CN105509770B - A kind of barometer on-line correction method in GNSS and MEMS integrated navigation systems - Google Patents

A kind of barometer on-line correction method in GNSS and MEMS integrated navigation systems Download PDF

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CN105509770B
CN105509770B CN201610008071.5A CN201610008071A CN105509770B CN 105509770 B CN105509770 B CN 105509770B CN 201610008071 A CN201610008071 A CN 201610008071A CN 105509770 B CN105509770 B CN 105509770B
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gnss
error
air pressure
benchmark
height
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CN105509770A (en
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翟昆朋
何文涛
蔺晓龙
冯华星
黄璐
王浩
殷明
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HANGZHOU ZHONGKE MICROELECTRONICS CO Ltd
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JIAXING MICROELECTRONICS AND SYSTEMS ENGINEERING CENTER CHINESE ACADEMY OF SCIENCES
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention discloses a kind of barometer on-line correction methods in GNSS/MEMS integrated navigation systems, height is estimated when satellite signal quality is reliable, and estimate height error using the Robust position error estimation based on satellite pseudo-range measurements residual error, benchmark air pressure estimated value is updated according to the Height Estimation value real time correction of GNSS to correct MEMS barometers, and improves the precision of Height Estimation value come assisted GNSS/MEMS combined systems using benchmark air pressure estimated value.Using satellite pseudo-range measurements residual error, the standard deviation of the algorithm robust iterative residual error of absolute median deviation is used to it, to estimate the standard deviation of measurement error.The variance of GNSS receiver site error is estimated using the proportionate relationship between the standard deviation and site error of measurement error.Using GNSS's as a result, estimating the variance of benchmark atmospheric pressure value and benchmark barometric error simultaneously.The error level of real-time update benchmark air pressure, and compared with newest GNSS height errors level, obtain the highest benchmark air pressure estimated value of precision.

Description

A kind of barometer on-line correction method in GNSS and MEMS integrated navigation systems
Technical field
The present invention relates to a kind of barometrical real-time correction methods of MEMS, are applied in GNSS and MEMS in particular to a kind of Barometer real-time correction method in integrated navigation system.
Background technology
GNSS satellite receiver is by capturing, tracking the signals of multiple satellites, demodulation of satellite orbit parameter, star from signal The navigation messages data such as atomic clock model are carried, satellite position, speed and the time parameter at a certain moment, last hybrid satellite are calculated Signal measurements estimate the position and speed of receiver (i.e. user).But satellite-signal is easy by receiver local environment Factor, such as high building, valley, trees, tunnel block, and influence the availability of positioning result.
Because the characteristic of inertial navigation has good complementarity, the combination of inertia device and GNSS to lead with satellite navigation Boat system is a kind of important navigation solution, the high development of MEMS technology, GNSS/MEMS sensor combinations navigation system Widely application is possibly realized.Wherein MEMS barometers are an important sensors in integrated navigation system.
MEMS barometers can be used in GNSS/MEMS integrated navigation systems as barometertic altimeter, barometertic altimeter Principle is：In the low altitude area region of earth adjacent ground surface, the air pressure in environment can become smaller with highly getting higher, this variation Rule meets certain functional relation, which is a function：
Wherein P0For sea-level pressure namely benchmark air pressure a certain height is obtained then in the case where reference gas pressing is determined The measured value P of atmospheric pressure value at degree, so that it may which the estimated value to obtain height above sea level is：
However in practical situations, air pressure has different variations with local weather conditions again, so directly utilizing gas Pressing mold type calculates height above sea level and just will produce larger error.It, will be with the model of Changes in weather using external correction means Error sums up in the point that sea-level pressure value p0Variation on, can to a certain degree reduce Height Estimation error.However it is barometrical Some performance characteristics cause to need special Corrective control method when in use again.
General MEMS barometers are more accurate to the ratio of precision for measuring relative barometric pressure variation, can reach 1Pa or so, corresponding Height change is 0.1m.It is as shown in Figure 3 the case where quiescent period relative barometric pressure changes.But if only starting in time Sea level benchmark atmospheric pressure value is initialized, then the variation for the accumulation and local weather drifted about with period itself after several hours, The error of this air pressure estimated value can accumulate rapidly, as shown in figure 4, barometertic altimeter obtains height in quiescent conditions lower 6 hours Spend situation of change.The combined effect of both factors causes the atmospheric pressure value of barometer output when static short several small When interior variation 200Pa, corresponding height change is 20m.Therefore, those skilled in the art be dedicated to developing a kind of GNSS and Barometer on-line correction method in MEMS integrated navigation systems so that MEMS barometers accurately refer in GNSS integrated navigations Show air pressure.
Invention content
In view of the drawbacks described above of the prior art, the technical problem to be solved by the present invention is to be led in GNSS and MEMS combinations In boat system, MEMS barometers how real time calibration error.
To achieve the above object, the present invention provides the online schools of barometer in a kind of GNSS and MEMS integrated navigation systems Correction method includes the following steps：
Step 1 utilizes GNSS receiver estimation height alt when satellite signal quality is reliableGNSS；
Step 2 obtains benchmark air pressure estimated value P using above-mentioned height results correction MEMS barometers0_EST；
Step 3 utilizes formula
Computed altitude estimated value.
Further, the step 2 includes the following steps：
Step 2.1, using satellite pseudo-range measurements residual error, the algorithm robust iterative residual error of absolute median deviation is used to it Standard deviation, to estimate the standard deviation of measurement error；
Step 2.2 estimates GNSS receiver using the proportionate relationship between the standard deviation and site error of measurement error The variance of site error；
Step 2.3, using GNSS receiver site error variance evaluation benchmark atmospheric pressure value and benchmark barometric error side Difference；
Step 2.4, real-time update benchmark air pressure error level, and carried out pair with newest GNSS height errors level Than obtaining benchmark air pressure estimated value P0_EST。
Further, the step 2.1 includes the following steps：
If the pseudorange residuals vector after step 2.11, receiver location calculate is
PrResi=[prResi1prResi2 ... prResin]；
Step 2.12, the error variance of pseudo-range measurements and corresponding site error variance are：
VarPrRobust=(median (abs (prResi-median (prResi))))
VarAlt=varPrRobust*HDOP
Wherein abs and median is respectively the opposite function for measuring absolute value and median.
Further, the step 2.4 comprises the steps of：
Step 2.41, each update interval during, GNSS receiver pass through MEMS barometers read K receiver Neighbouring air pressure sampled measurement
Psample=[Psample1Psample2...PsampleK]；
Step 2.42 takes the average gas pressure measurement as the update epoch to sample sequence：
PBARO=mean (Psample).
Further, if the epoch is not updated, benchmark atmospheric pressure value continues to use history parameters, while according to barometer Characteristic amplify varP0：
varP0=varP0+varT。
Further, the varT value ranges are 0.05~0.1.
Further, the step 2.4 further includes：
Step 2.43, the height alt using GNSSGNSSThe average gas pressure P measured with air pressureBAROTo benchmark air pressure P0_EST It is updated, while updating its corresponding error variance：
For the demand of MEMS barometers and integrated navigation system, present invention aims at a kind of utilization GNSS of offer to position As a result barometertic altimeter on-line correction method namely reference gas presses real-time estimation method, this method to be applied to GNSS/MEMS groups Close the Height Estimation of navigation system.
The present invention is broadly divided into two parts：Reference gas presses real-time update strategy and benchmark air pressure to calculate.In integrated navigation system It unites in position fixing process, according to the Satellite Tracking situation of receiver local environment, the GNSS Height Estimations precision actually calculated, caches Benchmark air pressure estimated value, caching benchmark air pressure estimate the information such as time point to determine whether to update, it is ensured that accurate when reference gas is compacted Really estimation.If the positioning result of GNSS satellite receiver meets the update condition of benchmark air pressure, GNSS satellite height is chosen Estimated value altGNSS, separately count barometrical average value P in the one second time of the positioning epochBARO, utilize formula calculating benchmark air pressure Value P0, estimated value is denoted as P0_EST
Advantages of the present invention：It combines GNSS receiver Height Estimation long-time unbiased and the MEMS barometer short time is opposite Stable feature utilizes the benchmark for the Height Estimation locality that satellite receiver estimation is utilized in the case where satellite-signal situation is good Air pressure P0；Height is estimated using relatively accurate barometer estimated value when satellite-signal difference, to which whole improve is combined The precision of navigation system Height Estimation.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the GNSS/MEMS integrated navigation system schematic diagrames of the preferred embodiment of the present invention；
Fig. 2 is the benchmark air pressure update strategy of the GNSS/MEMS combined altitudes estimation of the preferred embodiment of the present invention Figure；
The case where Fig. 3 is the variation of quiescent period relative barometric pressure is schemed；
Fig. 4 is that barometertic altimeter obtains height change situation map under quiescent conditions.
Specific implementation mode
As shown in Figure 1, GNSS/BAROMETER integrated navigation system schematic diagrames.GNSS satellite receiver passes through GNSS antenna Receiver satellite-signal, while the barometrical real-time gas pressure measurement in MEMS sensor is received by general-purpose interface.GNSS Receiver is by combining the information and gas pressure measurement of satellite positioning to improve receiver height by real time correction benchmark air pressure Positioning accuracy.
As shown in Fig. 2, GNSS/MEMS combined altitudes estimation figure.The present invention is directed to real-time update benchmark air pressure estimated values P0_EST, estimate for GNSS/MEMS combined altitudes.Satellite receiver GNSS Height Estimations are combined during real-time update (101) and the barometrical gas pressure measurements of MEMS (102) it, is obtained using the height results of the GNSS correction barometrical results of MEMS Benchmark air pressure estimated value P0_EST, recycle formula [2] computed altitude estimated value (108).
Wherein the update of GNSS includes Height Estimation value altGNSSWith height error estimate of variance varAlt (101). Each positioning epoch, receiver extract satellite orbit point by tracking satellite-signal, are obtained in conjunction with tracking channel Pseudo-range measurements calculate the position of receiver.There are specific mathematical relationship between pseudo-range measurements and location status, that is, measure Equation, then the variance of pseudo-range measurements error can be reflected in site error side by certain scale factor in calculating process In difference, this scale factor is known as dilution of precision (DOP), the space geometry of DOP and the satellite and receiver that participate in positioning Relationship is related, and wherein the corresponding scale factor of height error is HDOP.If pseudo-range measurements are calculated by some way Error variance be varPr, then corresponding height error variance is
VarAlt=varPr*HDOP.
Particularly, one of which positional precision computational methods are listed here：Positional precision based on pseudorange residuals is steadily and surely estimated Meter method.If the pseudorange residuals vector after receiver location calculates is
PrResi=[prResi1prResi2…prResin]
So error variance of pseudo-range measurements and corresponding site error variance be：
VarPrRobust=(median (abs (prResi-median (prResi))))
VarAlt=varPrRobust*HDOP
Wherein abs and median is respectively the opposite function for measuring absolute value and median.Position during this method can utilize Several Robust Estimate Methods can effectively eliminate a small amount of influence of the singular value for error variance in pseudo-range measurements.
During each update interval, receiver is adopted by the air pressure that MEMS barometers are read near K receiver Sample measured value Psample=[Psample1Psample2...PsampleK], sample sequence is taken average as the update epoch Gas pressure measurement：PBARO=mean (Psample)
The correction course of benchmark air pressure.If receiver continues correction for the first time and position does not update (103), to P0Estimate Evaluation is initialized, and default value P is assigned to it0_EST=101235Pa, it is believed that benchmark barometric error variance is 4e4Pa2(107), Corresponding height error variance is 400m2, note benchmark air pressure variance of estimaion error is varP0, particularly in order to indicate to facilitate by Its identity transformation is m2；Otherwise, if judging that receiver more new high degree and newer height-precision are less than benchmark air pressure precision (104) namely varAlt<varP0, then it is assumed that the Height Estimation value of receiver is more reliable, then utilizes the height alt of GNSSGNSS The average gas pressure P measured with air pressureBAROTo benchmark air pressure P0EST(105) are updated, while updating its corresponding error side Difference.
varP0=varAlt
If the epoch is not updated (106), benchmark atmospheric pressure value continues to use history parameters, while then needing according to air pressure The characteristic of meter suitably amplifies varP0, to consider to influence caused by the drift of benchmark air pressure in the meantime.
varP0=varP0+varT
Wherein varT value ranges are generally 0.05~0.1.
After being corrected, then formula [2] is utilized to combine gas pressure measurement PBAROCalculate the height above sea level of receiver Estimated value (108).
The most application scenarios of present GNSS receiver are in urban environment, in the case where signal is severe, signal Tracking quality significantly reduce, cause the position estimated using satellite-signal to have significantly error, the barometrical side in conjunction in Method can significantly improve the precision of Height Estimation, improve location availability.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Scheme, all should be in the protection domain being defined in the patent claims.

Claims (6)

1. a kind of barometer on-line correction method in GNSS and MEMS integrated navigation systems, which is characterized in that including walking as follows Suddenly：
Step 1 utilizes GNSS receiver estimation height alt when satellite signal quality is reliableGNSS；
Step 2 obtains benchmark air pressure estimated value P using above-mentioned height results correction MEMS barometers0_EST；
Step 2 includes the following steps：
Step 2.1, using satellite pseudo-range measurements residual error, the mark of the algorithm robust iterative residual error of absolute median deviation is used to it It is accurate poor, to estimate the standard deviation of measurement error；
Step 2.2 utilizes the proportionate relationship estimation GNSS receiver position between the standard deviation and site error of measurement error The variance of error；
Step 2.3, using GNSS receiver site error variance evaluation benchmark atmospheric pressure value and benchmark barometric error variance；
Step 2.4, real-time update benchmark air pressure error level, and compared, obtained with newest GNSS height errors level To benchmark air pressure estimated value P0_EST；
Step 3 utilizes formula
Computed altitude estimated value.
2. the barometer on-line correction method in GNSS and MEMS integrated navigation systems as described in claim 1, feature exist In the step 2.1 includes the following steps：
If the pseudorange residuals vector after step 2.11, receiver location calculate is
PrResi=[prResi1prResi2 ... prResin]；
Step 2.12, the error variance of pseudo-range measurements and corresponding site error variance are：
VarPrRobust=(median (abs (prResi-median (prResi))))
VarAlt=varPrRobust*HDOP
Wherein pseudorange residuals of prResi1, prResi2 ... prResin between GNSS receiver and n satellite, var expressions take Variance, abs and median are respectively the opposite function for measuring absolute value and median, HDOP be the corresponding ratio of height error because Son.
3. the barometer on-line correction method in GNSS and MEMS integrated navigation systems as described in claim 1, feature exist In the step 2.4 comprises the steps of：
Step 2.41, each update interval during, GNSS receiver by MEMS barometers read K receiver near Air pressure sampled measurement
Psample=[Psample1Psample2...PsampleK]；
Step 2.42 takes the average average gas pressure value as the update epoch to sample sequence：
PBARO=mean (Psample)
Wherein mean indicates opposite and measures average value.
4. the barometer on-line correction method in GNSS and MEMS integrated navigation systems as claimed in claim 3, feature exist In if the epoch is not updated, benchmark atmospheric pressure value continues to use history parameters, while being amplified according to barometrical characteristic varP0：
varP0=varP0+ varT,
Wherein varP0On the basis of air pressure variance of estimaion error.
5. the barometer on-line correction method in GNSS and MEMS integrated navigation systems as claimed in claim 4, feature exist In the varT value ranges are 0.05~0.1.
6. the barometer on-line correction method in GNSS and MEMS integrated navigation systems as described in claim 1, feature exist In the step 2.4 further includes：
Step 2.43, the height alt using GNSSGNSSThe average gas pressure P measured with air pressureBAROTo benchmark air pressure P0_ESTIt carries out Update, while updating its corresponding error variance：
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CN107861419B (en) * 2017-10-27 2020-05-12 天津大学 Small high-precision atmospheric pressure measuring device and measuring method
CN113701711B (en) * 2021-09-02 2023-11-03 宁波九纵智能科技有限公司 High-precision positioning method and system based on Beidou positioning and barometer
CN114322930A (en) * 2021-12-08 2022-04-12 深圳市圆周率智能信息科技有限公司 Method for calculating altitude according to GPS height in combination with air pressure
CN114396965A (en) * 2022-01-17 2022-04-26 广州导远电子科技有限公司 Auxiliary calibration method and device for combined navigation unit and electronic equipment

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