CN105467415B - A kind of SUAV RTK relative positioning methods constrained based on difference pressure altitude - Google Patents
A kind of SUAV RTK relative positioning methods constrained based on difference pressure altitude Download PDFInfo
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- CN105467415B CN105467415B CN201610031717.1A CN201610031717A CN105467415B CN 105467415 B CN105467415 B CN 105467415B CN 201610031717 A CN201610031717 A CN 201610031717A CN 105467415 B CN105467415 B CN 105467415B
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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]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of SUAV RTK relative positioning methods constrained based on difference pressure altitude, it is included in base station and rover station is respectively mounted same model GNSS receiver and antenna, barometric leveling sensor and radio station；The GNSS raw observations of rover station are transferred to base station by radio station, and difference Recursion process is done with base station raw observation；N number of baseline vector fixed value is determined using LAMBDA algorithms, calculates resequenced with the difference vector and Yi Qibei of baseline vector float-solution, the absolute value sum of eastern component respectively；The pressure altitude of rover station is transferred to base station by radio station, and carrying out difference with base station pressure altitude obtains difference height；The day of baseline vector fixed solution is examined successively to component, if meet difference it is highly constrained if for steps such as required relative positions.The present invention can screen correct baseline vector fixed solution using the difference elevation information of base station and rover station, not require the use of the measurement type receiver for suppressing function with multipath, available for inexpensive RTK applications.
Description
Technical field
The present invention relates to a kind of SUAV RTK relative positioning methods constrained based on difference pressure altitude, belong to and defend
Star technical field of navigation and positioning.
Background technology
At present, SUAV surveying and drawing, take photo by plane, monitor, investigating, the field such as communication relay is used widely,
Real-time Position Fixing Navigation System is a critical system of SUAV.Because GLONASS (GNSS) has the whole world
Property, round-the-clock and continuous precision three-dimensional stationkeeping ability, therefore nearly more than ten year, using GPS and the Big Dipper as the satellite navigation system of representative
System has been widely used for various fields.GNSS receiver uses One-Point Location technology, and precision is generally 3 to 10 meters, but it lacks
Point is can not to realize the high-precision navigation application of inferior centimeter order, so as to limit unmanned plane answering in some field of precision measurement
With.
GNSS can not only realize One-Point Location, can also realize the relative positioning between two observation stations, and precision is reachable
The relative positioning technology of inferior centimeter order, in real time dynamic inferior centimeter order, i.e. RTK technologies, are mainly used in survey field at present.At present
RTK technologies possess basic three characteristic features：(1) ionosphere and the troposphere mistake in GNSS observed quantities are cut down using differential technique
Difference, orbit error, satellite and receiver clock error；(2) using the measurement type receiver with multipaths restraint function, cut down many
Tracking error；(3) recursive estimation, the integer ambiguity float-solution obtained using recursive estimation are carried out using the data of multiple epoch
And its variance-covariance matrix solves integer ambiguity fixed solution, generally uses LAMBDA algorithms.
But, due to the limitation of cost and volume, SUAV is commonly provided with navigational route type receiver, and can not be equipped with tool
There is the measurement type receiver of multipaths restraint function, therefore Multipath Errors can not be cut down, and then cause to ask using LAMBDA algorithms
The success rate of solution integer ambiguity is greatly reduced.Integer ambiguity once resolves mistake, it will cause the position error of meter level, nothing
RTK positioning precision is effectively ensured in method.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of small-sized nothing constrained based on difference pressure altitude
Man-machine RTK relative positioning methods.
In order to achieve the above object, the SUAV RTK based on the constraint of difference pressure altitude that the present invention is provided is relative
Localization method includes the following steps carried out in order：
1) GNSS receiver, GNSS antenna, barometric leveling sensor are installed on base station and radio station, wherein GNSS is received
Antenna and barometric leveling sensor are in sustained height, and the original sights of base station GNSS are obtained using GNSS receiver and GNSS antenna
Measured value, while utilizing barometric leveling sensor measuring basis station pressure altitude；
2) rover station be on SUAV install with step 1) described in model of the same race GNSS receiver, GNSS days
Line, barometric leveling sensor and transmitting station, wherein GNSS antenna and barometric leveling sensor are in sustained height, utilize GNSS
Receiver and GNSS antenna obtain rover station GNSS raw observations, while measuring rover station air pressure using barometric leveling sensor
Highly；
3) rover station GNSS raw observations and air pressure elevation information are sent to nothing by the transmitting station on rover station
Line channel；
4) above- mentioned information is received using the reception radio station on base station, and pressure altitude therein and base station air pressure is high
Degree carries out real time differential computing, obtains difference height；
5) rover station GNSS raw observations and base station GNSS raw observations are subjected to calculus of differences, obtain difference sight
Measured value；
6) above-mentioned difference observation is based on, the floating-point of reeursive weighting least square method, in real time estimation integer ambiguity is utilized
SolutionAnd its variance-covariance matrixBaseline vector float-solutionAnd the success rate P of Carrier Phase Ambiguity Resolution；
7) judge whether the success rate P of above-mentioned Carrier Phase Ambiguity Resolution is higher than predetermined threshold, if higher than predetermined threshold,
Then enter step 8), otherwise repeat step 4) -7)；
8) utilize step 4) difference height and step 6) integer ambiguity float-solutionAnd its variance association side
Poor matrixBaseline vector float-solutionComplete integer ambiguity estimation and inspection.
In step 6) in, it is described based on above-mentioned difference observation, using reeursive weighting least square method, estimate in real time whole
The float-solution of all fuzzinessesAnd its variance-covariance matrixBaseline vector float-solutionAnd Carrier Phase Ambiguity Resolution
Success rate P's comprises the following steps that：
6.1) relative position between definition datum station and rover station is baseline vector b, it is assumed that the satellite of k-th of epoch can
See several mkMore than 4, based on step 5) the difference observation, set up GNSS standard baseline models as follows：
Wherein, y represents step 5) vector form of the difference observation, dimension is 2mk-2；A swears for integer ambiguity
Amount, its dimension is mk-1；A and B are respectively integer ambiguity vector a and the coefficient matrix of baseline vector b, and dimension is respectively (2mk-
2)×(mk- 1) and (2mk-2)×3；V is the vector form y of difference observation observation noise vector；QyFor its variance and covariance
Matrix, subscript k represents that all observation vectors and matrix belong to k-th of epoch；
6.2) formula (b) is based on, the float-solution of reeursive weighting least square method, in real time estimation integer ambiguity is utilizedAnd its
Variance-covariance matrix
6.3) reeursive weighting least square method is utilized, in real time estimation baseline vector float-solution
6.4) step 6.2 is utilized) variance-covariance matrixCalculate its fuzziness dilution of precision ADOP:
Wherein n is variance-covariance matrixDimension, then calculate Carrier Phase Ambiguity Resolution success rate P:
In step 8) in, described utilization step 4) difference height and step 6) integer ambiguity float-solutionAnd its variance-covariance matrixBaseline vector float-solutionComplete integer ambiguity estimation and the specific steps examined such as
Under：
8.1) be based on step 6) integer ambiguity float-solutionAnd its variance-covariance matrixUsing LAMBDA
Algorithm filters out N number of preferred integer ambiguity candidate value, and (N is empirical value, can typically take N>10)；
8.2) it is directed to step 8.1) N number of preferred integer ambiguity candidate value, each fuzziness candidate is calculated respectively
It is worth corresponding baseline vector fixed solution, including north component, east component and day to component, to that there should be N number of baseline vector to fix
Solution；
8.3) obtain step 6 respectively) the baseline vector float-solution and step 8.2) N number of baseline vector fixed solution it
Difference, correspondence obtains N number of difference vector；
8.4) it is directed to step 8.3) N number of difference vector, compares the north component and east component of each difference vector
Absolute value sum, and N number of baseline vector fixed solution is resequenced；
8.5) checking procedure 8.4 successively) N number of baseline vector fixed solution after rearrangement, if i-th of baseline vector is consolidated
Surely the day solved meets step 4 to component) the difference height, then the baseline vector fixed solution is final required relative position,
If the day of N number of baseline vector fixed solution is unsatisfactory for step 4 to component) the difference height, current epoch is without output, profit
Continue repeat step 3 with the observation data of next epoch) -8).
The advantage of the present invention compared with prior art is：First, traditional RTK methods are used suppresses function with multipath
Measurement type receiver, the present invention do not need receiver have multipath suppress function；Second, difference used in background technology
Elevation information derives from same type of barometric leveling sensor, in the geographic range of miniature self-service machine operation, passes through difference
Computing can cut down public sensing system error and environmental error, and difference observation only includes measurement noise, utilizes height
The barometric leveling sensor of precision, the error between relative altitude and true value obtained by measurement can reach decimeter grade, be complete cycle
The identification of fuzziness candidate value provides constraints；3rd, because the horizontal component of baseline vector float-solution can be with the time
Approach baseline vector corresponding to correct fuzziness candidate value more quickly, multipath is mainly influenceed in day on component, is utilized
Last step methods described can further reduce multi-path influence.
Brief description of the drawings
The SUAV RTK relative positioning method flows constrained based on difference pressure altitude that Fig. 1 provides for the present invention
Figure；
Fig. 2 is integer ambiguity estimation and method of inspection flow chart in the inventive method.
Embodiment
As shown in figure 1, the real-time dynamic relative positioning method constrained based on difference pressure altitude that the present invention is provided is included
The following steps carried out in order：
1) GNSS receiver, GNSS antenna, barometric leveling sensor are installed on base station and radio station, wherein GNSS is received
Antenna and barometric leveling sensor are in sustained height, and the original sights of base station GNSS are obtained using GNSS receiver and GNSS antenna
Measured value, while utilizing barometric leveling sensor measuring basis station pressure altitude Hbase, elevation carrection precision is σH；
2) rover station be on SUAV install with step 1) described in model of the same race GNSS receiver, GNSS days
Line, barometric leveling sensor and transmitting station, wherein GNSS antenna and barometric leveling sensor are in sustained height, utilize GNSS
Receiver and GNSS antenna obtain rover station GNSS raw observations, while measuring rover station air pressure using barometric leveling sensor
Height Hrover, elevation carrection precision is σH；
3) rover station GNSS raw observations and air pressure elevation information are sent to nothing by the transmitting station on rover station
Line channel；
4) above- mentioned information is received using the reception radio station on base station, and pressure altitude therein and base station air pressure is high
Degree carries out real time differential computing, obtains difference height dHk：
dHk=Hrover-Hbase (a)
5) rover station GNSS raw observations and base station GNSS raw observations are subjected to calculus of differences, obtain difference sight
Measured value；
6) above-mentioned difference observation is based on, the floating-point of reeursive weighting least square method, in real time estimation integer ambiguity is utilized
SolutionAnd its variance-covariance matrixBaseline vector float-solutionAnd the success rate P of Carrier Phase Ambiguity Resolution, specific steps
It is as follows：
6.1) relative position between definition datum station and rover station is baseline vector b, it is assumed that the satellite of k-th of epoch can
See several mkMore than 4, based on step 5) the difference observation, set up GNSS standard baseline models as follows：
Wherein, y represents step 5) vector form of the difference observation, dimension is 2mk-2；A swears for integer ambiguity
Amount, its dimension is mk-1；A and B are respectively integer ambiguity vector a and the coefficient matrix of baseline vector b, and dimension is respectively (2mk-
2)×(mk- 1) and (2mk-2)×3；V is the vector form y of difference observation observation noise vector；QyFor its variance and covariance
Matrix, subscript k represents that all observation vectors and matrix belong to k-th of epoch；
6.2) formula (b) is based on, the float-solution of reeursive weighting least square method, in real time estimation integer ambiguity is utilizedAnd its
Variance-covariance matrix
6.3) reeursive weighting least square method is utilized, in real time estimation baseline vector float-solution
6.4) step 6.2 is utilized) variance-covariance matrixCalculate its fuzziness dilution of precision ADOP:
Wherein n is variance-covariance matrixDimension, then calculate Carrier Phase Ambiguity Resolution success rate P:
7) judge above-mentioned Carrier Phase Ambiguity Resolution success rate P whether higher than predetermined threshold (be usually set to 0.9~
0.999), if higher than predetermined threshold, into step 8), otherwise repeat step 4) -7)；
8) step 4 is utilized) the difference height dHkWith step 6) float-solution of the integer ambiguityAnd its variance association
Variance matrixBaseline vector float-solutionInteger ambiguity estimation and inspection are completed, is comprised the following steps that：
8.1) be based on step 6) integer ambiguity float-solutionAnd its variance-covariance matrixUsing
LAMBDA algorithms filter out N number of preferred integer ambiguity candidate value, and (N is empirical value, typically can use N>10)；Make ajIt is j-th of time
Reconnaissance, definitionJ-th candidates point aNMeet following formula r1<…<rj<…rN；
8.2) it is directed to step 8.1) N number of preferred integer ambiguity candidate value, each fuzziness candidate is calculated respectively
It is worth corresponding baseline vector fixed solution, including north component, east component and day to component, to that there should be N number of baseline vector to fix
Solution, that is, have：
8.3) obtain step 6 respectively) the baseline vector float-solution and step 8.2) N number of baseline vector fixed solution it
Difference, correspondence obtains N number of difference vector：
8.4) it is directed to step 8.3) N number of difference vector, compares the north component and east component of each difference vector
Absolute value sum, i.e.,And N number of baseline vector fixed solution is resequenced；
8.5) checking procedure 8.4 successively) N number of baseline vector fixed solution after rearrangement, if i-th of baseline vector is consolidated
Surely the day solved meets step 4 to component) the difference height, then the baseline vector fixed solution is final required relative position,
Judge whether formula (h) is set up：
Wherein σHFor step 1) the elevation carrection precision；If the day of N number of baseline vector fixed solution is discontented with to component
Sufficient step 4) difference height, then current epoch utilize the observation data of next epoch to continue repeat step without output
3)—8)。
Claims (3)
1. a kind of SUAV RTK relative positioning methods constrained based on difference pressure altitude, it is characterised in that：Described base
The SUAV RTK relative positioning methods constrained in difference pressure altitude include the following steps carried out in order：
1) GNSS receiver, GNSS antenna, barometric leveling sensor are installed on base station and radio station, wherein GNSS antenna is received
Sustained height is in barometric leveling sensor, the original observations of base station GNSS are obtained using GNSS receiver and GNSS antenna
Value, while utilizing barometric leveling sensor measuring basis station pressure altitude；
2) be to be installed and step 1 on SUAV in rover station) described in the GNSS receiver of model of the same race, GNSS antenna,
Barometric leveling sensor and transmitting station, wherein GNSS antenna and barometric leveling sensor are in sustained height, are connect using GNSS
Receipts machine and GNSS antenna obtain rover station GNSS raw observations, while it is high to measure rover station air pressure using barometric leveling sensor
Degree；
3) rover station GNSS raw observations and air pressure elevation information are sent to wireless communication by the transmitting station on rover station
Road；
4) above- mentioned information is received using the reception radio station on base station, and pressure altitude therein is entered with base station pressure altitude
Row real time differential computing, obtains difference height；
5) rover station GNSS raw observations and base station GNSS raw observations are subjected to calculus of differences, obtain difference observation
Value；
6) above-mentioned difference observation is based on, the float-solution of reeursive weighting least square method, in real time estimation integer ambiguity is utilizedAnd
Its variance-covariance matrixBaseline vector float-solutionAnd the success rate P of Carrier Phase Ambiguity Resolution；
7) judge whether the success rate P of above-mentioned Carrier Phase Ambiguity Resolution is higher than predetermined threshold, if higher than predetermined threshold, entering
Enter step 8), otherwise repeat step 4) -7)；
8) utilize step 4) difference height and step 6) integer ambiguity float-solutionAnd its variance-covariance matrixBaseline vector float-solutionComplete integer ambiguity estimation and inspection.
2. the SUAV RTK relative positioning methods according to claim 1 constrained based on difference pressure altitude, it is special
Levy and be：In step 6) in, it is described based on above-mentioned difference observation, using reeursive weighting least square method, estimate in real time whole
The float-solution of all fuzzinessesAnd its variance-covariance matrixBaseline vector float-solutionAnd Carrier Phase Ambiguity Resolution into
Power P is comprised the following steps that：
6.1) relative position between definition datum station and rover station is baseline vector b, it is assumed that the visible number of satellite of k-th of epoch
mkMore than 4, based on step 5) the difference observation, set up GNSS standard baseline models as follows：
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3. the SUAV RTK relative positioning methods according to claim 1 constrained based on difference pressure altitude, it is special
Levy and be：In step 8) in, described utilization step 4) difference height and step 6) integer ambiguity float-solutionAnd its variance-covariance matrixBaseline vector float-solutionComplete integer ambiguity estimation and the specific steps examined such as
Under：
8.1) be based on step 6) integer ambiguity float-solutionAnd its variance-covariance matrixUsing LAMBDA algorithms
Filter out N number of preferred integer ambiguity candidate value；
8.2) it is directed to step 8.1) N number of preferred integer ambiguity candidate value, each fuzziness candidate value pair is calculated respectively
The baseline vector fixed solution answered, including north component, east component and day are to component, to that should have N number of baseline vector fixed solution；
8.3) obtain step 6 respectively) the baseline vector float-solution and step 8.2) N number of baseline vector fixed solution difference,
Correspondence obtains N number of difference vector；
8.4) be directed to step 8.3) N number of difference vector, compare each difference vector north component and east component it is exhausted
To value sum, and N number of baseline vector fixed solution is resequenced；
8.5) checking procedure 8.4 successively) N number of baseline vector fixed solution after rearrangement, if i-th of baseline vector fixed solution
Day meet step 4 to component) difference height, then the baseline vector fixed solution is final required relative position, if N
The day of individual baseline vector fixed solution is unsatisfactory for step 4 to component) the difference height, then current epoch is without output, under utilization
The observation data of one epoch continue repeat step 3) -8).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610031717.1A CN105467415B (en) | 2016-01-18 | 2016-01-18 | A kind of SUAV RTK relative positioning methods constrained based on difference pressure altitude |
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| CN106200656B (en) * | 2016-06-27 | 2019-05-07 | 北京大工科技有限公司 | Unmanned vehicle system for tracking and method based on differential satellite navigation |
| CN106772494A (en) * | 2017-01-13 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of inexpensive GNSS barometers combination RTK localization methods |
| CN106814381B (en) * | 2017-01-19 | 2019-07-05 | 湖南北云科技有限公司 | A kind of instant reference station positioning authentication method and system |
| CN108496130B (en) * | 2017-05-31 | 2021-06-11 | 深圳市大疆创新科技有限公司 | Flight control method, flight control equipment, control terminal, control method of control terminal and unmanned aerial vehicle |
| CN109309523B (en) * | 2017-07-28 | 2021-07-20 | 广州极飞科技股份有限公司 | Method, device and system for signal transmission and unmanned aerial vehicle positioning |
| WO2019119237A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and circularly polarized antenna assembly thereof |
| CN108819743A (en) * | 2018-06-06 | 2018-11-16 | 西昌飓源风电开发有限公司 | The method and device of unmanned plane automatic localization wireless charging |
| CN109460060A (en) * | 2018-12-05 | 2019-03-12 | 四川航天系统工程研究所 | It is unmanned to equip intelligent coordinated control assembly and control method |
| CN109884677B (en) * | 2019-03-07 | 2023-03-28 | 成都纵横融合科技有限公司 | Optimization method for post-processing RTK positioning solution |
| CN111830461A (en) * | 2019-04-18 | 2020-10-27 | 中国民航大学 | Airborne UWB positioning method for unmanned aerial vehicle |
| CN113340271B (en) * | 2021-06-29 | 2022-09-06 | 上海良相智能化工程有限公司 | Ground target positioning error real-time estimation method based on unmanned aerial vehicle micro-cluster |
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