CN105549040A - Positioning resolving method and receiver - Google Patents

Positioning resolving method and receiver Download PDF

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Publication number
CN105549040A
CN105549040A CN201510882367.5A CN201510882367A CN105549040A CN 105549040 A CN105549040 A CN 105549040A CN 201510882367 A CN201510882367 A CN 201510882367A CN 105549040 A CN105549040 A CN 105549040A
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China
Prior art keywords
abnormal data
strategy
resolve
data
resolves
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CN201510882367.5A
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Inventor
张爽娜
刘坤
宗干
毕亮
王元磊
魏婵娟
董启甲
李东俊
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Space Star Technology Co Ltd
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Space Star Technology Co Ltd
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Priority to CN201510882367.5A priority Critical patent/CN105549040A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/243—Demodulation of navigation message

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

Abstract

The invention provides a positioning resolving method and a receiver adopting the positioning resolving method. The method comprises following steps: abnormal data is determined during a positioning resolving process; if abnormal data exists, an emergency resolving strategy is determined; resolving results are corrected according to the emergency resolving strategy. By use of the method and the receiver, abnormal data in positioning resolving process is corrected so that the accuracy of positioning resolving results is guaranteed.

Description

Positioning calculation method and receiver
Technical field
The application relates to satellite navigation/field of locating technology, particularly relates to a kind of positioning calculation method and adopts the receiver of this positioning calculation method.
Background technology
ACE-BOC is an alternatives of China's Beidou II second phase system B2 frequency.Compared with existing satellite navigation signals BPSK modulation system, ACE-BOC signal has the feature of double-side band, broadcasts data channel and pilot channel on each sideband simultaneously simultaneously.ACE-BOC signal is ensure that constant enveloped modulation have employed the mode of data channel and pilot channel power grayscales uneven distribution, improve the energy of ACE-BOC signal pilot passage, compared with classical signal, improved by receiver algorithm, acquisition sensitivity can be improved, shorten capture time, thus improve the distance accuracy of pseudo range observed quantity.
ACE-BOC modulation system is multiplied with baseband signal with a multiple square-wave carrier signal, and the frequency spectrum shift of signal is high to frequency, or move the low one side of frequency.Frequency spectrum in ACE-BOC can be divided into two parts, HFS ACE-BOC hand ACE-BOC l, ACE-BOC hand ACE-BOC lbe divided into again pilot tone branch road and data branch road separately, and power division being 3:1, for ensureing the constant envelope signal modulation that star occurs, realizing by adjusting multiplexing range parameter.
Be directed to the satellite navigation receiver of ACE-BOC signal system, compared with traditional BP SK signal receiver, the characteristic that its dual-frequency point is broadcast simultaneously can meet the needs of pseudo-range measurements quality monitoring and multipath early warning and delay compensation.In addition, the pilot tone of data uneven distribution and data branch characteristic can promote receiver acquisition performance and improve distance accuracy.Receiving handling method at present for ACE-BOC signal can the permanent envelope multiplex method of referenced patent double frequency four component spread-spectrum signal, the permanent envelope multiplex method of device and method of reseptance (CN103023598A) and navigation signal, generating apparatus and method of reseptance (CN102694569A).Give ACE-BOC in above-mentioned document and receive the classic method and framework that process, adopt the method that four channel parallels are followed the tracks of, but the utilization ratio of ACE-BOC is lower.
Summary of the invention
For above-mentioned deficiency of the prior art, and for solving at least one technical matters following.
One aspect of the present invention provides a kind of positioning calculation method and adopts the receiver of this positioning calculation method, can correct, thus ensure that the accuracy of positioning calculation result for the abnormal data in positioning calculation process.
The present invention on the other hand provides a kind of positioning calculation method and adopts the receiver of this positioning calculation method, can for the abnormal data in positioning calculation process, determines different emergently to resolve strategy, thus corrects the abnormal data produced accordingly.
Further aspect of the present invention provides a kind of positioning calculation method and adopts the receiver of this positioning calculation method, for the ACE-BOC signal of above-mentioned double-side band, can realize the reception process to ACE-BOC in abnormal signal situation.
For achieving the above object, the invention provides a kind of information processing method, the method comprises: catch to upper and lower sideband pilot tone road signal, obtain Doppler shift and the code phase values of upper and lower sideband; According to Doppler shift and the code phase values of upper side band, obtain upper side band signal telegraph text data; According to Doppler shift and the code phase values of lower sideband, obtain lower sideband signal telegraph text data; Based on upper side band signal telegraph text data and lower sideband signal telegraph text data, obtain satellite navigation positioning result.The ACE-BOC that the method provided by the embodiment of the present invention can be realized in the frequent situation of abnormal signal receives process, utilize the feature of ACE-BOC double-side band four-way, improve the availability of ACE-BOC receiver when abnormal signal frequently occurs and reliability, improve the utilization factor of ACE-BOC.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention schematic flow sheet;
Fig. 2 is embodiment of the present invention device schematic diagram.
Embodiment
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, be to be understood that, the explanation of concrete technical characteristic in the embodiment of the present invention and embodiment just to technical solution of the present invention, instead of limit, when not conflicting, the concrete technical characteristic in the embodiment of the present invention and embodiment can combine mutually.
With reference to following formula, be the receiving end at navigation signal, the expression formula of ACE-BOC signal S (t) obtained after removing carrier wave,
S(t)＝[S h_data(t)+S h_pilot(t)][SC cos(t)-jSC sin(t)]+[S l_data(t)+S l_pilot(t)][SC cos(t)+jSC sin(t)]
Wherein, SC cos(t) and SC sint () is respectively cosine subcarrier and sinusoidal subcarrier, sub-carrier frequencies is f sc, SC cos(t) and SC sint the definition of () is:
SC cos(t)＝sign(cos(2πf sct))
SC sin(t)＝sign(sin(2πf sct))
S h_data(t) and S l_datat () is respectively ACE-BOC upper side band data tributary signal and lower sideband data tributary signal, S h_pilot(t) and S l_pilott () is respectively ACE-BOC upper side band pilot tone tributary signal and lower sideband pilot tone tributary signal.Pilot tone branch road containing data message, is not only pseudorandom PN code.Data are propped up the data that route Navsat produces and are multiplied with pseudorandom PN code and obtain.
S h_data(t)＝data h(t)PN h_data(t)
S l_data(t)＝data l(t)PN l_data(t)
S h_pilot(t)＝PN h_pilot(t)
S l_pilot(t)＝PN l_pilot(t)
Wherein PN h_data(t) and PN l_datat () represents the data branch road pseudo-code of high and low frequency signal respectively, PN h_pilot(t) and PN l_pilott () represents the pilot tone branch road pseudo-code of upper side band and lower sideband signal respectively, data h(t) and data lt () represents the telegraph text data of upper side band and lower sideband branch road respectively;
At receiving end, after obtaining above-mentioned ACE-BOC signal S (t), carry out filtering process respectively for upper side band and lower sideband, obtain the upper side band without subcarrier and lower sideband two paths of signals, i.e. S h(t) and S l(t), its expression formula is:
S h(t)＝S h_data(t)+S h_pilot(t)
S l(t)＝S l_data(t)+S l_pilot(t)
Further, to above-mentioned S h(t) and S lt () carries out serioparallel exchange, the lower sideband signal of ACE-BOC signal is isolated respectively pilot tone road and data road signal, can obtain four road signals altogether.
The pilot tone branch road of lower sideband is caught respectively, the Doppler shift obtained and pseudo-code phase value are exported to same sideband data branch road.Local code maker produces 4 kinds of local code PN respectively according to Doppler shift and pseudo-code phase value h_data(t), PN l_data(t), PN h_pilot(t), PN l_pilott (), carries out a yard loop related operation with upper side band data road, upper side band pilot tone road, lower sideband data road, lower sideband pilot tone road signal respectively, then carry out tracking respectively with synchronous.
Complete above-mentioned synchronous lower sideband data branch road and can carry out data demodulates, telegraph text data data can be obtained respectively by demodulation h(t) and data l(t).
Utilize the data produced h(t) and data lt (), can calculate the information such as satellite ephemeris and time of observation satellite respectively, information data is sent to respective pilot tone branch road, the pilot tone branch road of lower sideband utilizes telegraph text data data h(t) and data lt the temporal information in () carries out the calculating of each visible satellite pseudo-range measurements, obtain
ρ h ( s ) ( t ) = c ( t h u ( s ) ( t ) - t ( s ) ( t - τ ) ) , ρ l ( s ) ( t ) = c ( t l u ( s ) ( t ) - t ( s ) ( t - τ ) ) .
Wherein ρ h (s)t () is the upper side band pseudo-range measurements of s satellite, for receiver receives the time of s satellite upper side band signal, ρ l (s)t () is the lower sideband pseudo-range measurements of s satellite, for receiver receives the time of s satellite lower sideband signal, t (s)(t-τ) is the launch time of s satellite-signal.
Same, utilize the data of above-mentioned generation h(t) and data lt (), can also obtain the carrier-phase measurement of the pilot tone branch road that can obtain lower sideband
Wherein for upper side band carrier-phase measurement, for the carrier phase of the upper side band signal of receiver local replica, for lower sideband carrier-phase measurement, for the carrier phase of the lower sideband signal of receiver local replica, for the carrier phase value from s satellite received.And with determination and the cycle slips detection of integer ambiguity are all completed.
In positioning calculation process, telegraph text data data can be utilized h(t) and data lt the ephemeris information of () carries out the calculating of each satellite position.
But, in the process utilizing above-mentioned positioning calculation, due to unpredictable situation may be there is, therefore, likely at data h(t) and data lproduce in data such as (t) and be unsuitable for the abnormal data positioning the stage.For the abnormal data affecting positioning calculation result that may occur.
Fig. 1 is a kind of positioning calculation method flow diagram of the embodiment of the present invention.
With reference to figure 1, following process can be adopted to determine this abnormal data, and determine to resolve strategy for the emergent of corresponding abnormal data accordingly, and then by this emergent strategy that resolves, abnormal data be processed.
Concrete, in embodiments of the present invention, this positioning calculation method comprises following processing procedure:
S101, determines the abnormal data in positioning calculation process.
In a kind of embodiment of the present invention, the deterministic process of this abnormal data can further comprise following process.
When the pseudorange error produced for certain satellite reaches default pseudorange error value continuously in preset times, thus abnormal data can be defined as;
And/or, when reaching default multipath error value for the multipath monitor value that certain quarter, satellite produced, thus can abnormal data be defined as.
Determine in the process of abnormal data above-mentioned, occur at least one of above-mentioned 2 kinds of situations, the text that this corresponding satellite produces can be defined as abnormal data.
More specifically, above-described embodiment may correspond in following implementation procedure:
Situation 1: utilize above-mentioned ρ h (s)(t), ρ l (s)t () carries out the quality testing of pseudo-range measurements.Calculate lower sideband pseudorange rough error Δ ρ (s)(t)=| ρ h (s)(t)-ρ l (s)(t) |, as Δ ρ (s)(t) >10m and continuously mistake reaches 10 times time, then the telegraph text data determining to meet this condition is abnormal data, then can produce the alerting signal for representing pseudorange exception according to this abnormal data.
Situation 2: ρ h (s)(t), ρ l (s)(t), determine whether there is multipath and multidiameter abnormal data.According to following formula, the pseudorange and the carrier observations amount combined result that calculate only residual multipath and noise are as follows:
with
Wherein, MP hrepresent upper side band multipath and error monitoring result, MP lrepresent lower sideband multipath and error monitoring result, f hfor upper side band carrier frequency, f lfor lower sideband carrier frequency, λ hfor upper side band carrier wavelength, λ lfor lower sideband carrier wavelength.
To MP hand MP lcarry out 128 sliding window progressive means respectively, obtain MP h-meanand MP l-mean, work as MP h-meanor MP l-meanduring > 0.8m, then determine to there is multipath and multidiameter abnormal data, thus the alerting signal that then produce for represent multipath exception similar with situation 1.
In the above-described embodiments, those skilled in the art can know, respectively in situation 1 for determining 10m and the continuous errors number 10 times of abnormal data, be the adoptable empirical value of one.Accordingly, in situation 2, for MP hand MP lcarry out progressive mean count and 0.8m also for a kind of adoptable empirical value.When specific implementation, according to the accuracy requirement of positioning calculation and the global index of positioning system, this empirical value can adopt other numerical value accordingly, thus the determination that can affect accordingly abnormal data.
S102, for after determining to there is abnormal data in step S101, then for the situation of determined abnormal data, can determine processing the emergent of this abnormal data accordingly and resolve strategy.
This is emergent resolves strategy and can comprise:
Time abnormal for above-mentioned situation 1 pseudorange, resolve strategy for compensating the emergent of pseudorange abnormal data;
And,
Time abnormal for above-mentioned situation 2 multipath, resolve strategy for the emergent of compensation for multi-path delay.
Above-mentioned 2 optionally emergent strategies that resolve that are abnormal for pseudorange and multipath exception are that the emergent of execution that can be arranged side by side resolves strategy.In actual applications, may only there is the abnormal data corresponding to one of situation 1 or situation 2, then for one of two things, can only perform a kind of emergency policy.Then, also may there is the situation of situation 1 and situation 2 two kinds generation abnormal data simultaneously, then respectively for two kinds of situations, then need to perform two kinds of emergency policies simultaneously.
S103, for the situation that may produce abnormal data determined in S102,
For situation 1, can according to occur pseudorange abnormal time visible satellite quantity, and clearing situation in location performs one of following operation respectively:
If visible satellite number is more than or equal to preset value, then first is adopted to resolve strategy;
If visible satellite number is less than preset value, then second is adopted to resolve strategy.
In the attainable embodiment of one, this preset value can be 5, and the corresponding satellite producing abnormal data is 1, then further execution first can be resolved strategy and second and resolve tactful Rule of judgment and be specially:
(1) when visible satellite quantity >=5, reject the abnormal satellite of this pseudorange, proceed positioning calculation with all the other 4 satellites;
(2) as visible satellite quantity < 5, aftertreatment abnormal compensating is carried out to pseudorange.This abnormality processing comprises:
If successfully exported positioning result in positioning calculation process, the abnormal moment previous normal pseudo-range measurements of pseudorange is selected to replace abnormal pseudo-range measurements, and determine the sideband that lower sideband is close with normal pseudo-range measurements, afterwards with this measured value correct be that main positioning is resolved;
If not yet successfully exported positioning result in positioning calculation process, then carry out the warning of pseudorange disorderly closedown, carry out receiver warm start, search is until locate successfully again.
For situation 2, following operation can be performed to abnormal data:
The pseudo-range measurements corresponding to abnormal data carries out time unifying correction;
To positioning result, delay compensation is carried out to the multipath error compensation correction of pseudo-range measurements corresponding to abnormal data.
In the attainable embodiment of one, the MP that can will record h-meanor MP l-meanthe abnormal pseudo-range measurements time unifying that result is corresponding, and will the multipath error MP obtained be measured in abnormal pseudo-range measurements hand MP lvalue compensates respectively, and the pseudo-range measurements obtained after correction participates in positioning calculation again.
Fig. 2 is embodiment of the present invention receiver schematic diagram.
With reference to figure 2, this receiver can comprise abnormal data determination module, tactful determination module and resolve correction module.
Corresponding corresponding to above-mentioned positioning calculation method, abnormal data determination module performs the operation corresponding to above-mentioned steps S101, thus determines the abnormal data in positioning calculation process.Strategy determination module performs the operation corresponding to above-mentioned steps S102, with when there is described abnormal data, determining to meet an urgent need and resolving strategy.Resolving and correct the module execution operation corresponding to S103, when there is abnormal data, correcting calculation result according to the described emergent strategy that resolves.
Those skilled in the art can know, in embodiments of the present invention, this receiver can for having a kind of complete device of positioning calculation function, also can be the concrete functional module performing positioning calculation in this equipment, or the chip of corresponding function, and should not limit the way of realization of the receiver described in embodiment.
By adopting the embodiment of the present invention, by adopting, abnormal data being determined and the strategy processed, the positioning precision after utilizing Navsat to resolve can be improved, and the processing power to abnormal data.
Although described the preferred embodiment of the application, one of ordinary skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the application's scope.
Obviously, those skilled in the art can carry out various change and modification to the application and not depart from the spirit and scope of the application.Like this, if these amendments of the application and modification belong within the scope of the application's claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.

Claims (14)

1. a positioning calculation method, is characterized in that, comprising:
Determine the abnormal data in positioning calculation process;
If there is described abnormal data, then determine to meet an urgent need and resolve strategy;
Calculation result is corrected according to the described emergent strategy that resolves.
2. method as claimed in claim 1, is characterized in that, describedly emergently resolves strategy and comprises: for compensate pseudorange abnormal data emergent resolve strategy and postpone for compensation for multi-path emergently resolve strategy.
3. method as claimed in claim 2, it is characterized in that, the described emergent strategy that resolves for compensating pseudorange abnormal data comprises:
If described visible satellite number is more than or equal to preset value, then first is adopted to resolve strategy;
If described visible satellite number is less than preset value, then second is adopted to resolve strategy.
4. method as claimed in claim 3, it is characterized in that, described first resolves strategy is:
After getting rid of the data of the visible satellite producing described abnormal data, adopt all the other visible satellites to position and resolve, the quantity of all the other visible satellites described is greater than (described preset value-1).
5. method as claimed in claim 3, it is characterized in that, described second resolves strategy is:
If successfully export positioning result, then the previous normal pseudo-range measurements that the abnormal data moment occurs is utilized to replace the pseudo-range measurements that described abnormal data is corresponding.
6. method as claimed in claim 5, it is characterized in that, described second resolves strategy also comprises:
If unsuccessful output positioning result, then export caution signal.
7. method as claimed in claim 2, is characterized in that, described postpone for compensation for multi-path emergently resolve strategy, comprising:
The pseudo-range measurements corresponding to described abnormal data carries out time unifying correction;
To the multipath error compensation correction of pseudo-range measurements corresponding to described abnormal data.
8. method as claimed in claim 1, it is characterized in that, the described abnormal data determined in positioning calculation process, comprising:
When the pseudorange error produced for certain satellite reaches default pseudorange error value continuously in preset times, be defined as abnormal data;
And/or, when reaching default multipath error value for the multipath monitor value that certain quarter, satellite produced, be defined as abnormal data.
9. a receiver, for receiving navigation satellite signal and carrying out positioning calculation, is characterized in that, comprising:
Abnormal data determination module, for determining the abnormal data in positioning calculation process;
Strategy determination module, during for there is described abnormal data, determining to meet an urgent need and resolving strategy;
Resolve correction module, for correcting calculation result according to the described emergent strategy that resolves.
10. receiver as claimed in claim 9, is characterized in that, described tactful determination module, according to described abnormal data, determine compensating pseudorange abnormal data emergent resolve strategy and postpone for compensation for multi-path emergently resolve strategy.
11. receivers as claimed in claim 10, is characterized in that, described in resolve correction module, correcting calculation result according to the described emergent strategy that resolves for compensating pseudorange abnormal data, comprising:
If determine, if described visible satellite number is more than or equal to preset value, then perform first and resolve the described calculation result of strategy correction;
If described visible satellite number is less than preset value, then performs second and resolve the described calculation result of strategy correction.
12. receivers as claimed in claim 11, is characterized in that,
Described first resolves strategy is: after getting rid of the data of the visible satellite producing described abnormal data, adopt all the other visible satellites to position and resolve, the quantity of all the other visible satellites described is greater than (described preset value-1);
Described second resolves strategy is: if successfully export positioning result, then utilize the previous normal pseudo-range measurements that the abnormal data moment occurs to replace the pseudo-range measurements that described abnormal data is corresponding.
13. receivers as claimed in claim 10, is characterized in that, described in resolve correction module, the emergent strategy that resolves according to postponing for compensation for multi-path corrects calculation result, comprising:
The pseudo-range measurements corresponding to described abnormal data carries out time unifying correction;
To the multipath error compensation correction of pseudo-range measurements corresponding to described abnormal data.
14. receivers as claimed in claim 13, is characterized in that, described abnormal data determination module,
When the pseudorange error produced for certain satellite reaches default pseudorange error value continuously in preset times, be then defined as abnormal data;
And/or, when reaching default multipath error value for the multipath monitor value that certain quarter, satellite produced, be then defined as abnormal data.
CN201510882367.5A 2015-12-04 2015-12-04 Positioning resolving method and receiver Pending CN105549040A (en)

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CN108508459A (en) * 2018-04-04 2018-09-07 千寻位置网络有限公司 Troubleshooting method and device, the positioning system of tuning on-line

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