CN105445755B - A kind of regions CORS ionosphere modeling method - Google Patents
A kind of regions CORS ionosphere modeling method Download PDFInfo
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- CN105445755B CN105445755B CN201510777230.3A CN201510777230A CN105445755B CN 105445755 B CN105445755 B CN 105445755B CN 201510777230 A CN201510777230 A CN 201510777230A CN 105445755 B CN105445755 B CN 105445755B
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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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)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of regions CORS ionosphere modeling methods, include the following steps：Network baseline is built according to network baseline length threshold and CORS referenced stations known coordinates；It is formed using main referenced stations and the baseline that is connected as the solving unit of element with the relationship of referenced stations according to network baseline；Select reference satellite；Build network baseline double difference observational equation；Ionosphere modeling is carried out according to each referenced stations ionosphere point of puncture position；Structure Kalman filter solves parameter to be estimated；Fuzziness is fixed according to Kalman filtered results；The fixed solution of ionosphere model parameters is sought according to fixed fuzziness.The present invention is to resolve unit to carry out ionosphere modeling with reference station, the number of solving unit can be reduced, and the available baseline number showed increased of each solving unit, the ionospheric model precision higher of estimation are suitable for ionosphere interpolation when user is located at outside Reference network.
Description
Technical field
The present invention relates to RTK fields of measurement, and in particular to arrives a kind of regions CORS ionosphere modeling method.
Background technology
Continuous operation of the reference station system (CORS) is a kind of new technology for starting in this century to rise, by permanent in region
The real-time stream of the continuous operation of the reference station of construction, the structure triangulation network carry out regional atmospheric estimation error, build atmosphere errors
Model, and then real-time dynamic positioning service is provided.Since technology of network RTK has, uniform precision, need not to set up base station etc. excellent
Point, gradually replacing the RTK technologies of traditional 1+1 in recent years becomes the RTK measurement patterns of current most mainstream.
Technology of network RTK, core technology are structure regional ionospheric models, and traditional calculation method is to structure in region
The each triangulation network operation independent built, including fuzziness is carried out to three network baselines and is fixed, obtain the ionosphere of three baselines
It with troposphere information, is then modeled according to linear model, obtains linear ionization layer and the Tropospheric Models in the triangle.
When receiver user logs in the reference station network, the triangulation network where receiver user is first selected, then with the triangulation network
Ionospheric convection layer linear dimensions carries out atmosphere errors interpolation, obtains the difference information at receiver user.This method has two
A major defect：
1, ionosphere is not linearly to be distributed in the triangulation network, especially when ionosphere intensity is larger, by linear
Method Modeling has serious systematic error, and then influences the fixed effect of user.
2, when user is not in any one triangulation network, that is, when being located at outside the net of entire reference station network, by linear
Method carries out atmosphere errors interpolation and will appear gross error, i.e. the fixed effect of receiver user offline can be very poor.
Invention content
The present invention provides a kind of regions CORS ionosphere modeling methods, include the following steps：
Network baseline is built according to network baseline length threshold and CORS referenced stations known coordinates；
It is formed using main referenced stations and the baseline that is connected as the resolving list of element with the relationship of referenced stations according to network baseline
Member；
Select reference satellite；
Build network baseline double difference observational equation；
Ionosphere modeling is carried out according to each referenced stations ionosphere point of puncture position；
Structure Kalman filter solves parameter to be estimated；
Fuzziness is fixed according to Kalman filtered results；
The fixed solution of ionosphere model parameters is sought according to fixed fuzziness.
The above-mentioned regions CORS ionosphere modeling method, wherein the step of establishing solving unit include：
Assuming that building the ionospheric model of main referenced stations A, the baseline being attached thereto has AB, AC, AD, AE, chooses one
Baseline AB is made of website A and website B, is that reference is defended with i if website A and website B are connected respectively to satellite i and satellite j
Star, the ionospheric model of structure non-reference satellite j, the non-difference observation equation of website B are：
Wherein, λ indicates satellite carrier wavelength,For carrier phase observed quantity, C indicates that the light velocity, δ Tr indicate that receiver clock-offsets, δ T are satellite clock correction, and N indicates that integer ambiguity, R indicate survey station
To the distance of satellite, T indicates tropospheric error, and I indicates ionospheric error, O be include atmospheric refraction multipath effect and satellite
The composition error item of orbit error.
The above-mentioned regions CORS ionosphere modeling method, wherein structure network baseline double difference observational equation the step of include：
Establish single poor observational equation between standing：
Establish double difference observational equation：
The above-mentioned regions CORS ionosphere modeling method, wherein selection elevation angle highest, the maximum satellite of latitude are reference
Satellite, single poor ionosphere is 0 between the station of reference satellite, then
Ionosphere modeling is carried out according to point of puncture, if the vertical ionospheric delay at main referenced stations A points of puncture isThen
The vertical ionospheric of website B points of puncture postponesFor：
Wherein, Δ λ, Δ φ are the relative coordinate of the relatively main referenced stations point of puncture of survey station point of puncture, aλ、aφFor correspondence
The gradient in longitude and latitude direction, the relationship postponed with vertical ionospheric according to signal path directions ionosphere delay are：
I=SF (j) Ic, SF (j) is the ionosphere delay projection function of non-reference satellite j.
The above-mentioned regions CORS ionosphere modeling method, wherein ionosphere model parameters back substitution is entered into double difference observational equation：
WhereinAs constant processing, dynamic noise battle array is zero,aλ、It is main referenced stations A affiliated areas
Ionospheric Parameters obtained by Kalman filter according to random walk model foundation dynamic noise battle arrayaλ、And fixed fuzziness, finally obtain CORS regional ionospheric model parametersaλ、Fixed solution.
The present invention is to resolve unit to carry out ionosphere modeling with reference station, can reduce the number of solving unit, and each
The available baseline number showed increased of solving unit, the ionospheric model precision higher of estimation are suitable for user and are located at Reference network
Ionosphere interpolation when outer；It is modeled with each reference station observation satellite point of puncture position, it can be accurate when ionosphere intensity is larger
Ionosphere model parameters really are obtained, the RTK fixed rates of receiver user are effectively improved.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent upon.Identical label indicates identical part in whole attached drawings.Not deliberately proportionally
Draw attached drawing, it is preferred that emphasis is the purport of the present invention is shown.
Fig. 1 is a kind of first half flow diagram of the regions CORS ionosphere modeling method of the present invention；
Fig. 2 is a kind of latter half flow diagram of the regions CORS ionosphere modeling method of the present invention.
Specific implementation mode
In the following description, a large amount of concrete details are given in order to provide more thorough understanding of the invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid with the present invention obscure, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical scheme of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiment.
The present invention provides a kind of regions CORS ionosphere modeling methods, shown referring to Figures 1 and 2, include the following steps：
Step S1：Network baseline is built according to network baseline length threshold and CORS referenced stations known coordinates.
Step S2：It is formed using main referenced stations and the baseline that is connected as element with the relationship of referenced stations according to network baseline
Solving unit.
Length threshold is set in CORS reference stations, which changes with the latitude of CORS, it is assumed that threshold value is set as
120km builds network baseline with the length threshold, i.e., whole of the station station spacing less than 120km of every CORS, which is connected, constitutes net
Network baseline need not follow triangle network forming rule, i.e., each baseline can intersect.In this way, each reference station has several
Baseline is coupled, we build solving unit using main reference station and the baseline being connected with main reference station as element, build the ginseng
The ionospheric model around station is examined, thus, the CORS reference station networks for possessing N number of reference station just possess N number of solving unit,
N number of regional ionospheric model can be formed, when receiver user logs in, the ionospheric model of selection and the nearest reference station of user
Interpolation is carried out, problems caused by triangulation network interpolation model are avoided.
Assuming that building the ionospheric model of main referenced stations A, the baseline being attached thereto has AB, AC, AD, AE, chooses one
Baseline AB is made of website A and website B, is that reference is defended with i if website A and website B are connected respectively to satellite i and satellite j
Star, the ionospheric model of structure non-reference satellite j, the non-difference observation equation of website B are：
Wherein, λ indicates satellite carrier wavelength,For carrier phase observed quantity, C indicates that the light velocity, δ Tr indicate that receiver clock-offsets, δ T are satellite clock correction, and N indicates that integer ambiguity, R indicate survey station
To the distance of satellite, T indicates tropospheric error, and I indicates ionospheric error, O be include atmospheric refraction multipath effect and satellite
The composition error item of orbit error.
Step S3：Reference satellite is selected, and ionosphere modeling is carried out according to each referenced stations ionosphere point of puncture position.Tool
Body, it is reference satellite to select elevation angle highest, the maximum satellite of latitude.
Step S4：Build network baseline double difference observational equation.It is specific as follows：
Establish single poor observational equation between standing：
Establish double difference observational equation：
As can be seen that double difference observational equation has eliminated satellite clock correction influence, composition error item is also weakened, due to CORS
The coordinate of middle reference station be all it is known,It can be ionized a layer error by Modifying model to Centimeter Level, discrepance
Absorb, therefore, it is ionosphere delay to influence the fixed principal element of fuzziness, also, the length of CORS network baselines generally compared with
Difference, it is larger in lower latitude ionospheric error, when being solved by Kalman filter must using ionosphere and fuzziness as
Parameter is estimated jointly.
In fact, the elevation angle of reference star is maximum, and can the satellite of preferably high latitude area be used as and refer to star, this
Sample, single poor ionosphere may be considered 0 between the station of reference star, then
Ionosphere modeling is carried out according to point of puncture, if the vertical ionospheric delay at main referenced stations A points of puncture isThen
The vertical ionospheric of website B points of puncture postponesFor：
Wherein, Δ λ, Δ φ are the relative coordinate of the relatively main referenced stations point of puncture of survey station point of puncture, aλ、aφFor correspondence
The gradient in longitude and latitude direction, the relationship postponed with vertical ionospheric according to signal path directions ionosphere delay are：
I=SF (j) Ic, wherein SF (j) is the ionosphere delay projection function of non-reference satellite j.
Step S5：Structure Kalman filter solves parameter to be estimated；Fuzziness is fixed according to Kalman filtered results；According to
Fixed fuzziness seeks the fixed solution of ionosphere model parameters.Specifically process of solution is：
Ionosphere model parameters back substitution is entered into double difference observational equation：
As it can be seen that parameter to be estimated only is leftaλ、WhereinAs constant processing, dynamic noise battle array is
Zero, excess-three parameteraλ、It is the Ionospheric Parameters of main referenced stations A affiliated areas, is built according to random walk model
Vertical dynamic noise battle array, is obtained by Kalman filteraλ、And fixed fuzziness, finally obtain the regions CORS
Ionosphere model parametersaλ、Fixed solution.
It is to resolve unit progress ionosphere to build with reference station in conclusion since present invention employs above-mentioned technical proposals
Mould can reduce the number of solving unit, and the available baseline number showed increased of each solving unit, the ionospheric model of estimation
Precision higher is suitable for ionosphere interpolation when user is located at outside Reference network；With each reference station observation satellite point of puncture position
It is modeled, ionosphere model parameters can be accurately obtained when ionosphere intensity is larger, effectively improve the RTK of receiver user
Fixed rate.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this field
It applies；Any technical person familiar with the field, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit any simple modifications, equivalents, and modifications made to the above embodiment of the present invention, still fall within the present invention
In the range of technical solution protection.
Claims (4)
1. a kind of regions CORS ionosphere modeling method, which is characterized in that include the following steps：
Network baseline is built according to network baseline length threshold and CORS referenced stations known coordinates；
It is formed using main referenced stations and the baseline that is connected as the solving unit of element with the relationship of referenced stations according to network baseline；
Select reference satellite；
Build network baseline double difference observational equation；
Ionosphere modeling is carried out according to each referenced stations ionosphere point of puncture position；
Structure Kalman filter solves parameter to be estimated；
Fuzziness is fixed according to Kalman filtered results；
The fixed solution of ionosphere model parameters is sought according to fixed fuzziness；
It is described to be formed using main referenced stations and the baseline that is connected as the resolving list of element with the relationship of referenced stations according to network baseline
Member step include：
Assuming that building the ionospheric model of main referenced stations A, the baseline being attached thereto has AB, AC, AD, AE, chooses a baseline
AB is made of website A and website B, if website A and website B are connected respectively to satellite i and satellite j, using i as reference satellite, and structure
The ionospheric model of non-reference satellite j is built, the non-difference observation equation of website B is：
Wherein, λ indicates satellite carrier wavelength,For carrier phase observed quantity, C indicates that the light velocity, δ Tr indicate that receiver clock-offsets, δ T are satellite clock correction, and N indicates that integer ambiguity, R indicate survey station
To the distance of satellite, T indicates tropospheric error, and I indicates ionospheric error, O be include atmospheric refraction multipath effect and satellite
The composition error item of orbit error.
2. the regions CORS ionosphere modeling method as described in claim 1, which is characterized in that structure network baseline double difference observation
The step of equation includes：
Establish single poor observational equation between standing：
Establish double difference observational equation：
Wherein, O is the composition error item for including atmospheric refraction multipath effect and satellite orbital error.
3. the regions CORS ionosphere modeling method as claimed in claim 2, which is characterized in that selection elevation angle highest, latitude
Maximum satellite is reference satellite, and single poor ionosphere is 0 between the station of reference satellite, then
Ionosphere modeling is carried out according to point of puncture, if the vertical ionospheric delay at main referenced stations A points of puncture isThen website
The vertical ionospheric of B points of puncture postponesFor：
Wherein, Δ λ,For the relative coordinate of the relatively main referenced stations point of puncture of survey station point of puncture, aλ、aφFor corresponding longitude and latitude
The gradient in direction, the relationship postponed with vertical ionospheric according to signal path directions ionosphere delay are：
I=SF (j) Ic, SF (j) is the ionosphere delay projection function of non-reference satellite j.
4. the regions CORS ionosphere modeling method as claimed in claim 3, which is characterized in that by ionosphere model parameters back substitution
Enter double difference observational equation：
WhereinAs constant processing, dynamic noise battle array is zero,aλ、It is the ionization of main referenced stations A affiliated areas
Layer parameter is obtained according to random walk model foundation dynamic noise battle array by Kalman filteraλ、And
Fixed fuzziness, finally obtains CORS regional ionospheric model parametersaλ、Fixed solution.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106597499B (en) * | 2016-12-30 | 2019-04-09 | 广州市中海达测绘仪器有限公司 | Network RTK double difference ionosphere delay interpolating method and device |
| CN108989975B (en) * | 2018-04-24 | 2020-08-18 | 深圳华大北斗科技有限公司 | CORS positioning service method, storage medium and computer equipment |
| CN108828626B (en) * | 2018-07-02 | 2020-11-06 | 中国人民解放军战略支援部队信息工程大学 | Network RTK ionosphere delay interpolation method and system based on real-time grid |
| CN109581430B (en) * | 2018-12-13 | 2020-06-30 | 中国电子科技集团公司第五十四研究所 | Method for monitoring GBAS ionosphere spatial gradient based on pseudolite |
| CN109828288A (en) * | 2019-01-23 | 2019-05-31 | 东南大学 | A kind of real-time ionospheric modeling and monitoring method based on region CORS |
| CN110275185B (en) * | 2019-07-11 | 2020-04-03 | 武汉大学 | Ionosphere projection function modeling method based on GNSS and GEO satellite |
| CN110568457B (en) * | 2019-08-24 | 2022-12-23 | 西南交通大学 | Strip-shaped CORS network atmosphere modeling method |
| CN110618438B (en) * | 2019-09-09 | 2022-05-27 | 广州市中海达测绘仪器有限公司 | Atmospheric error calculation method and device, computer equipment and storage medium |
| CN115480274A (en) * | 2021-05-31 | 2022-12-16 | 千寻位置网络有限公司 | Reference satellite selection method and device and receiver |
| CN117130014B (en) * | 2023-10-26 | 2024-02-06 | 武汉大学 | Method and system for establishing single difference model between ionosphere stars in high-precision area |
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