CN104730549A - Positioning method, device and system for Beidou navigation system - Google Patents
Positioning method, device and system for Beidou navigation system Download PDFInfo
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- CN104730549A CN104730549A CN201310723956.XA CN201310723956A CN104730549A CN 104730549 A CN104730549 A CN 104730549A CN 201310723956 A CN201310723956 A CN 201310723956A CN 104730549 A CN104730549 A CN 104730549A
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
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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
- G01S19/38—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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a positioning method, device and system for a Beidou navigation system. The method includes the steps of S1, obtaining a first pseudorange between the device and an observation satellite; S2, receiving first ephemeris data transmitted by the observation satellite; S3, receiving pseudorange difference revised data, transmitted by a difference reference station data processing center, of the observation satellite, wherein the pseudorange difference revised data further comprise the age of second ephemeris data, received by the difference reference station data processing center, of the observation satellite; S4, judging whether the age of the second ephemeris data is matched with the age of the first ephemeris data or not; S5, revising the first pseudorange according to the pseudorange difference revised data so as to obtain a second pseudorange if the age of the second ephemeris data is matched with the age of the first ephemeris data; S6, obtaining a first coordinate position according to the second pseudorange and the first ephemeris data. By means of the method, the positioning accuracy can be improved.
Description
Technical field
The invention belongs to field of navigation technology, particularly a kind of localization method for Beidou satellite navigation system, device and system.
Background technology
Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS) be China implementing independent development capability, independent operating GPS (Global Position System), be devoted to provide high-quality location, navigation, time service service to Global Subscriber, and further service can be provided to having the authorized user of requirements at the higher level, military and civilianly to have concurrently.
At present, have 14 satellite operation at service area, for providing free location, test the speed, time service service, its positioning precision is 10 meters.
Current Problems existing is, because the positioning precision of Beidou satellite navigation system is at about 10 meters, therefore location can not meet the location navigation demand of user, and positioning precision is low.Such as, when vehicle travels at overhead grade separation fork, the initial point of display is often equipped with no small deviation with actual bit residing for oneself; When vehicle is when sailing bus zone into peak period, adopt the impossible real-time reminding " Kai Cuo road " of the automatic navigator of Beidou satellite navigation system; When vehicle sails toll station into, also can not point out which road is ETC charging aperture, which road is the problems such as conventional charging aperture.
Summary of the invention
Object of the present invention is intended to solve one of above-mentioned technical matters at least to a certain extent.
For this reason, first object of the present invention is to propose a kind of localization method for Beidou satellite navigation system, and the method can improve the precision of location.
For this reason, second object of the present invention is to propose a kind of locating device for Beidou satellite navigation system.
For this reason, the 3rd object of the present invention is to propose a kind of positioning system for Beidou satellite navigation system.
To achieve these goals, the localization method for Beidou satellite navigation system of first aspect present invention embodiment, comprising: S1: obtain the first pseudorange between observation satellite; S2: receive the first almanac data that described observation satellite sends; S3: the pseudo range difference correction data receiving the described observation satellite that differential reference station data processing centre (DPC) sends, wherein, the length of time of the second almanac data of the described observation satellite that described differential reference station data processing centre (DPC) receives also is comprised in described pseudo range difference correction data; S4: judge whether the length of time of described second almanac data and the length of time of described first almanac data mate; S5: if coupling, then according to described pseudo range difference correction data, the second pseudorange is obtained to described first pseudorange correction; S6: obtain the first coordinate position according to described second pseudorange and described first almanac data.
The localization method for Beidou satellite navigation system of the embodiment of the present invention, after guider receives pseudo range difference correction data, the length of time of the first almanac data that the length of time and the guider of the second almanac data of correspondence receive is mated, and revise when coupling, thus improve positioning precision further.In addition, the localization method for Beidou satellite navigation system of the embodiment of the present invention, the real-time correction of the second pseudorange is carried out according to the pseudo range difference correction data of differential reference station data processing centre (DPC) transmission, eliminate common error item, the impact of attenuation of correlation error effectively, and then obtain more accurate positioning result, improve positioning precision.In addition, the navigation and positioning accuracy that can be user brings the raising of the order of magnitude, such as, can be applied in Aeronautics and Astronautics, navigation and automotive field such as the landing of aircraft precision approach, unmanned plane, ballistic trajectory measurement, vehicle positioning and navigations.
In one embodiment of the invention, before described step S2, also comprise: judge whether the signal intensity of described observation satellite reaches preset strength; If reach preset strength, then continue to perform step S2; If do not reach preset strength, then obtain described second almanac data of described observation satellite from described differential reference station data processing centre (DPC), to obtain described first coordinate position according to described second pseudorange and described second almanac data.
In one embodiment of the invention, also comprise: reference base station determines the first corresponding coordinate position; Described reference base station obtains the second coordinate position of each observation satellite; Described reference base station obtains the actual distance between described reference base station and described each observation satellite according to described first coordinate position and described second coordinate position; Described reference base station obtains the 3rd pseudorange between described each observation satellite; Described reference data obtains described pseudo range difference correction data corresponding to described each observation satellite according to described 3rd pseudorange and described real distance, and is sent to described differential reference station data processing centre (DPC).
In one embodiment of the invention, described pseudo range difference correction data comprise: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, pseudo range difference modified value, pseudo range difference modified value rate of change, described second almanac data the length of time in one or more.
In one embodiment of the invention, described frame identifier takies 6 bits; Described reference base station identifier takies 10 bits; Described reference base station health and fitness information takies 3 bits; Described observation satellite number takies 8 bits; Described complete cycle number takies 13 bits; In described week, second counts and takies 20 bits; Described pseudo range difference modified value takies 16 bits; Described pseudo range difference modified value rate of change takies 8 bits; The length of time of described second almanac data takies 5 bits.
In one embodiment of the invention, described second almanac data comprises: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, user distance precision index, observation satellite autonomous health mark, on-board equipment delay inequality, clock data length of time, one or more in clock correction parameter and ephemeris parameter.
In one embodiment of the invention, described frame identifier takies 6 bits; Described reference base station identifier takies 10 bits; Described reference base station health and fitness information takies 3 bits; Described observation satellite number takies 8 bits; Described complete cycle number takies 13 bits; In described week, second counts and takies 20 bits; Described user distance precision index takies 4 bits; The autonomous healthy mark of described observation satellite takies 1 bit; Described on-board equipment delay inequality takies 10 bits; Described clock data takies 5 bits the length of time; Described clock correction parameter takies 74 bits; Described ephemeris parameter takies 371 bits.
To achieve these goals, the locating device for Beidou satellite navigation system of second aspect present invention embodiment, comprising: the first acquisition module, for obtaining the first pseudorange between observation satellite; First receiver module, for receiving the first almanac data that described observation satellite sends; Second receiver module, for receiving the pseudo range difference correction data of the described observation satellite that differential reference station data processing centre (DPC) sends, wherein, the length of time of the second almanac data of the described observation satellite that described differential reference station data processing centre (DPC) receives also is comprised in described pseudo range difference correction data; First judge module, whether the length of time for the length of time and described first almanac data that judge described second almanac data mates; Correcting module, for when described first judge module judges coupling, obtains the second pseudorange according to described pseudo range difference correction data to described first pseudorange correction; Second acquisition module, for obtaining the first coordinate position according to described second pseudorange and described first almanac data.
The locating device for Beidou satellite navigation system of the embodiment of the present invention, after receiving pseudo range difference correction data, the length of time of the first almanac data that the length of time and the guider of the second almanac data of correspondence receive is mated, and revise when coupling, thus improve positioning precision further.In addition, the locating device for Beidou satellite navigation system of the embodiment of the present invention, the real-time correction of the second pseudorange is carried out according to the pseudo range difference correction data of differential reference station data processing centre (DPC) transmission, eliminate common error item, the impact of attenuation of correlation error effectively, and then obtain more accurate positioning result, improve positioning precision.In addition, the navigation and positioning accuracy that can be user brings the raising of the order of magnitude, such as, can be applied in Aeronautics and Astronautics, navigation and automotive field such as the landing of aircraft precision approach, unmanned plane, ballistic trajectory measurement, vehicle positioning and navigations.
In one embodiment of the invention, also comprise: the second judge module, for judging whether the signal intensity of described observation satellite reaches preset strength; Wherein, when described second judge module judges to reach preset strength, the first almanac data that described first receiver module sends for receiving described observation satellite; Wherein, when described second judge module judges not reach preset strength, described second acquisition module also for obtaining described second almanac data of described observation satellite from described differential reference station data processing centre (DPC), with according to described second pseudorange and described second almanac data obtain described first coordinate position.
In one embodiment of the invention, wherein, reference base station determines the first corresponding coordinate position; Described reference base station obtains the second coordinate position of each observation satellite; Described reference base station obtains the actual distance between described reference base station and described each observation satellite according to described first coordinate position and described second coordinate position; Described reference base station obtains the 3rd pseudorange between described each observation satellite; Described reference data obtains described pseudo range difference correction data corresponding to described each observation satellite according to described 3rd pseudorange and described real distance, and is sent to described differential reference station data processing centre (DPC).
In one embodiment of the invention, described pseudo range difference correction data comprise: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, pseudo range difference modified value, pseudo range difference modified value rate of change, described second almanac data the length of time in one or more.
In one embodiment of the invention, described frame identifier takies 6 bits; Described reference base station identifier takies 10 bits; Described reference base station health and fitness information takies 3 bits; Described observation satellite number takies 8 bits; Described complete cycle number takies 13 bits; In described week, second counts and takies 20 bits; Described pseudo range difference modified value takies 16 bits; Described pseudo range difference modified value rate of change takies 8 bits; The length of time of described second almanac data takies 5 bits.
In one embodiment of the invention, described second almanac data comprises: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, user distance precision index, observation satellite autonomous health mark, on-board equipment delay inequality, clock data length of time, one or more in clock correction parameter and ephemeris parameter.
In one embodiment of the invention, described frame identifier takies 6 bits; Described reference base station identifier takies 10 bits; Described reference base station health and fitness information takies 3 bits; Described observation satellite number takies 8 bits; Described complete cycle number takies 13 bits; In described week, second counts and takies 20 bits; Described user distance precision index takies 4 bits; The autonomous healthy mark of described observation satellite takies 1 bit; Described on-board equipment delay inequality takies 10 bits; Described clock data takies 5 bits the length of time; Described clock correction parameter takies 74 bits; Described ephemeris parameter takies 371 bits.
To achieve these goals, the positioning system for Beidou satellite navigation system of third aspect present invention embodiment, comprise: differential reference station data processing centre (DPC), observation satellite, reference base station and second aspect present invention embodiment are used for the locating device of Beidou satellite navigation system, wherein, described reference base station, for determining the first corresponding coordinate position, and obtain the second coordinate position of each observation satellite, and obtain the actual distance between described reference base station and described each observation satellite according to described first coordinate position and described second coordinate position, and the 3rd pseudorange obtained between described each observation satellite, and obtain pseudo range difference correction data corresponding to described each observation satellite according to described 3rd pseudorange and described real distance, and be sent to described differential reference station data processing centre (DPC), the described locating device for Beidou satellite navigation system, for obtaining the first pseudorange between described observation satellite, and receive the first almanac data of described observation satellite transmission, and receive the described pseudo range difference correction data of the described observation satellite that differential reference station data processing centre (DPC) sends, and according to described pseudo range difference correction data, the second pseudorange is obtained to described first pseudorange correction, and obtain the first coordinate position according to described second pseudorange and described first almanac data.
The positioning system for Beidou satellite navigation system of the embodiment of the present invention, after guider receives pseudo range difference correction data, the length of time of the first almanac data that the length of time and the guider of the second almanac data of correspondence receive is mated, and revise when coupling, thus improve positioning precision further.In addition, the localization method for Beidou satellite navigation system of the embodiment of the present invention, the real-time correction of the second pseudorange is carried out according to the pseudo range difference correction data of differential reference station data processing centre (DPC) transmission, eliminate common error item, the impact of attenuation of correlation error effectively, and then obtain more accurate positioning result, improve positioning precision.In addition, the navigation and positioning accuracy that can be user brings the raising of the order of magnitude, such as, can be applied in Aeronautics and Astronautics, navigation and automotive field such as the landing of aircraft precision approach, unmanned plane, ballistic trajectory measurement, vehicle positioning and navigations.
In one embodiment of the invention, the described locating device for Beidou satellite navigation system is also for judging whether the signal intensity of described observation satellite reaches preset strength, and when judging to reach preset strength, receive the first almanac data that described observation satellite sends, and when judging not reach preset strength, described second almanac data of described observation satellite is obtained, to obtain described first coordinate position according to described second pseudorange and described second almanac data from described differential reference station data processing centre (DPC).
In one embodiment of the invention, the length of time of the second almanac data is also comprised in described pseudo range difference correction data, wherein said differential reference station data processing centre (DPC) receives described second almanac data that described observation satellite sends, whether the described locating device for Beidou satellite navigation system is also for mating the length of time in the length of time and described first almanac data that judge described second almanac data, and when judging coupling, according to described pseudo range difference correction data, the second pseudorange is obtained to described first pseudorange correction.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein:
Fig. 1 is the localization method for Beidou satellite navigation system of one embodiment of the invention;
Fig. 2 is the process flow diagram of the acquisition pseudo range difference correction data of one embodiment of the invention;
Fig. 3 is the localization method for Beidou satellite navigation system of another embodiment of the present invention;
Fig. 4 is the frame structure schematic diagram according to the embodiment of the present invention;
Fig. 5 is the structural representation of the pseudo range difference correction data according to the embodiment of the present invention;
Fig. 6 is the structural representation of the second almanac data according to the embodiment of the present invention;
Fig. 7 is the structured flowchart of the locating device for Beidou satellite navigation system of one embodiment of the invention;
Fig. 8 is the structured flowchart of the locating device for Beidou satellite navigation system of another embodiment of the present invention;
Fig. 9 is according to an embodiment of the invention for the structured flowchart of the positioning system of Beidou satellite navigation system.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, it is to be appreciated that term " first ", " second " etc. are only for describing object, and instruction or hint relative importance can not be interpreted as.In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " is connected ", " connection " should be interpreted broadly, such as, can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.In addition, in describing the invention, except as otherwise noted, the implication of " multiple " is two or more.
Describe and can be understood in process flow diagram or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field with reference to below description and accompanying drawing, these and other aspects of embodiments of the invention will be known.Describe at these and in accompanying drawing, specifically disclose some particular implementation in embodiments of the invention, representing some modes of the principle implementing embodiments of the invention, but should be appreciated that the scope of embodiments of the invention is not limited.On the contrary, embodiments of the invention comprise fall into attached claims spirit and intension within the scope of all changes, amendment and equivalent.
Because guider is when using Beidou satellite navigation system to position, adopts location algorithm to position calculating, not utilizing differential corrections value to revise, so positioning precision is low.In addition, the SC-104 special commission of the international ocean shipping cause radiotelegraphy council (RTCM) only defines for GPS(Global Positioning System, GPS), GLONASS(Global Navigation Satellite System, GPS (Global Position System)) differential data transmission agreement, these differential data transmission agreements cannot be adapted to Beidou satellite navigation system.
At present, set up Big Dipper ground throughout the country and strengthen net, it is a kind of differential position system that this Big Dipper ground strengthens net, relies on this Big Dipper ground to strengthen net, the positioning error of Beidou satellite navigation system can be made to be reduced to centimetre-sized, and indices all reaches or is better than ripe gps system.Embodiments of the invention propose a kind of localization method for Beidou satellite navigation system, device and system on this basis.Specifically describe with reference to the accompanying drawings.
Fig. 1 is the localization method for Beidou satellite navigation system of one embodiment of the invention.
As shown in Figure 1, the localization method for Beidou satellite navigation system comprises the following steps:
S101: obtain the first pseudorange between observation satellite.
Particularly, first guider obtains multiple observation satellites of region, and wherein observation satellite is at least 4, and obtains the first pseudorange between each observation satellite respectively.In an embodiment of the present invention, existing its computation of pseudoranges method can be adopted to carry out the calculating of the first pseudorange, do not repeat them here.
S102: receive the first almanac data that observation satellite sends.
Particularly, guider receives the first almanac data that each observation satellite sends.
S103: the pseudo range difference correction data receiving the observation satellite that differential reference station data processing centre (DPC) sends, wherein, also comprise the length of time of the second almanac data of the observation satellite that differential reference station data processing centre (DPC) receives in pseudo range difference correction data.
Fig. 2 is the process flow diagram of the acquisition pseudo range difference correction data of one embodiment of the invention.
As shown in Figure 2, in one embodiment of the invention, the localization method for Beidou satellite navigation system of the embodiment of the present invention is further comprising the steps of:
S1031: reference base station determines the first corresponding coordinate position.
Wherein, reference base station is that Big Dipper ground strengthens the reference base station arranged in net, and the first coordinate position of this reference base station is predefined and very accurate.
S1032: reference base station obtains the second coordinate position of each observation satellite.
Wherein, reference base station observes the almanac data of each observation satellite in each calculating moment, thus obtains second coordinate position of each observation satellite in each calculating moment.In an embodiment of the present invention, the computing method of the coordinate position of existing observation satellite can be adopted to calculate, do not repeat them here.
S1033: reference base station obtains the actual distance between reference base station and each observation satellite according to the first coordinate position and the second coordinate position.
S1034: reference base station obtains the 3rd pseudorange between each observation satellite.
Wherein, in an embodiment of the present invention, existing its computation of pseudoranges method can be adopted to carry out the calculating of the 3rd pseudorange, do not repeat them here.
S1035: reference data obtains pseudo range difference correction data corresponding to each observation satellite according to the 3rd pseudorange and real distance, and is sent to differential reference station data processing centre (DPC).
Should be appreciated that to ensure accuracy, the observation satellite that guider and reference base station keep simultaneous observation corresponding.
Thus, the object of reference of Accurate Measurement coordinate position arranges Beidou receiver, namely reference base station is set up, this reference base station and guider simultaneous observation are no less than the observation satellite of 4, this reference base station tries to achieve the pseudo range difference correction data in this calculating moment again, and by wireless software download or communication network by pseudo range difference correction data real-time broadcasting to differential reference station data processing centre (DPC), therefore can improve the precision of location.In addition, the pseudo range difference correction data each reference base station obtained send to differential reference station data processing centre (DPC), and manage by differential reference station data processing centre (DPC) is unified, convenient management, reduces the delivering path of data.
S104: judge whether the length of time of the second almanac data and the length of time of the first almanac data mate.
Particularly, after guider receives pseudo range difference correction data, if the satellite ephemeris of the navigation data that the satellite ephemeris of correspondence and this guider receive does not mate, then can not use this pseudo range difference correction data, use the data of different satellite ephemeris to position, incorrect correction can be made.
S105: if coupling, then according to pseudo range difference correction data, the second pseudorange is obtained to the first pseudorange correction.
S106: obtain the first coordinate position according to the second pseudorange and the first almanac data.
Particularly, guider obtains the first coordinate position according to the second pseudorange and the first almanac data, location can be realized, second pseudorange that at least 4 observation satellites can be utilized to obtain and the first almanac data carry out the calculating of the first coordinate position, these computing method can adopt existing Differential positioning method, do not repeat them here.
S107: if do not mated, then continue to perform S103.
In one embodiment of the invention, S107 is optional.
The localization method for Beidou satellite navigation system of the embodiment of the present invention, after guider receives pseudo range difference correction data, the length of time of the first almanac data that the length of time and the guider of the second almanac data of correspondence receive is mated, and revise when coupling, thus improve positioning precision further.In addition, the localization method for Beidou satellite navigation system of the embodiment of the present invention, the real-time correction of the second pseudorange is carried out according to the pseudo range difference correction data of differential reference station data processing centre (DPC) transmission, eliminate common error item, the impact of attenuation of correlation error effectively, and then obtain more accurate positioning result, improve positioning precision.In addition, the navigation and positioning accuracy that can be user brings the raising of the order of magnitude, such as, can be applied in Aeronautics and Astronautics, navigation and automotive field such as the landing of aircraft precision approach, unmanned plane, ballistic trajectory measurement, vehicle positioning and navigations.
Fig. 3 is the localization method for Beidou satellite navigation system of another embodiment of the present invention.
Localization method for the Beidou satellite navigation system problem to be solved of another embodiment of the present invention is: if guider does not store the almanac data of the observation satellite of region, can obtain in the heart from differential reference station Data processing, with according to obtain almanac data according to fast Acquisition, follow the tracks of current visible observation satellite.In addition, if the signal of observation satellite that guider can receive is very weak, namely enable observation satellite to be followed the tracks of, but the almanac data of guider can not upgrade, and also can cause and can not locate.
As shown in Figure 3, the localization method for Beidou satellite navigation system comprises the following steps:
S301: obtain the first pseudorange between observation satellite.
S302: judge whether the signal intensity of observation satellite reaches preset strength.
S303: if reach preset strength, then receive the first almanac data that observation satellite sends.
S304: the pseudo range difference correction data receiving the observation satellite that differential reference station data processing centre (DPC) sends, wherein, also comprise the length of time of the second almanac data of the observation satellite that differential reference station data processing centre (DPC) receives in pseudo range difference correction data.
S305: judge whether the length of time of the second almanac data and the length of time of the first almanac data mate.
S306: if coupling, then according to pseudo range difference correction data, the second pseudorange is obtained to the first pseudorange correction.
S307: obtain the first coordinate position according to the second pseudorange and the first almanac data.
S308: if do not mated, then continue to perform S304.
S309: if do not reach preset strength, then obtain the second almanac data of observation satellite, and obtain the first coordinate position according to the second pseudorange and the second almanac data from differential reference station data processing centre (DPC).
Wherein, reference base station second almanac data is sent to differential reference station data processing centre (DPC), and this differential reference station data processing centre (DPC) is periodically sent to guider again.
In addition, in one embodiment of the invention, guider also can according to almanac data fast Acquisition, follow the tracks of current visible observation satellite.
The localization method for Beidou satellite navigation system of the embodiment of the present invention, when the signal of observation satellite is very weak, also can be able to position.
In addition, embodiments of the invention also specify the host-host protocol of pseudo range difference correction data and the second almanac data.Lower mask body introduction.
Fig. 4 is the frame structure schematic diagram according to the embodiment of the present invention; Fig. 5 is the structural representation of the pseudo range difference correction data according to the embodiment of the present invention; Fig. 6 is the structural representation of the second almanac data according to the embodiment of the present invention.
Particularly, as shown in Figure 5, in one embodiment of the invention, pseudo range difference correction data comprise: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, pseudo range difference modified value, pseudo range difference modified value rate of change, the second almanac data the length of time in one or more.
In another embodiment of the present invention, frame identifier takies 6 bits; Reference base station identifier takies 10 bits; Reference base station health and fitness information takies 3 bits; Observation satellite number takies 8 bits; Complete cycle number takies 13 bits; In week, second counts and takies 20 bits; Pseudo range difference modified value takies 16 bits; Pseudo range difference modified value rate of change takies 8 bits; The length of time of the second almanac data takies 5 bits.
Particularly, as shown in Figure 6, in one embodiment of the invention, the second almanac data comprises: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, user distance precision index, observation satellite autonomous health mark, on-board equipment delay inequality, clock data length of time, one or more in clock correction parameter and ephemeris parameter.
In another embodiment of the present invention, frame identifier takies 6 bits; Reference base station identifier takies 10 bits; Reference base station health and fitness information takies 3 bits; Observation satellite number takies 8 bits; Complete cycle number takies 13 bits; In week, second counts and takies 20 bits; User distance precision index takies 4 bits; The autonomous healthy mark of observation satellite takies 1 bit; On-board equipment delay inequality takies 10 bits; Clock data takies 5 bits the length of time; Clock correction parameter takies 74 bits; Ephemeris parameter takies 371 bits.
In order to realize the method for the embodiment of the present invention, embodiments of the invention also propose a kind of locating device for Beidou satellite navigation system.
Fig. 7 is the structured flowchart of the locating device for Beidou satellite navigation system of one embodiment of the invention.
As shown in Figure 7, the locating device for Beidou satellite navigation system comprises: the first acquisition module 110, first receiver module 120, second receiver module 130, first judge module 140, correcting module 150 and the second acquisition module 160.
Particularly, the first acquisition module 110 is for obtaining the first pseudorange between observation satellite.Wherein first the first acquisition module 110 obtains multiple observation satellites of region, and wherein observation satellite is at least 4, and obtains the first pseudorange between each observation satellite respectively.In an embodiment of the present invention, existing its computation of pseudoranges method can be adopted to carry out the calculating of the first pseudorange, do not repeat them here.
The first almanac data that first receiver module 120 sends for receiving observation satellite.Wherein the first receiver module 120 receives the first almanac data that each observation satellite sends.
Second receiver module 130 is for receiving the pseudo range difference correction data of the observation satellite of differential reference station data processing centre (DPC) transmission, wherein, the length of time of the second almanac data of the observation satellite that differential reference station data processing centre (DPC) receives also is comprised in pseudo range difference correction data.
In one embodiment of the invention, reference base station determines the first corresponding coordinate position, and wherein, reference base station is that Big Dipper ground strengthens the reference base station arranged in net, and the first coordinate position of this reference base station is predefined and very accurate; Reference base station obtains the second coordinate position of each observation satellite, and wherein, reference base station observes the almanac data of each observation satellite in each calculating moment, thus obtains second coordinate position of each observation satellite in each calculating moment.In an embodiment of the present invention, the computing method of the coordinate position of existing observation satellite can be adopted to calculate, do not repeat them here; Reference base station obtains the actual distance between reference base station and each observation satellite according to the first coordinate position and the second coordinate position; Reference base station obtains the 3rd pseudorange between each observation satellite, wherein, in an embodiment of the present invention, existing its computation of pseudoranges method can be adopted to carry out the calculating of the 3rd pseudorange, do not repeat them here; Reference data obtains pseudo range difference correction data corresponding to each observation satellite according to the 3rd pseudorange and real distance, and be sent to differential reference station data processing centre (DPC), should be appreciated that to ensure accuracy, the observation satellite that guider and reference base station keep simultaneous observation corresponding.
Thus, the object of reference of Accurate Measurement coordinate position arranges Beidou receiver, namely reference base station is set up, this reference base station and guider simultaneous observation are no less than the observation satellite of 4, this reference base station tries to achieve the pseudo range difference correction data in this calculating moment again, and by wireless software download or communication network by pseudo range difference correction data real-time broadcasting to differential reference station data processing centre (DPC), therefore can improve the precision of location.In addition, the pseudo range difference correction data each reference base station obtained send to differential reference station data processing centre (DPC), and manage by differential reference station data processing centre (DPC) is unified, convenient management, reduces the delivering path of data.
Whether the first judge module 140 mated for the length of time in the length of time and the first almanac data that judge the second almanac data.More specifically, after second receiver module 130 receives pseudo range difference correction data, if the satellite ephemeris of the navigation data that the satellite ephemeris of correspondence and this device receive does not mate, then can not use this pseudo range difference correction data, use the data of different satellite ephemeris to position, incorrect correction can be made.
Correcting module 150, for when the first judge module 140 judges coupling, obtains the second pseudorange according to pseudo range difference correction data to the first pseudorange correction.
Second acquisition module 160 is for obtaining the first coordinate position according to the second pseudorange and the first almanac data.More specifically, second acquisition module 160 obtains the first coordinate position according to the second pseudorange and the first almanac data, location can be realized, second pseudorange that at least 4 observation satellites can be utilized to obtain and the first almanac data carry out the calculating of the first coordinate position, these computing method can adopt existing Differential positioning method, do not repeat them here.
The locating device for Beidou satellite navigation system of the embodiment of the present invention, after receiving pseudo range difference correction data, the length of time of the first almanac data that the length of time and the guider of the second almanac data of correspondence receive is mated, and revise when coupling, thus improve positioning precision further.In addition, the locating device for Beidou satellite navigation system of the embodiment of the present invention, the real-time correction of the second pseudorange is carried out according to the pseudo range difference correction data of differential reference station data processing centre (DPC) transmission, eliminate common error item, the impact of attenuation of correlation error effectively, and then obtain more accurate positioning result, improve positioning precision.In addition, the navigation and positioning accuracy that can be user brings the raising of the order of magnitude, such as, can be applied in Aeronautics and Astronautics, navigation and automotive field such as the landing of aircraft precision approach, unmanned plane, ballistic trajectory measurement, vehicle positioning and navigations.
Fig. 8 is the structured flowchart of the locating device for Beidou satellite navigation system of another embodiment of the present invention.
As shown in Figure 8, the locating device for Beidou satellite navigation system comprises: the first acquisition module 110, first receiver module 120, second receiver module 130, first judge module 140, correcting module 150, second acquisition module 160 and the second judge module 170.
In one embodiment of the invention, the second judge module 170 is for judging whether the signal intensity of observation satellite reaches preset strength; Wherein, when the second judge module 170 judges to reach preset strength, the first almanac data that the first receiver module 120 sends for receiving observation satellite; When the first judge module 170 judges not reach preset strength, the second acquisition module 160 is also for obtaining the second almanac data of observation satellite, to obtain the first coordinate position according to the second pseudorange and the second almanac data from differential reference station data processing centre (DPC).Thus, when the signal of observation satellite is very weak, also can be able to position.
Particularly, as shown in Figure 5, in one embodiment of the invention, pseudo range difference correction data comprise: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, pseudo range difference modified value, pseudo range difference modified value rate of change, the second almanac data the length of time in one or more.
In another embodiment of the present invention, frame identifier takies 6 bits; Reference base station identifier takies 10 bits; Reference base station health and fitness information takies 3 bits; Observation satellite number takies 8 bits; Complete cycle number takies 13 bits; In week, second counts and takies 20 bits; Pseudo range difference modified value takies 16 bits; Pseudo range difference modified value rate of change takies 8 bits; The length of time of the second almanac data takies 5 bits.
Particularly, as shown in Figure 6, in one embodiment of the invention, the second almanac data comprises: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, user distance precision index, observation satellite autonomous health mark, on-board equipment delay inequality, clock data length of time, one or more in clock correction parameter and ephemeris parameter.
In another embodiment of the present invention, frame identifier takies 6 bits; Reference base station identifier takies 10 bits; Reference base station health and fitness information takies 3 bits; Observation satellite number takies 8 bits; Complete cycle number takies 13 bits; In week, second counts and takies 20 bits; User distance precision index takies 4 bits; The autonomous healthy mark of observation satellite takies 1 bit; On-board equipment delay inequality takies 10 bits; Clock data takies 5 bits the length of time; Clock correction parameter takies 74 bits; Ephemeris parameter takies 371 bits.
To achieve these goals, embodiments of the invention also propose a kind of navigational system.
Fig. 9 is according to an embodiment of the invention for the structured flowchart of the positioning system of Beidou satellite navigation system.
As shown in Figure 9, positioning system for Beidou satellite navigation system comprises: for the locating device 10 of Beidou satellite navigation system, differential reference station data processing centre (DPC) 20, observation satellite 30 and reference base station 40, wherein observation satellite at least 4, reference base station 40 can be multiple.
Particularly, reference base station 40 is for determining the first corresponding coordinate position, and obtain the second coordinate position of each observation satellite 30, and obtain the actual distance between reference base station 40 and each observation satellite 30 according to the first coordinate position and the second coordinate position, and the 3rd pseudorange obtained between each observation satellite 30, and obtain the pseudo range difference correction data of each observation satellite 30 correspondence according to the 3rd pseudorange and real distance, and be sent to differential reference station data processing centre (DPC) 20.
Thus, the object of reference of Accurate Measurement coordinate position arranges Beidou receiver, namely reference base station is set up, this reference base station and guider simultaneous observation are no less than the observation satellite of 4, this reference base station tries to achieve the pseudo range difference correction data in this calculating moment again, and by wireless software download or communication network by pseudo range difference correction data real-time broadcasting to differential reference station data processing centre (DPC), therefore can improve the precision of location.In addition, the pseudo range difference correction data each reference base station obtained send to differential reference station data processing centre (DPC), and manage by differential reference station data processing centre (DPC) is unified, convenient management, reduces the delivering path of data.
For the locating device 10 of Beidou satellite navigation system for obtaining the first pseudorange between observation satellite 30, and receive the first almanac data of observation satellite 30 transmission, and receive the pseudo range difference correction data of the observation satellite that differential reference station data processing centre (DPC) 20 sends, and according to pseudo range difference correction data, the second pseudorange is obtained to the first pseudorange correction, and obtain the first coordinate position according to the second pseudorange and the first almanac data.
Wherein, the locating device 10 for Beidou satellite navigation system with reference to the locating device for Beidou satellite navigation system described in aforementioned any one embodiment, can not repeat them here.
The positioning system for Beidou satellite navigation system of the embodiment of the present invention, after guider receives pseudo range difference correction data, the length of time of the first almanac data that the length of time and the guider of the second almanac data of correspondence receive is mated, and revise when coupling, thus improve positioning precision further.In addition, the localization method for Beidou satellite navigation system of the embodiment of the present invention, the real-time correction of the second pseudorange is carried out according to the pseudo range difference correction data of differential reference station data processing centre (DPC) transmission, eliminate common error item, the impact of attenuation of correlation error effectively, and then obtain more accurate positioning result, improve positioning precision.In addition, the navigation and positioning accuracy that can be user brings the raising of the order of magnitude, such as, can be applied in Aeronautics and Astronautics, navigation and automotive field such as the landing of aircraft precision approach, unmanned plane, ballistic trajectory measurement, vehicle positioning and navigations.
In one embodiment of the invention, for the locating device 10 of Beidou satellite navigation system also for judging whether the signal intensity of observation satellite reaches preset strength, and when judging to reach preset strength, receive the first almanac data that observation satellite 30 sends, and when judging not reach preset strength, the second almanac data of observation satellite 30 is obtained, to obtain the first coordinate position according to the second pseudorange and the second almanac data from differential reference station data processing centre (DPC) 20.
Thus, when the signal of observation satellite is very weak, also can be able to position.
In one embodiment of the invention, the length of time of the second almanac data is also comprised in pseudo range difference correction data, wherein differential reference station data processing centre (DPC) 20 receives the second almanac data that observation satellite 30 sends, for the locating device 10 of Beidou satellite navigation system also for whether mating the length of time in the length of time and the first almanac data that judge the second almanac data, and when judging coupling, according to pseudo range difference correction data, the second pseudorange is obtained to the first pseudorange correction.
Thus, after receiving pseudo range difference correction data, the length of time of the first almanac data that the length of time and the guider of the second almanac data of correspondence receive is mated, and revises when coupling, thus improve positioning precision further.
In order to realize above-described embodiment, the present invention also proposes a kind of storage medium, and for storing application program, application program is used for the localization method for Beidou satellite navigation system described in any one embodiment of the present invention.
Describe and can be understood in process flow diagram or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this instructions, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random-access memory (ram), ROM (read-only memory) (ROM), erasablely edit ROM (read-only memory) (EPROM or flash memory), fiber device, and portable optic disk ROM (read-only memory) (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanning to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer memory.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (10)
1. for a localization method for Beidou satellite navigation system, it is characterized in that, comprising:
S1: obtain the first pseudorange between observation satellite;
S2: receive the first almanac data that described observation satellite sends;
S3: the pseudo range difference correction data receiving the described observation satellite that differential reference station data processing centre (DPC) sends, wherein, the length of time of the second almanac data of the described observation satellite that described differential reference station data processing centre (DPC) receives also is comprised in described pseudo range difference correction data;
S4: judge whether the length of time of described second almanac data and the length of time of described first almanac data mate;
S5: if coupling, then according to described pseudo range difference correction data, the second pseudorange is obtained to described first pseudorange correction;
S6: obtain the first coordinate position according to described second pseudorange and described first almanac data.
2. method according to claim 1, is characterized in that, before described step S2, also comprises:
Judge whether the signal intensity of described observation satellite reaches preset strength;
If reach preset strength, then continue to perform step S2;
If do not reach preset strength, then obtain described second almanac data of described observation satellite from described differential reference station data processing centre (DPC), to obtain described first coordinate position according to described second pseudorange and described second almanac data.
3. method according to claim 1 and 2, is characterized in that, also comprises:
Reference base station determines the first corresponding coordinate position;
Described reference base station obtains the second coordinate position of each observation satellite;
Described reference base station obtains the actual distance between described reference base station and described each observation satellite according to described first coordinate position and described second coordinate position;
Described reference base station obtains the 3rd pseudorange between described each observation satellite;
Described reference data obtains described pseudo range difference correction data corresponding to described each observation satellite according to described 3rd pseudorange and described real distance, and is sent to described differential reference station data processing centre (DPC).
4. method according to claim 3, it is characterized in that, described pseudo range difference correction data comprise: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, pseudo range difference modified value, pseudo range difference modified value rate of change, described second almanac data the length of time in one or more.
5. method according to claim 4, is characterized in that, described frame identifier takies 6 bits; Described reference base station identifier takies 10 bits; Described reference base station health and fitness information takies 3 bits; Described observation satellite number takies 8 bits; Described complete cycle number takies 13 bits; In described week, second counts and takies 20 bits; Described pseudo range difference modified value takies 16 bits; Described pseudo range difference modified value rate of change takies 8 bits; The length of time of described second almanac data takies 5 bits.
6. method according to claim 4, it is characterized in that, described second almanac data comprises: frame identifier, reference base station identifier, reference base station health and fitness information, observation satellite number, complete cycle number, in week second counting, user distance precision index, observation satellite autonomous health mark, on-board equipment delay inequality, clock data length of time, one or more in clock correction parameter and ephemeris parameter.
7. method according to claim 6, is characterized in that, described frame identifier takies 6 bits; Described reference base station identifier takies 10 bits; Described reference base station health and fitness information takies 3 bits; Described observation satellite number takies 8 bits; Described complete cycle number takies 13 bits; In described week, second counts and takies 20 bits; Described user distance precision index takies 4 bits; The autonomous healthy mark of described observation satellite takies 1 bit; Described on-board equipment delay inequality takies 10 bits; Described clock data takies 5 bits the length of time; Described clock correction parameter takies 74 bits; Described ephemeris parameter takies 371 bits.
8. for a locating device for Beidou satellite navigation system, it is characterized in that, comprising:
First acquisition module, for obtaining the first pseudorange between observation satellite;
First receiver module, for receiving the first almanac data that described observation satellite sends;
Second receiver module, for receiving the pseudo range difference correction data of the described observation satellite that differential reference station data processing centre (DPC) sends, wherein, the length of time of the second almanac data of the described observation satellite that described differential reference station data processing centre (DPC) receives also is comprised in described pseudo range difference correction data;
First judge module, whether the length of time for the length of time and described first almanac data that judge described second almanac data mates;
Correcting module, for when described first judge module judges coupling, obtains the second pseudorange according to described pseudo range difference correction data to described first pseudorange correction;
Second acquisition module, for obtaining the first coordinate position according to described second pseudorange and described first almanac data.
9. device according to claim 8, is characterized in that, also comprises:
Second judge module, for judging whether the signal intensity of described observation satellite reaches preset strength;
Wherein, when described second judge module judges to reach preset strength, the first almanac data that described first receiver module sends for receiving described observation satellite;
Wherein, when described second judge module judges not reach preset strength, described second acquisition module also for obtaining described second almanac data of described observation satellite from described differential reference station data processing centre (DPC), with according to described second pseudorange and described second almanac data obtain described first coordinate position.
10. for a positioning system for Beidou satellite navigation system, it is characterized in that, comprising: differential reference station data processing centre (DPC), observation satellite, reference base station and the locating device for Beidou satellite navigation system described in any one of claim 8 or 9, wherein,
Described reference base station, for determining the first corresponding coordinate position, and obtain the second coordinate position of each observation satellite, and obtain the actual distance between described reference base station and described each observation satellite according to described first coordinate position and described second coordinate position, and the 3rd pseudorange obtained between described each observation satellite, and obtain pseudo range difference correction data corresponding to described each observation satellite according to described 3rd pseudorange and described real distance, and be sent to described differential reference station data processing centre (DPC);
The described locating device for Beidou satellite navigation system, for obtaining the first pseudorange between described observation satellite, and receive the first almanac data of described observation satellite transmission, and receive the described pseudo range difference correction data of the described observation satellite that differential reference station data processing centre (DPC) sends, and according to described pseudo range difference correction data, the second pseudorange is obtained to described first pseudorange correction, and obtain the first coordinate position according to described second pseudorange and described first almanac data.
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Application publication date: 20150624 |