CN105572710B - The method for improving the positioning precision of the civilian double frequency location receiver of Beidou II - Google Patents
The method for improving the positioning precision of the civilian double frequency location receiver of Beidou II Download PDFInfo
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- CN105572710B CN105572710B CN201510955404.0A CN201510955404A CN105572710B CN 105572710 B CN105572710 B CN 105572710B CN 201510955404 A CN201510955404 A CN 201510955404A CN 105572710 B CN105572710 B CN 105572710B
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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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The method for improving the positioning precision of the civilian double frequency location receiver of Beidou II, including：Obtain the code phase and carrier phase of B1I and B2I frequencies；The thick pseudorange of current epoch is calculated by the code phase of dual-frequency point respectively；Assess the noise variance of dual-frequency point respectively according to equivalent range error, then choose its computation of pseudoranges pattern, then calculate smoothing factor；Ionosphere compensation by the thick pseudorange linear combination value of the thick its computation of pseudoranges current epoch of current epoch of dual-frequency point and is carried out to it according to its computation of pseudoranges pattern, pseudorange after the compensation of current epoch ionosphere is obtained；Current epoch carrier phase linear combination value is calculated by the carrier phase of dual-frequency point；Current epoch pseudorange increment is calculated by current epoch carrier phase linear combination value and epoch last time carrier phase linear combination value；Pseudorange, current epoch pseudorange increment, epoch last time smoothing pseudo range and smoothing factor calculate current epoch smoothing pseudo range after the compensation of current epoch ionosphere；With current epoch smoothing pseudo range construction measurement equation, receiver location is resolved.
Description
Technical field
The present invention relates to Beidou satellite navigation system technical field, and in particular to one kind improves the civilian double frequency of Beidou II and determined
The method of the positioning precision of position receiver.
Background technology
Satellite navigation system has become the important symbol of the national overall national strength in the world today and scientific technological advance level,
It is the important component on national economy basis, it is come into daily life, with social development and economic construction
It is closely bound up.Substantial amounts of fund and manpower also has been put into China, actively carries out Beidou satellite navigation system (BeiDou
Navigation Satellite System, BDS) research.The year two thousand twenty or so is arrived, China will build up the Big Dipper covering the whole world
Satellite navigation system, it is by as another global whole day after GPS of America, Russian GLONASS and Europe Galileo
The satellite navigation system of time.
Beidou satellite navigation system can independently carry out high accuracy positioning, it is to avoid dependence to external alignment system, this
Economic development to China is of great immediate significance.At present, civilian Big Dipper positioning uses B1I single-frequency positionings.However, single
Frequency measurement and positioning can not accurately measure ionosphere delay, and measured value is also easily fluctuated.In November, 2013, navigation system of China Satecom
The issue of system management office《The formal version 2.0 of dipper system spacing wave ICD》.Document definition big-dipper satellite is led
Open service signal B1I and B2I related content, are civilian double frequency satellite fix between boat system space constellation and user terminal
Bring opportunity.And problem of both conventional B1I and B2I double frequency localization methods generally existing：On the one hand, simply simply
Ionosphere delay is eliminated, the measured value of two frequency bins is not used in combination；On the other hand, in actual environment, due to by many
The factor influence such as footpath delay, satellite failure and signal blocks, receiver may not necessarily receive simultaneously the preferable B1I of signal quality and
B2I dual-frequency point signals.The problem of these two aspects, has had a strong impact on the positioning precision of existing civilian double frequency location receiver.
The content of the invention
It is a primary object of the present invention to propose a kind of positioning precision for improving the civilian double frequency location receiver of Beidou II
Method, this method compensate ionosphere delay while, by the code phase measuring value and carrier-phase measurement of two frequency bins
It is used in combination, improves the reliability of pseudorange after amendment；Also, pseudorange pattern is selected according to noise variance, B1I is further selected
Single-frequency positioning, B2I single-frequency positionings and double frequency positioning, to ensure to utilize measured value as much as possible under the premise of reliable, so that
Overcome the technical problem of two influence positioning precisions present in above-mentioned prior art so that the civilian double frequency positioning of Beidou II connects
The positioning precision of receipts machine is able to larger raising.
The present invention is as follows to solve the technical scheme that above-mentioned technical problem is proposed：
The method for improving the positioning precision of the civilian double frequency location receiver of Beidou II, comprises the following steps：
S1, the code phase for obtaining B1I the and B2I frequencies that tracking module is exported in real timeWithAnd carrier phaseWith
S2, by code phaseWithThe thick pseudorange of current epoch of B1I and B2I frequencies is calculated respectivelyWith
S3, the equivalent range error according to equipment thermal noise, assess the noise variance of B1I and B2I frequencies respectivelyWith
S4, the noise variance in step S3WithChoose its computation of pseudoranges pattern PRMode；Further according to pseudorange meter
Calculation pattern PRMode, by noise varianceWithCalculate smoothing factor M；
S5, according to its computation of pseudoranges pattern PRMode, by the thick pseudorange of current epoch in step S2WithCalculate
The thick pseudorange linear combination value of current epoch
S6, according to its computation of pseudoranges pattern PRMode, to the thick pseudorange linear combination value of current epochIonosphere compensation is carried out,
Obtain pseudorange after the compensation of current epoch ionosphere
S7, the carrier phase obtained in step S1WithCalculate current epoch carrier phase linear combination value
S8, by current epoch carrier phase linear combination valueWith epoch last time carrier phase linear combination valueMeter
Calculate current epoch pseudorange increment
S9, the pseudorange after the compensation of current epoch ionosphereCurrent epoch pseudorange incrementEpoch last time smoothing pseudo rangeWith smoothing factor M, calculating obtains current epoch smoothing pseudo range
S10, use current epoch smoothing pseudo rangeConstruction measurement equation, resolves the positioning result of receiver.
Compared with prior art, the above-mentioned technical proposal that the present invention is provided at least has the advantages that：
1) to the code phase under dual-frequency point B1I and B2IWithCalculate the obtained thick pseudorange of current epoch
WithLinear combination is carried out, while also to the carrier phase under dual-frequency pointWithLinear combination is carried out, is improved
The reliability of thick pseudorange and carrier phase, and then final positioning pseudorange is improved, make the measurement that positioning result is resolved using pseudorange
Equation is more stablized and accurate, finally improves the stability and precision of receiver positioning result；
2) under dual-frequency point B1I and B2I, to the thick pseudorange of current epochWithThe thick pseudorange of current epoch it is linear
Combined valueThe double frequency ionosphere compensation of delay of pattern switching is carried out, the pseudorange under varying environment is taken full advantage of, is accurately disappearing
The continuous-stable of pseudorange is ensure that while delay except ionosphere, and then improves final positioning pseudorange, makes to resolve using pseudorange
The measurement equation of positioning result is more stablized, and positioning result is more stablized；
3) pseudorange with the smoothing the phase of carrier wave of linear combination after ionosphere compensation, make ionosphere compensate after pseudorange more
Precisely, and then final positioning pseudorange is improved, the measurement solution of equation that the final pseudorange using after improving is constructed is calculated accurately
Positioning result；
4) with the dynamic adjustment pseudorange smoothing coefficient of noise variance, it is to avoid fixed value under various circumstances inadaptable, make
Pseudorange is more smooth after smooth, and then improves final positioning pseudorange, is finally improved using improved pseudorange construction measurement equation
The stability of positioning result；
5) according to noise variance, switch pseudorange pattern, single-frequency pseudorange and double frequency pseudorange be used in combination, exclude noise compared with
Big signal is ensured efficiently to utilize pseudorange, finally calculated by construction measurement equation using improved pseudorange high-precision simultaneously
Positioning result.
The above-mentioned technical proposal of the present invention, which has, realizes that simply amount of calculation is small, multiplies only with addition without complicated
Method and division arithmetic, and there is excellent performance, it is highly reliable.
Brief description of the drawings
Fig. 1 is the positioning precision for the civilian double frequency location receiver of raising Beidou II that the specific embodiment of the invention is provided
The flow chart of method；
When Fig. 2 is signal intensity -150dBm, smooth preceding pseudorange and smooth rear pseudorange variance；
When Fig. 3 is signal intensity -150dBm, double frequency conventional method pseudorange and double frequency linear combination pseudorange variance；
When Fig. 4 is signal intensity -150dBm, double frequency conventional mapping methods error and double frequency linear combination position error.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings and preferred embodiment.
The embodiment of the present invention provides a kind of positioning accurate for improving the civilian double frequency location receiver of Beidou II
The systematic parameter used in the method for degree, present embodiment is defined as follows shown in table 1：
The civilian dual-frequency point systematic parameter of the Big Dipper of table 1
| Index | Value |
| B1I working frequencies (MHz) | 1561.098MHz |
| B2I working frequencies (MHz) | 1207.140MHz |
With reference to Fig. 1, this method comprises the following steps S1~S10：
S1, the code phase for obtaining B1I the and B2I frequencies that tracking module is exported in real timeWithAnd carrier phaseWith
S2, by code phaseWithThe thick pseudorange of current epoch is calculated respectivelyWith
S3, the equivalent range error according to equipment thermal noise, assess the noise variance of B1I and B2I frequencies respectivelyWith
S4, the noise variance in step S3WithChoose its computation of pseudoranges pattern PRMode；Further according to pseudorange meter
Calculation pattern PRMode, by noise varianceWithCalculate smoothing factor M.Wherein, its computation of pseudoranges pattern PRMode can pass through
Equation below is obtained：
Wherein, TB1And TB2The respectively noise gate of B1I and B2I frequencies.In this specific embodiment, T is takenB1=20 Hes
TB2=25.
Smoothing factor M can be obtained by below equation：
The systematic parameter provided according to table 1, takes connectorFB1And FB2
The respectively carrier frequency of B1I and B2I frequencies.K in follow-up formula is identical with the K in this step S4.
S5, according to its computation of pseudoranges pattern PRMode, by the thick pseudorange of current epoch in step S2WithCalculate
The thick pseudorange linear combination value of current epochIt can calculate by the following method：
S6, according to its computation of pseudoranges pattern PRMode, to the thick pseudorange linear combination value of current epochIonosphere compensation is carried out,
Obtain pseudorange after the compensation of current epoch ionospherePseudorange after the compensation of current epoch ionosphere can be calculated by equation below
Wherein, C is the light velocity, takes C=2.99792458 × 108m/s；TGD_B1And TGD_B2The respectively star of B1I and B2I frequencies
Upper equipment delay is poor；WithThe thick pseudorange of current epoch of B1I and B2I frequencies in respectively step S2；For
The ionosphere delay in obtained B1I signal propagation paths is calculated using epoch last time receiver location and Klobuchar models.
S7, the carrier phase obtained in step S1WithCalculate current epoch carrier phase linear combination valueCurrent epoch carrier phase linear combination valueIt can be calculated by equation below：
S8, by current epoch carrier phase linear combination valueWith epoch last time carrier phase linear combination valueMeter
Calculate current epoch pseudorange incrementWherein C is the light velocity.
S9, the pseudorange after the compensation of current epoch ionosphereCurrent epoch pseudorange incrementEpoch last time smoothing pseudo rangeWith smoothing factor M, calculating obtains current epoch smoothing pseudo range
S10, use current epoch smoothing pseudo rangeConstruction measurement equation, resolves the positioning result of receiver.
The preceding method modeling and simulating that is there is provided with specific embodiment of the invention satellite signal strength is -150dBm feelings
Positioning performance under condition.Figure it is seen that the pseudorange after carrier smoothing substantially fluctuates reduction, it acts on important in positioning.From
Fig. 3, which can be seen that, has used the method for the present invention obvious to the smoothing effect of pseudorange relative to conventional method.Can from Fig. 4
Go out and 10m or so is improved using the final positioning precision of the method for the present invention.Prove above, what the present invention was provided puies forward Beidou II
The method of the positioning precision of civilian double frequency location receiver has larger help under weak signal to improving positioning precision.And this hair
Bright to have realization simple, amount of calculation is small, multiplication and division arithmetic only with addition without complexity, and excellent performance,
Highly reliable advantage.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of from present inventive concept, some equivalent substitutes or obvious modification can also be made, and performance or purposes are identical, all should
When being considered as belonging to protection scope of the present invention.
Claims (7)
1. improve the method for the positioning precision of the civilian double frequency location receiver of Beidou II, it is characterised in that：Comprise the following steps：
S1, the code phase for obtaining B1I the and B2I frequencies that tracking module is exported in real timeWithAnd carrier phase
With
S2, by code phaseWithThe thick pseudorange of current epoch of B1I and B2I frequencies is calculated respectivelyWith
S3, the equivalent range error according to equipment thermal noise, assess the noise variance of B1I and B2I frequencies respectivelyWith
S4, the noise variance in step S3WithChoose its computation of pseudoranges pattern PRMode；Further according to its computation of pseudoranges mould
Formula PRMode, by noise varianceWithCalculate smoothing factor M；Wherein, its computation of pseudoranges pattern PRMode choosing method is such as
Under：
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Wherein, TB1And TB2The respectively noise gate of B1I and B2I frequencies；
S5, according to its computation of pseudoranges pattern PRMode, by the thick pseudorange of current epoch in step S2WithCalculating is currently gone through
First thick pseudorange linear combination value
S6, according to its computation of pseudoranges pattern PRMode, to the thick pseudorange linear combination value of current epochIonosphere compensation is carried out, is obtained
Pseudorange after the compensation of current epoch ionosphere
S7, the carrier phase obtained in step S1WithCalculate current epoch carrier phase linear combination value
S8, by current epoch carrier phase linear combination valueWith epoch last time carrier phase linear combination valueCalculate current
Epoch pseudorange increment
S9, the pseudorange after the compensation of current epoch ionosphereCurrent epoch pseudorange incrementEpoch last time smoothing pseudo rangeWith
Smoothing factor M, calculating obtains current epoch smoothing pseudo range
S10, use current epoch smoothing pseudo rangeConstruction measurement equation, resolves the positioning result of receiver.
2. the method as described in claim 1, it is characterised in that：Smoothing factor M computational methods are as follows in step S4：
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3. the method as described in claim 1, it is characterised in that：The thick pseudorange linear combination value of current epoch is calculated in step S5
Method it is as follows：
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4. the method as described in claim 1, it is characterised in that：Pseudorange after the compensation of current epoch ionosphere is calculated in step S6
Method it is as follows：
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</msubsup>
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<msubsup>
<mi>I</mi>
<mrow>
<mi>I</mi>
<mo>_</mo>
<mi>B</mi>
<mn>1</mn>
</mrow>
<mi>k</mi>
</msubsup>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>P</mi>
<mi>R</mi>
<mi>M</mi>
<mi>o</mi>
<mi>d</mi>
<mi>e</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>&rho;</mi>
<mrow>
<mi>C</mi>
<mo>_</mo>
<mi>B</mi>
<mn>2</mn>
</mrow>
<mi>k</mi>
</msubsup>
<mo>+</mo>
<mi>K</mi>
<mo>&CenterDot;</mo>
<msubsup>
<mi>I</mi>
<mrow>
<mi>I</mi>
<mo>_</mo>
<mi>B</mi>
<mn>1</mn>
</mrow>
<mi>k</mi>
</msubsup>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>P</mi>
<mi>R</mi>
<mi>M</mi>
<mi>o</mi>
<mi>d</mi>
<mi>e</mi>
<mo>=</mo>
<mn>2</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>&rho;</mi>
<mi>C</mi>
<mi>k</mi>
</msubsup>
<mo>-</mo>
<mfrac>
<mrow>
<mi>C</mi>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>T</mi>
<mrow>
<mi>G</mi>
<mi>D</mi>
<mo>_</mo>
<mi>B</mi>
<mn>2</mn>
</mrow>
</msub>
<mo>-</mo>
<mi>K</mi>
<mo>&CenterDot;</mo>
<msub>
<mi>T</mi>
<mrow>
<mi>G</mi>
<mi>D</mi>
<mo>_</mo>
<mi>B</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mn>1</mn>
<mo>-</mo>
<mi>K</mi>
</mrow>
</mfrac>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>P</mi>
<mi>R</mi>
<mi>M</mi>
<mi>o</mi>
<mi>d</mi>
<mi>e</mi>
<mo>=</mo>
<mn>3</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Wherein, C is the light velocity；ConnectorFB1And FB2The respectively carrier frequency of B1I and B2I frequencies；TGD_B1With
TGD_B2The respectively on-board equipment delay inequality of B1I and B2I frequencies；WithB1I and B2I frequencies in respectively step S2
The thick pseudorange of current epoch of point；Believe to calculate obtained B1I using epoch last time receiver location and Klobuchar models
Ionosphere delay on number propagation path.
5. the method as described in claim 1, it is characterised in that：In step S7, current epoch carrier phase linear combination is calculated
ValueMethod it is as follows：
Wherein, connectorFB1And FB2The respectively carrier frequency of B1I and B2I frequencies.
6. the method as described in claim 1, it is characterised in that：Current epoch pseudorange increment is calculated in step S8Specific side
Method is：Wherein C is the light velocity.
7. the method as described in claim 1, it is characterised in that：Current epoch smoothing pseudo range is calculated in step S9Specific side
Method is as follows：
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