and flight-state monitoring from the AGMASCO practice | |
| Lihua et al. | Influence of ephemeris error on GPS single point positioning accuracy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |