CN104181562A - Satellite optimal selection and positioning method of global navigation satellite system - Google Patents

Satellite optimal selection and positioning method of global navigation satellite system Download PDF

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Publication number
CN104181562A
CN104181562A CN201310199318.2A CN201310199318A CN104181562A CN 104181562 A CN104181562 A CN 104181562A CN 201310199318 A CN201310199318 A CN 201310199318A CN 104181562 A CN104181562 A CN 104181562A
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satellite
positioning result
global navigation
glonass
positioning
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CN104181562B (en
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庄国
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CHENGDU GUOXING COMMUNICATION Co Ltd
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CHENGDU GUOXING COMMUNICATION Co Ltd
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    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a satellite optimal selection and positioning method of a global navigation satellite system. The method comprises the following steps: receiving a navigation message and observation data; carrying out pretreatment; calculating a satellite position; obtaining a coefficient matrix A and a constant term L of a pseudo-range measurement error equation and providing a value for a weight matrix P; carrying out positioning and solving by a least square method; determining gross error existence; obtaining a coefficient matrix A and a constant term L and calculating a weight matrix P; carrying out positioning and solving by the least square method; carrying out repeated iterative computation; obtaining an optimum weight matrix P; and carrying out filtering calculation to obtain a positioning result. According to the invention, iterative computation is carried out on the least square computation result to obtain an optimum satellite weight value; gross error detection is carried out before iterative computation and a fault satellite with a gross error is isolated, thereby reducing the calculated amount and improving the positioning reliability; and problems that adjacent epochs of the positioning result are not coherent and big leaps exist due to the least square computation can be solved by using filtering calculation, and stability and accuracy of the positioning result are further improved by starting from original data.

Description

A kind of satellite of GLONASS (Global Navigation Satellite System) preferably and localization method
Technical field
The present invention relates to GLONASS (Global Navigation Satellite System), the satellite that particularly relates to a kind of GLONASS (Global Navigation Satellite System) preferably and localization method, is applicable to use GLONASS (Global Navigation Satellite System) to carry out the positioning calculation of receiver location.
Background technology
Global Navigation Satellite System (GNSS) is the adopted name that three-dimensional position speed satellite navigation system in global range can be independently provided.GNSS comprises the Chinese Big Dipper (BDS), Muscovite GLONASS (GLONASS), the GPS of the U.S. (GPS), the Galileo system (GALILEO) in Europe etc.In multisystem compatible positioning system, can receive considerable satellite-signal, because the user equivalent range error (UERE) of the pseudorange extracting from every satellite-signal is different, these satellites of How to choose participate in location, be the problem that this system need to be considered emphatically, therefore a satellite method for optimizing is provided is helpful to obtaining higher positioning precision.
The method that adopts least square method to resolve to obtain receiver position location to satellite pseudorange measurement is comparatively ripe, yet, in traditional calculations process, conventionally least-squares calculation result is not carried out to interative computation, satellite weights are not accurate enough, the skew of positioning result and actual position is serious, and satnav accuracy is poor.In addition, in conventional satellite positioning calculation method, all do not detect the rough error of least-squares calculation result, for the fault satellites that has rough error, isolate and reject, increased useless calculated amount and directly affected positional accuracy.Again, in conventional satellite positioning calculation method, after least-squares calculation, all do not carry out filtering calculating, exist positioning result adjacent epoch discontinuous, there is large problem of jumping.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, the satellite that the GLONASS (Global Navigation Satellite System) that a kind of positioning precision is high is provided preferably and localization method, least square method, interative computation and filtering are calculated and combined, improve satellite preferably with the precision of location, and there is the fault satellites of rough error in isolation before interative computation, reduce calculated amount, further improve positional accuracy.
The object of the invention is to be achieved through the following technical solutions:
Preferably and a localization method, it comprises the following steps the satellite of GLONASS (Global Navigation Satellite System):
S1: receive navigation message and observation data, as the raw data of global navigation satellite system GNSS location;
S2: raw data is carried out to pre-service, reject the satellite of data exception;
S3: for the normal satellite of data, calculate satellite position according to observation data;
S4: obtain factor arrays A battle array and the constant term L of satellite pseudo range measurement error equation, get a value also to weight matrix P by existing weight matrix P method to set up or combined method;
Weight matrix P obtaining value method comprises: P is diagonal matrix diag{P i, i=1,2 ..., n, n is satellite number;
(1) the power method such as, P iequal 1;
(2) elevation angle weighted method, P iequal elevation angle E ifunction f un (E i);
(3) function of pseudorange evaluated error, P iequal error σ ifunction f un (σ i);
(4) signal intensity weighting, P iequal signal intensity Snr ifunction f un (Snr i);
S5: position and solve according to least square;
S6: judge whether Position-Solving result of calculation exists rough error, if there is rough error, use RAIM satellite isolated algorithm to reject the fault satellites that occurs rough error; If there is not rough error, jump to step S7;
S7: obtain factor arrays A battle array and the constant term L of satellite pseudo range measurement error equation, and calculate weight matrix P;
S8: use new weight matrix P to continue to position and solve according to least square;
S9: circulation step S7～S8 calculating that iterates, until the increment of position location termination of iterations while being less than default enough little threshold values ε;
S10: obtain best weight matrix P, thereby obtain the preferred of satellite;
S11: obtain and export positioning result.
The method that obtains positioning result described in step S11 can be: after least-squares calculation, directly obtain positioning result.
The method that obtains positioning result described in step S11 can be also: after step S10 obtains preferred satellite, carry out filtering calculating, obtain positioning result.Filtering is calculated as the Kalman filtering to positioning result, and positioning result comprises position, speed and clock correction; Further, filtering is calculated and be can be the Kalman filtering to observation data, and observation data comprises pseudorange, carrier phase and Doppler frequency.As a further improvement on the present invention, in order to obtain positioning result more stably, the method that obtains positioning result described in step S11 can be: right to use matrix P carrys out the measuring error variance battle array of computer card Kalman Filtering, obtains positioning result.
The invention has the beneficial effects as follows:
1) the present invention carries out iterative computation to least-squares calculation result, obtains best satellite weights, has solved the not accurate enough problem of prior art weights, the preferred raising that realizes positioning precision via satellite;
2) before carrying out iterative computation, first detect and whether have rough error, there is the fault satellites of rough error in isolation and rejecting, reduces calculated amount; While not there is not rough error, use the good satellite of method selection mode of preferred weights to participate in positioning calculation, further improved positional accuracy;
3) positioning result adjacent epoch of using after completing iterative computation that filtering calculate to solve that least-squares calculation brings is discontinuous, have large problem of jumping, from raw data, start with, provide a solution that customer location, speed are calculated, further improved stationarity and the accuracy of positioning result;
4) the present invention can be applied on GNSS single system, also can be applied on multisystem compatible positioning, extends to GNSS and tests the speed above, can also further be generalized on GPS local area differential location or high precision carrier wave positioning and directing, attitude measurement.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1, preferably and localization method, it comprises the following steps a kind of satellite of GLONASS (Global Navigation Satellite System):
S1: receive navigation message and observation data, as the raw data of global navigation satellite system GNSS location;
S2: raw data is carried out to pre-service, if satellite pseudorange, navigation message parameter surpass zone of reasonableness or this satellite be identified as unhealthy, the satellite of rejecting this data exception, this satellite does not participate in location Calculation;
S3: for the normal satellite of data, calculate satellite position according to the almanac data in satellite navigation message;
S4: obtain factor arrays A battle array and the constant term L of satellite pseudo range measurement error equation, get an initial value also to weight matrix P by existing weight matrix P method to set up or combined method;
Weight matrix P obtaining value method comprises: P is diagonal matrix diag{P i, i=1,2 ..., n, n is satellite number;
(1) the power method such as, P iequal 1;
(2) elevation angle weighted method, P iequal elevation angle E ifunction f un (E i);
(3) function of pseudorange evaluated error, P iequal error σ ifunction f un (σ i);
(4) signal intensity weighting, P iequal signal intensity Snr ifunction f un (Snr i);
Take GPS GPS as example:
A = a 1 b 1 c 1 - 1 a 2 b 2 c 2 - 1 a 3 b 3 c 3 - 1 a 4 b 4 c 4 - 1 a 5 b 5 c 5 - 1 a 6 b 6 c 6 - 1 , Wherein, a i=(X i-X 0)/R i, b i=(Y i-Y 0)/R i, c i=(Z i-Z 0)/R i, x i, Y i, Z ifor co-ordinates of satellite, X 0, Y 0, Z 0for user coordinates; Constant term L=A δ X+V, i=1,2 ..., n, the power methods such as employing arrange weight matrix P;
S5: position and solve according to least square, δ X=(A tpA) -1a tpL;
S6: judge whether Position-Solving result of calculation exists rough error, if there is rough error, use RAIM satellite isolated algorithm to reject the fault satellites that occurs rough error; If there is not rough error, jump to step S7;
The step of rough error judgement is:
Suppose H 0: σ=σ 0, H 1: σ > σ 0
work as V twhen PV is greater than given thresholding, judge that satellite exists rough error;
S7: obtain factor arrays A battle array and the constant term L of satellite pseudo range measurement error equation, and calculate weight matrix P;
P is diagonal matrix diag{P i, i=1,2 ..., n, n is satellite number;
V=L-A δ X, V ifor element in V, , work as J ibe less than at 1.25 o'clock, P iequal 1; Otherwise, P iequal 1/J i, for V istandard deviation;
S8: use new weight matrix P to continue to position and solve according to least square;
S9: circulation step S7～S8 calculating that iterates, until the increment of position location termination of iterations while being less than default enough little threshold values ε;
S10: obtain best weight matrix P, thereby obtain the preferred of satellite;
S11: obtain and export positioning result.
The method that obtains positioning result described in step S11 can be: after least-squares calculation, directly obtain positioning result.
The method that obtains positioning result described in step S11 can be also: after step S10 obtains preferred satellite, carry out filtering calculating, obtain positioning result.Filtering is calculated as the Kalman filtering to positioning result, and positioning result comprises position, speed and clock correction; Further, filtering is calculated and be can be the Kalman filtering to observation data, and observation data comprises pseudorange, carrier phase and Doppler frequency.In order to obtain positioning result more stably, the method that filtering is calculated can be: with the weight matrix P optimizing, carry out the measuring error variance battle array R of computer card Kalman Filtering, use observation data, comprise that pseudorange, carrier phase and Doppler frequency, as input data, carry out Kalman filtering calculating, can obtain positioning result more stably equally.

Claims (7)

1. the satellite of GLONASS (Global Navigation Satellite System) preferably and a localization method, is characterized in that: it comprises the following steps:
S1: receive navigation message and observation data, as the raw data of location;
S2: raw data is carried out to pre-service, reject the satellite of data exception;
S3: for the normal satellite of data, calculate satellite position according to observation data;
S4: obtain factor arrays A battle array and the constant term L of satellite pseudo range measurement error equation, and get a value to weight matrix P;
S5: position and solve according to least square;
S6: judge whether Position-Solving result of calculation exists rough error, if there is rough error, reject the fault satellites that occurs rough error; If there is not rough error, jump to step S7;
S7: obtain factor arrays A battle array and the constant term L of satellite pseudo range measurement error equation, and calculate weight matrix P;
S8: use new weight matrix P to continue to position and solve according to least square;
S9: circulation step S7～S8 calculating that iterates, until the increment of position location termination of iterations while being less than default threshold values;
S10: obtain best weight matrix P, thereby obtain the preferred of satellite;
S11: obtain and export positioning result.
2. the satellite of a kind of GLONASS (Global Navigation Satellite System) according to claim 1 preferably and localization method, is characterized in that: the method that obtains positioning result described in step S11 is: after least-squares calculation, directly obtain positioning result.
3. the satellite of a kind of GLONASS (Global Navigation Satellite System) according to claim 1 preferably and localization method, it is characterized in that: the method that obtains positioning result described in step S11 is: after step S10 obtains preferred satellite, carry out filtering calculating, obtain positioning result.
4. the satellite of a kind of GLONASS (Global Navigation Satellite System) according to claim 3 preferably and localization method, is characterized in that: described filtering is calculated as the Kalman filtering to positioning result or observation data.
5. the satellite of a kind of GLONASS (Global Navigation Satellite System) according to claim 4 preferably and localization method, is characterized in that: described positioning result comprises position, speed and clock correction, and described observation data comprises pseudorange, carrier phase and Doppler frequency.
6. the satellite of a kind of GLONASS (Global Navigation Satellite System) according to claim 1 preferably and localization method, it is characterized in that: the method that obtains positioning result described in step S11 is: right to use matrix P carrys out the measuring error variance battle array of computer card Kalman Filtering, obtains positioning result.
7. the satellite of a kind of GLONASS (Global Navigation Satellite System) according to claim 1 preferably and localization method, is characterized in that: described rejecting occurs that the method for the fault satellites of rough error is RAIM satellite isolated algorithm.
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Cited By (15)

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CN106054587A (en) * 2016-07-30 2016-10-26 杨超坤 Watch with positioning function
CN107765269A (en) * 2017-10-18 2018-03-06 中国航空无线电电子研究所 GNSS satellite selection methods based on robust least square
CN108627859A (en) * 2018-05-10 2018-10-09 上海海积信息科技股份有限公司 A kind of analysis method for reliability and device of RTK arithmetic results
CN109521443A (en) * 2018-12-29 2019-03-26 广东电网有限责任公司 A method of detection ephemeris is abnormal
CN109633718A (en) * 2018-12-12 2019-04-16 上海无线电设备研究所 A kind of normalization weighted least-squares navigation locating method
CN109767141A (en) * 2019-03-07 2019-05-17 辽宁北斗卫星导航平台有限公司 A kind of monitoring method of patrolling railway, device, medium and equipment
CN109782322A (en) * 2019-03-07 2019-05-21 辽宁北斗卫星位置信息服务有限公司 A kind of inspection terminal of patrolling railway
CN109782324A (en) * 2019-03-07 2019-05-21 辽宁北斗卫星位置信息服务有限公司 A kind of patrolling railway localization method
CN109814141A (en) * 2019-03-07 2019-05-28 辽宁北斗卫星导航平台有限公司 A kind of localization method, terminal and medium
CN109828295A (en) * 2019-03-07 2019-05-31 辽宁北斗卫星导航平台有限公司 A kind of Differential positioning method, system, terminal and medium
CN109946722A (en) * 2019-04-01 2019-06-28 成都新橙北斗智联有限公司 A kind of multisystem multiband localization method and system
CN110389365A (en) * 2018-04-23 2019-10-29 中移物联网有限公司 A kind of satellite navigation locating method and device, terminal, storage medium
CN111123331A (en) * 2019-10-23 2020-05-08 湖北三江航天险峰电子信息有限公司 Beidou navigation pseudo-range monitoring method and system
CN112230247A (en) * 2020-09-25 2021-01-15 南京航空航天大学 GNSS integrity monitoring method used in urban complex environment
CN114280632A (en) * 2021-12-15 2022-04-05 北京华龙通科技有限公司 GNSS system fault star detection and rejection method, device, platform and readable storage medium

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106054587A (en) * 2016-07-30 2016-10-26 杨超坤 Watch with positioning function
CN107765269A (en) * 2017-10-18 2018-03-06 中国航空无线电电子研究所 GNSS satellite selection methods based on robust least square
CN110389365A (en) * 2018-04-23 2019-10-29 中移物联网有限公司 A kind of satellite navigation locating method and device, terminal, storage medium
CN108627859A (en) * 2018-05-10 2018-10-09 上海海积信息科技股份有限公司 A kind of analysis method for reliability and device of RTK arithmetic results
CN109633718A (en) * 2018-12-12 2019-04-16 上海无线电设备研究所 A kind of normalization weighted least-squares navigation locating method
CN109521443A (en) * 2018-12-29 2019-03-26 广东电网有限责任公司 A method of detection ephemeris is abnormal
CN109521443B (en) * 2018-12-29 2021-04-23 广东电网有限责任公司 Method for detecting ephemeris abnormity
CN109814141A (en) * 2019-03-07 2019-05-28 辽宁北斗卫星导航平台有限公司 A kind of localization method, terminal and medium
CN109782324A (en) * 2019-03-07 2019-05-21 辽宁北斗卫星位置信息服务有限公司 A kind of patrolling railway localization method
CN109828295A (en) * 2019-03-07 2019-05-31 辽宁北斗卫星导航平台有限公司 A kind of Differential positioning method, system, terminal and medium
CN109782322A (en) * 2019-03-07 2019-05-21 辽宁北斗卫星位置信息服务有限公司 A kind of inspection terminal of patrolling railway
CN109767141A (en) * 2019-03-07 2019-05-17 辽宁北斗卫星导航平台有限公司 A kind of monitoring method of patrolling railway, device, medium and equipment
CN109946722A (en) * 2019-04-01 2019-06-28 成都新橙北斗智联有限公司 A kind of multisystem multiband localization method and system
CN111123331A (en) * 2019-10-23 2020-05-08 湖北三江航天险峰电子信息有限公司 Beidou navigation pseudo-range monitoring method and system
CN111123331B (en) * 2019-10-23 2023-07-25 湖北三江航天险峰电子信息有限公司 Beidou navigation pseudo-range monitoring method and system
CN112230247A (en) * 2020-09-25 2021-01-15 南京航空航天大学 GNSS integrity monitoring method used in urban complex environment
CN114280632A (en) * 2021-12-15 2022-04-05 北京华龙通科技有限公司 GNSS system fault star detection and rejection method, device, platform and readable storage medium

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