CN105807301A - Enhanced digital map based vehicle optimization oriented satellite selection positioning method - Google Patents
Enhanced digital map based vehicle optimization oriented satellite selection positioning method Download PDFInfo
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- G01S19/28—Satellite selection
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an enhanced digital map based vehicle optimization oriented satellite selection positioning method comprising the following steps: capturing the course angle and the speed of a vehicle based on a vehicle mounted electronic compass and a wheel speed sensor; roughly estimating the position of the vehicle; then utilizing an enhanced three-dimensional digital map and in combination of optimized satellite selection algorithm to effectively eliminating interference from non-line-of-sight satellites and toreduce the impacts of multi-path effect, therefore increasing the positioning accuracy of a vehicle mounted global navigation satellite system(GNSS) and making city travel vehicles more reliably and accurately positioned. Compared to the method using a traditional vehicle mounted global navigation satellite system, the method is capable of increasing the positioning accuracy of city travel vehicles effectively.
Description
Technical field
The present invention relates to automobile navigation positioning field, select star positioning method particularly to a kind of optimization of vehicle towards urban environment.
Background technology
Along with the quick increase of domestic motor vehicles recoverable amount, the urban transportation of China is faced with increasingly serious challenge, and intelligent transportation system (IntelligentTransportationSystem, ITS) is arisen at the historic moment.ITS can effectively reduce the generation of vehicle accident, alleviate urban transport problems, and the developmental research of ITS, be unable to do without accurately true automobile navigation location, only at vehicle accurately, under the premise of real-time positioning, can command scheduling vehicle effectively, improve urban transportation, ensureing vehicle safe driving, therefore, automobile navigation location technology is one of key content of current ITS research.
In automobile navigation positioning field, main localization method has dead reckoning, inertial navigation and satellite navigation.Dead reckoning and inertial navigation mainly adopt the onboard sensor of low cost, such as electronic compass, wheel speed sensors, micro-mechanical gyroscope etc. realize the navigator fix of vehicle, owing to the measurement error of sensor can constantly be accumulated in time, are typically only capable to ensure the positioning precision of short time；At present, GPS (GlobalNavigationSatelliteSystem, GNSS) being most widely used in vehicle location field, it refers to all of satellite navigation system, global positioning system (the GlobalPositioningSystem having the U.S. that technology is comparatively ripe, GPS), the Beidou satellite navigation system of Muscovite GLONASS navigation system and China, GNSS can be real-time provide the information such as three-dimensional position, speed, time for vehicle, it is achieved navigation locating function round-the-clock, omnibearing；
Utilize compared with low cost vehicle-mounted sensor carries out dead reckoning or inertial navigation with traditional, the positioning precision of GNSS is higher, but, when vehicle travels in urban environment, skyscraper due to road both sides, the satellite-signal of GNSS is vulnerable to block and reflect, multipath effect is serious, if the non line of sight satellite that signaling reflex is caused lacks effective examination, huge position error certainly will be introduced, therefore, in urban environment, utilizing GNSS to realize being accurately positioned of vehicle is one of current automobile navigation location or even ITS field difficult problem urgently to be resolved hurrily.
Summary of the invention
For the deficiencies in the prior art, the present invention proposes a kind of optimization of vehicle towards urban environment and selects star positioning method, in conjunction with enhancement mode Three-dimensional Numeric Map information, effectively rejects the interference of non line of sight satellite, weaken the impact of multipath effect, thus the vehicle high-precision location under realizing urban environment.
For achieving the above object, the present invention adopted the following technical scheme that in conjunction with vehicle electronics compass and wheel speed sensors, rough extrapolated the vehicle position at current time first according to the vehicle position in a upper moment；Then, utilize vehicle-mounted GNSS receiver, receive the almanac data of satellite planet of going forward side by side and go through resolving, obtain the position of each satellite；Then, the position according to vehicle, calculate each satellite relative to the elevation angle of vehicle and azimuth；And then, root vehicle location as roughly estimated, in conjunction with enhancement mode Three-dimensional Numeric Map, utilize the geometrical relationship of signal propagation path, screen the observability of satellite one by one, reject non line of sight satellite；In the sufficient situation of visible satellite number, in conjunction with elevation angle and azimuth, further satellite is screened, utilize remaining combinations of satellites to calculate the exact position of vehicle；
Below in conjunction with accompanying drawing, the thinking of the present invention is further described:
The flow process of this algorithm is as shown in Figure 1.
A kind of optimization of vehicle based on digitally enhanced map selects star positioning method, it is characterized in that, in urban environment, by enhancement mode Three-dimensional Numeric Map, in conjunction with optimizing selecting-star algorithm, effectively reject non line of sight satellite interference, weaken the impact of multipath effect, thus improving the positioning precision of Vehicular satellite navigation system, it is achieved city vehicle reliable, be accurately positioned, described method comprises the steps:
Step 1) course angle of vehicle is recorded by vehicle electronics compass, wheel speed sensors records the travel speed of vehicle, and then according to the vehicle positioning result in a upper moment, by dead reckoning, "ball-park" estimate goes out the vehicle position at current time；
Step 2) by vehicle-mounted GNSS receiver, receive the almanac data of satellite, calculate the position coordinates of each satellite；
Step 3) root vehicle location as roughly estimated, calculate each satellite relative to the elevation angle of vehicle and azimuth, elevation angle and azimuthal unit degree of being (°), elevation angle range for 0～90 °, the azimuth of satellite is just rotating to be along the direction of road driving counterclockwise with vehicle, when on the left of satellite is positioned at road, azimuthal ranges for 0～180 °, when satellite is positioned on the right side of road, azimuthal range for-180 °～0 °；
Step 4) as shown in Figure 2, in urban environment, reflection due to building, vehicle-mounted GNSS receiver easily receives the signal of non line of sight satellite, and the pseudo-range measurements error of non line of sight satellite is relatively big, if this type of satellite is used for positioning calculation, vehicle location precise decreasing will be caused, therefore, select in star location in optimization, it is necessary to first reject non line of sight satellite；
Root vehicle location as roughly estimated, in conjunction with enhancement mode Three-dimensional Numeric Map, obtains the height of vehicle current driving road both sides building and the distance of vehicle and both sides building, and vehicle is H along the depth of building on the left of road driving directionl, the depth of building on right side is Hr, the distance of vehicle and left side building is dl, the distance of vehicle and right side building is dr, Hl、Hr、dl、drUnit be rice, as it is shown on figure 3, all satellites observed for vehicle-mounted GNSS receiver, the method utilizing traversal, screen the observability of satellite one by one, reject non line of sight satellite, detailed process is as follows:
1. the elevation angle of satellite is α, and azimuth is β, the azimuthal angle beta according to satellite, it is judged that satellite is relative to the orientation of vehicle；
2. when satellite is positioned at vehicle along time on the left of road driving direction, by the height H of the azimuthal angle beta of satellite, left side buildinglAnd the distance d of vehicle and left side buildingl, calculate the satellite elevation mask θ in vehicle left sidel,If the elevation angle of satellite is less than θl, i.e. α < θl, then this satellite is non line of sight satellite；
When satellite is positioned at vehicle along time on the right side of road driving direction, by the height H of the azimuthal angle beta of satellite, right side buildingrAnd the distance d of vehicle and right side buildingr, calculate the satellite elevation mask θ at vehicle right sider,If the elevation angle of satellite is less than θr, i.e. α < θr, then this satellite is non line of sight satellite；
3. all satellites observed for GNSS receiver, after screening the observability of satellite one by one, reject non line of sight satellite therein；
Step 5) after the identification of above-mentioned visible satellite, if visible satellite number is less than four, then cannot be carried out GNSS pseudorange positioning calculation, using step 1) in the vehicle location of rough estimation as final positioning result output；
If whole satellites no less than four and no more than six, are then used for GNSS pseudorange positioning calculation by visible satellite number, and using the result that resolves as final positioning result output；
If visible satellite number is more than six, then therefrom selecting six satellites for GNSS pseudorange positioning calculation, detailed process is as follows:
1., first, from visible satellite, select two satellites that elevation angle is minimum and maximum；
2. then, select the satellite differing maximum with the azimuth of elevation angle minimum satellite vehicle；
3. then select a satellite maximum with the tetrahedron volume of first three satellite composition；
4. and then, utilize traversal method, from remaining satellite, optional two and above-mentioned four combinations of satellites, calculate the GDOP value of six stars combinations, respectively then according to the principle that GDOP value is minimum, from these combinations, choose one group that makes GDOP value minimum and select star result as last；
5. six satellites selected are carried out GNSS pseudorange positioning calculation, and the result resolved is exported as final positioning result.
In subsequent time, repeat the above steps 1)～step 5) optimization select star position fixing process, it is possible to obtain vehicle is in the position in new moment, thus realizing the consecutive tracking of vehicle.
Beneficial effect
The invention have the benefit that
1. star positioning method is selected in the optimization in the present invention, utilizes enhancement mode Three-dimensional Numeric Map information to carry out the identification of visible satellite, eliminates non line of sight satellite for the GNSS interference positioned, is favorably improved positioning precision, it is achieved under urban environment, vehicle is accurately positioned；
2. the method in the present invention, after completing visible satellite identification, for the situation that visible satellite number is sufficient, with quick satellite selection for principle, it is proposed that further optimize and select star strategy, thus ensure that the precision of vehicle location under urban environment and real-time.
Accompanying drawing explanation
Fig. 1 is the flow chart of the present invention.
Fig. 2 is the schematic diagram of visible satellite and non line of sight satellite.
Fig. 3 is the schematic diagram determining satellite elevation mask in conjunction with digital map information.
Primary symbols in Fig. 3 illustrates:
β satellite is relative to the azimuth of vehicle
HlVehicle is along the depth of building on the left of road driving direction
HrVehicle is along the depth of building on the right side of road driving direction
dlThe distance of the building in vehicle and left side
θlThe elevation mask of vehicle left side satellite
Detailed description of the invention
Along with the quick increase of domestic motor vehicles recoverable amount, the urban transportation of China is faced with increasingly serious challenge, and intelligent transportation system (IntelligentTransportationSystem, ITS) is arisen at the historic moment.ITS can effectively reduce the generation of vehicle accident, alleviate urban transport problems, and the developmental research of ITS, be unable to do without accurately true automobile navigation location, only at vehicle accurately, under the premise of real-time positioning, can command scheduling vehicle effectively, improve urban transportation, ensureing vehicle safe driving, therefore, automobile navigation location technology is one of key content of current ITS research.
In automobile navigation positioning field, main localization method has dead reckoning, inertial navigation and satellite navigation.Dead reckoning and inertial navigation mainly adopt the onboard sensor of low cost, such as electronic compass, wheel speed sensors, micro-mechanical gyroscope etc. realize the navigator fix of vehicle, owing to the measurement error of sensor can constantly be accumulated in time, are typically only capable to ensure the positioning precision of short time；At present, GPS (GlobalNavigationSatelliteSystem, GNSS) being most widely used in vehicle location field, it refers to all of satellite navigation system, global positioning system (the GlobalPositioningSystem having the U.S. that technology is comparatively ripe, GPS), the Beidou satellite navigation system of Muscovite GLONASS navigation system and China, GNSS can be real-time provide the information such as three-dimensional position, speed, time for vehicle, it is achieved navigation locating function round-the-clock, omnibearing；
Utilize compared with low cost vehicle-mounted sensor carries out dead reckoning or inertial navigation with traditional, the positioning precision of GNSS is higher, but, when vehicle travels in urban environment, skyscraper due to road both sides, the satellite-signal of GNSS is vulnerable to block and reflect, multipath effect is serious, if the non line of sight satellite that signaling reflex is caused lacks effective examination, huge position error certainly will be introduced, therefore, in urban environment, utilizing GNSS to realize being accurately positioned of vehicle is one of current automobile navigation location or even ITS field difficult problem urgently to be resolved hurrily.
For the deficiencies in the prior art, the present invention proposes a kind of optimization of vehicle towards urban environment and selects star positioning method, in conjunction with enhancement mode Three-dimensional Numeric Map information, effectively rejects the interference of non line of sight satellite, weaken the impact of multipath effect, thus the vehicle high-precision location under realizing urban environment.
For achieving the above object, the present invention adopted the following technical scheme that in conjunction with vehicle electronics compass and wheel speed sensors, rough extrapolated the vehicle position at current time first according to the vehicle position in a upper moment；Then, utilize vehicle-mounted GNSS receiver, receive the almanac data of satellite planet of going forward side by side and go through resolving, obtain the position of each satellite；Then, the position according to vehicle, calculate each satellite relative to the elevation angle of vehicle and azimuth；And then, root vehicle location as roughly estimated, in conjunction with enhancement mode Three-dimensional Numeric Map, utilize the geometrical relationship of signal propagation path, screen the observability of satellite one by one, reject non line of sight satellite；In the sufficient situation of visible satellite number, in conjunction with elevation angle and azimuth, further satellite is screened, utilize remaining combinations of satellites to calculate the exact position of vehicle；
Present invention employs vehicle electronics compass for exporting the course angle of vehicle, wheel speed sensors is for exporting the speed of vehicle, GNSS receiver is for the initial data of output satellite location, then pass through host computer to process, star location algorithm, continuous, the real-time exact position estimating vehicle is selected in conjunction with optimization；What present embodiment receiver specifically adopted is the vehicle-mounted GNSS receiver of lightweight, the FlexPak6 lightweight GNSS receiver of concrete model such as Canada's NovAtel company up-to-date release, the initial data such as the ephemeris of exportable satellite and pseudo-range measurements；The antenna of GNSS receiver is arranged in the center position of roof, and receiver is arranged on vehicle centroid position, with the vehicle longitudinal axis in the same direction.
Below in conjunction with accompanying drawing, the thinking of the present invention is further described:
The flow process of this algorithm is as shown in Figure 1.
A kind of optimization of vehicle based on digitally enhanced map selects star positioning method, it is characterized in that, in urban environment, by enhancement mode Three-dimensional Numeric Map, in conjunction with optimizing selecting-star algorithm, effectively reject non line of sight satellite interference, weaken the impact of multipath effect, thus improving the positioning precision of Vehicular satellite navigation system, it is achieved city vehicle reliable, be accurately positioned, described method comprises the steps:
Step 1) course angle of vehicle is recorded by vehicle electronics compass, wheel speed sensors records the travel speed of vehicle, and then according to the vehicle positioning result in a upper moment, by dead reckoning, "ball-park" estimate goes out the vehicle position at current time；
Concrete dead reckoning process, can refer to list of references (Hu Zhenwen, Sun Yumei, Xing Xianfang. vehicle location and navigation [M]. China Railway Press, 2009.)；
Step 2) by vehicle-mounted GNSS receiver, receive the almanac data of satellite, calculate the position coordinates of each satellite；
Concrete satellite ephemeris solution process can refer to list of references (Xie Gang .GPS principle and receiver design [M]. Electronic Industry Press, 2009.), (Gao Chengfa. satellite navigation positioning principle and application [M]. People's Transportation Press, 2011.)；
Step 3) root vehicle location as roughly estimated, calculate each satellite relative to the elevation angle of vehicle and azimuth, elevation angle and azimuthal unit degree of being (°), elevation angle range for 0～90 °, the azimuth of satellite is just rotating to be along the direction of road driving counterclockwise with vehicle, when on the left of satellite is positioned at road, azimuthal ranges for 0～180 °, when satellite is positioned on the right side of road, azimuthal range for-180 °～0 °；
Step 4) as shown in Figure 2, in urban environment, reflection due to building, vehicle-mounted GNSS receiver easily receives the signal of non line of sight satellite, and the pseudo-range measurements error of non line of sight satellite is relatively big, if this type of satellite is used for positioning calculation, vehicle location precise decreasing will be caused, therefore, select in star location in optimization, it is necessary to first reject non line of sight satellite；
Root vehicle location as roughly estimated, in conjunction with enhancement mode Three-dimensional Numeric Map, obtains the height of vehicle current driving road both sides building and the distance of vehicle and both sides building, and vehicle is H along the depth of building on the left of road driving directionl, the depth of building on right side is Hr, the distance of vehicle and left side building is dl, the distance of vehicle and right side building is dr, Hl、Hr、dl、drUnit be rice, as it is shown on figure 3, all satellites observed for vehicle-mounted GNSS receiver, the method utilizing traversal, screen the observability of satellite one by one, reject non line of sight satellite, detailed process is as follows:
1. the elevation angle of satellite is α, and azimuth is β, the azimuthal angle beta according to satellite, it is judged that satellite is relative to the orientation of vehicle；
2. when satellite is positioned at vehicle along time on the left of road driving direction, by the height H of the azimuthal angle beta of satellite, left side buildinglAnd the distance d of vehicle and left side buildingl, calculate the satellite elevation mask θ in vehicle left sidel,If the elevation angle of satellite is less than θl, i.e. α < θl, then this satellite is non line of sight satellite；
When satellite is positioned at vehicle along time on the right side of road driving direction, by the height H of the azimuthal angle beta of satellite, right side buildingrAnd the distance d of vehicle and right side buildingr, calculate the satellite elevation mask θ at vehicle right sider,If the elevation angle of satellite is less than θr, i.e. α < θr, then this satellite is non line of sight satellite；
3. all satellites observed for GNSS receiver, after screening the observability of satellite one by one, reject non line of sight satellite therein；
Step 5) after the identification of above-mentioned visible satellite, if visible satellite number is less than four, then cannot be carried out GNSS pseudorange positioning calculation, using step 1) in the vehicle location of rough estimation as final positioning result output；
If whole satellites no less than four and no more than six, are then used for GNSS pseudorange positioning calculation by visible satellite number, and using the result that resolves as final positioning result output；
If visible satellite number is more than six, then therefrom selecting six satellites for GNSS pseudorange positioning calculation, detailed process is as follows:
1., first, from visible satellite, select two satellites that elevation angle is minimum and maximum；
2. then, select the satellite differing maximum with the azimuth of elevation angle minimum satellite vehicle；
3. then select a satellite maximum with the tetrahedron volume of first three satellite composition；
4. and then, utilize traversal method, from remaining satellite, optional two and above-mentioned four combinations of satellites, calculate the GDOP value of six stars combinations, respectively then according to the principle that GDOP value is minimum, from these combinations, choose one group that makes GDOP value minimum and select star result as last；
5. six satellites selected are carried out GNSS pseudorange positioning calculation, and the result resolved is exported as final positioning result.
Wherein, the concrete calculating process of pseudorange positioning calculation can refer to document (Lu Yu .GPS global positioning receiver [M]. Electronic Industry Press, 2009.), the computational methods of GDOP value can refer to list of references (Wang Hui south .GPS navigation principle with application [M]. Science Press, 2003,134-139).
In subsequent time, repeat the above steps 1)～step 5) optimization select star position fixing process, it is possible to obtain vehicle is in the position in new moment, thus realizing the consecutive tracking of vehicle.
Claims (1)
1. one kind is selected star positioning method based on the optimization of vehicle of digitally enhanced map, it is characterized in that, in urban environment, by enhancement mode Three-dimensional Numeric Map, in conjunction with optimizing selecting-star algorithm, effectively reject non line of sight satellite interference, weaken the impact of multipath effect, thus improving the positioning precision of Vehicular satellite navigation system, it is achieved city vehicle reliable, be accurately positioned, described method comprises the steps:
Step 1) course angle of vehicle is recorded by vehicle electronics compass, wheel speed sensors records the travel speed of vehicle, then according to the vehicle positioning result in a upper moment, by dead reckoning, roughly estimates the vehicle position at current time；
Step 2) by vehicle-mounted GNSS receiver, receive the almanac data of satellite, calculate the position coordinates of each satellite；
Step 3) root vehicle location as roughly estimated, calculate each satellite relative to the elevation angle of vehicle and azimuth, elevation angle and azimuthal unit degree of being (°), elevation angle range for 0～90 °, the azimuth of satellite is just rotating to be along the direction of road driving counterclockwise with vehicle, when on the left of satellite is positioned at road, azimuthal ranges for 0～180 °, when satellite is positioned on the right side of road, azimuthal range for-180 °～0 °；
Step 4) root vehicle location as roughly estimated, in conjunction with enhancement mode Three-dimensional Numeric Map, obtain the height of vehicle current driving road both sides building and the distance of vehicle and both sides building, vehicle is H along the depth of building on the left of road driving directionl, the depth of building on right side is Hr, the distance of vehicle and left side building is dl, the distance of vehicle and right side building is dr, Hl、Hr、dl、drUnit be rice, for all satellites that vehicle-mounted GNSS receiver observes, the method utilizing traversal, screen the observability of satellite one by one, reject non line of sight satellite, detailed process is as follows:
1. the elevation angle of satellite is α, and azimuth is β, the azimuthal angle beta according to satellite, it is judged that satellite is relative to the orientation of vehicle；
2. when satellite is positioned at vehicle along time on the left of road driving direction, by the height H of the azimuthal angle beta of satellite, left side buildinglAnd the distance d of vehicle and left side buildingl, calculate the satellite elevation mask θ in vehicle left sidel,If the elevation angle of satellite is less than θl, i.e. α < θl, then this satellite is non line of sight satellite；
When satellite is positioned at vehicle along time on the right side of road driving direction, by the height H of the azimuthal angle beta of satellite, right side buildingrAnd the distance d of vehicle and right side buildingr, calculate the satellite elevation mask θ at vehicle right sider,If the elevation angle of satellite is less than θr, i.e. α < θr, then this satellite is non line of sight satellite；
3. all satellites observed for GNSS receiver, after screening the observability of satellite one by one, reject non line of sight satellite therein；
Step 5) after the identification of above-mentioned visible satellite, if visible satellite number is less than four, then cannot be carried out GNSS pseudorange positioning calculation, using step 1) in the vehicle location of rough estimation as final positioning result output；
If whole satellites no less than four and no more than six, are then used for GNSS pseudorange positioning calculation by visible satellite number, and using the result that resolves as final positioning result output；
If visible satellite number is more than six, then therefrom selecting six satellites for GNSS pseudorange positioning calculation, detailed process is as follows:
1., first, from visible satellite, select two satellites that elevation angle is minimum and maximum；
2. then, select the satellite differing maximum with the azimuth of elevation angle minimum satellite vehicle；
3. then select a satellite maximum with the tetrahedron volume of first three satellite composition；
4. and then, utilize traversal method, from remaining satellite, optional two and above-mentioned four combinations of satellites, calculate the GDOP value of six stars combinations, respectively then according to the principle that GDOP value is minimum, from these combinations, choose one group that makes GDOP value minimum and select star result as last；
5. six satellites selected are carried out GNSS pseudorange positioning calculation, and the result resolved is exported as final positioning result.
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| CN106814382A (en) * | 2017-01-11 | 2017-06-09 | 武汉大学 | The GNSS satellite observation of joint elevation angle and user ranging errors weighs method surely |
| CN106932799A (en) * | 2017-03-01 | 2017-07-07 | 千寻位置网络有限公司 | A kind of visible satellite based on position ambiguity determines method |
| CN107064974A (en) * | 2017-02-28 | 2017-08-18 | 广东工业大学 | A kind of localization method and system for suppressing urban canyons multipath satellite-signal |
| WO2019121211A1 (en) * | 2017-12-19 | 2019-06-27 | Robert Bosch Gmbh | Method for the satellite-supported determination of a position of a vehicle |
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| CN111624630A (en) * | 2019-02-28 | 2020-09-04 | 腾讯大地通途（北京）科技有限公司 | GNSS-based satellite selection method and device, terminal and storage medium |
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| CN112444829A (en) * | 2019-08-29 | 2021-03-05 | 华为技术有限公司 | GNSS satellite selection method, device, chip, equipment and storage medium |
| CN112904382A (en) * | 2021-01-25 | 2021-06-04 | 东南大学 | Laser odometer-assisted rapid optimization satellite selection method under urban canyon environment |
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| CN114721018A (en) * | 2022-01-30 | 2022-07-08 | 高德软件有限公司 | Satellite signal characteristic determining method, positioning method and electronic equipment |
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