CN105807301B - A kind of optimization of vehicle based on digitally enhanced map selects star positioning method - Google Patents

A kind of optimization of vehicle based on digitally enhanced map selects star positioning method Download PDF

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CN105807301B
CN105807301B CN201610120659.XA CN201610120659A CN105807301B CN 105807301 B CN105807301 B CN 105807301B CN 201610120659 A CN201610120659 A CN 201610120659A CN 105807301 B CN105807301 B CN 105807301B
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satellite
vehicle
building
positioning
satellites
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CN105807301A (en
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李旭
高怀堃
徐启敏
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Southeast University
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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
    • 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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  • Engineering & Computer Science (AREA)
  • 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 a kind of optimization of vehicle towards urban environment to select star positioning method, pass through vehicle electronics compass and wheel speed sensors, obtain the course angle and speed of vehicle, roughly estimate the position of vehicle, then enhanced Three-dimensional Numeric Map is utilized, with reference to optimization selecting-star algorithm, effectively reject non line of sight satellite interference, weaken the influence of multipath effect, so as to improve Vehicular satellite navigation system (Global Navigation Satellite System, GNSS positioning accuracy), realizes reliable, the accurate positionin of city vehicle.Compared with conventional truck satellite navigation, the method in the present invention can effectively improve the precision of vehicle location under urban environment.

Description

A kind of optimization of vehicle based on digitally enhanced map selects star positioning method
Technical field
The present invention relates to automobile navigation positioning field, more particularly to a kind of optimization of vehicle towards urban environment selects star to position Method.
Background technology
With the quick increase of domestic motor vehicles ownership, the urban transportation in China is faced with increasingly serious challenge, intelligence Energy traffic system (Intelligent Transportation System, ITS) is come into being.ITS can effectively reduce traffic The generation of accident, alleviates urban transport problems, and the developmental research of ITS, too busy to get away accurate true automobile navigation position, and only exist Vehicle is accurate, on the premise of positioning in real time, can effectively command scheduling vehicle, improve urban transportation, ensure vehicle safety Traveling, therefore, automobile navigation location technology are one of key contents of current ITS researchs.
In automobile navigation positioning field, main localization method has dead reckoning, inertial navigation and satellite navigation.Boat Position calculates and inertial navigation is mainly using the onboard sensor of low cost, such as electronic compass, wheel speed sensors, micro-mechanical gyroscope Etc. the navigator fix of vehicle is realized, since the measurement error of sensor can constantly be accumulated with the time, it is typically only capable to ensure short The positioning accuracy of time；At present, Global Satellite Navigation System (Global Navigation Satellite System, GNSS) In being most widely used for vehicle location field, it refers to all satellite navigation systems, technology it is more mature have the U.S. Global positioning system (Global Positioning System, GPS), Russian GLONASS navigation system and China Beidou satellite navigation system, GNSS can provide the information such as three-dimensional position, speed, time for vehicle in real time, realize whole day Wait, comprehensive navigation locating function；
With it is traditional carry out dead reckoning or inertial navigation using low cost vehicle-mounted sensor compared with, the positioning accurate of GNSS Higher is spent, still, when vehicle traveling is in urban environment, due to the skyscraper of road both sides, the satellite-signal of GNSS is easy It is blocked and reflects, multipath effect is serious, certainly will if lacking effective examination to non line of sight satellite caused by signal reflex Huge position error is introduced, therefore, in urban environment, realizes that the accurate positionin of vehicle is current automobile navigation using GNSS One of positioning or even ITS fields problem urgently to be resolved hurrily.
The content of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of optimization of vehicle towards urban environment and selects star positioning side Method, with reference to enhanced Three-dimensional Numeric Map information, effectively rejects the interference of non line of sight satellite, weakens the influence of multipath effect, So as to fulfill the vehicle high-precision positioning under urban environment.
To achieve the above object, the present invention adopts the following technical scheme that：First according to vehicle in the position of last moment, knot Vehicle electronics compass and wheel speed sensors are closed, rough extrapolates vehicle in the position at current time；Then, vehicle-mounted GNSS is utilized Receiver, the almanac data planet of going forward side by side for receiving satellite go through resolving, obtain the position of each satellite；Then, according to the position of vehicle, Calculate elevation angle and azimuth of each satellite relative to vehicle；And then the vehicle location of root as roughly estimated, with reference to enhanced Three-dimensional Numeric Map, using the geometrical relationship of signal propagation path, screens the observability of satellite, rejects non line of sight satellite one by one； In the case of visible satellite number is sufficient, with reference to elevation angle and azimuth, further satellite is screened, utilization is remaining Combinations of satellites calculates the exact position of vehicle；
Below in conjunction with the accompanying drawings, the thinking of the present invention is further described：
The flow 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 characterised in that in urban environment, By enhanced Three-dimensional Numeric Map, with reference to optimization selecting-star algorithm, non line of sight satellite interference is effectively rejected, weakens multipath effect Influence, so as to improve the positioning accuracy of Vehicular satellite navigation system, realize city vehicle it is reliable, be accurately positioned, the side Method includes the following steps：
Step 1) measures the course angle of vehicle by vehicle electronics compass, and wheel speed sensors measure the travel speed of vehicle, Then according to positioning result of the vehicle in last moment, by dead reckoning, "ball-park" estimate goes out vehicle in the position at current time Put；
Step 2) receives the almanac data of satellite by vehicle-mounted GNSS receiver, calculates the position coordinates of each satellite；
The vehicle location of step 3) root as roughly estimated, calculates elevation angle and azimuth of each satellite relative to vehicle, high Angle and azimuthal unit degree of being (°) are spent, the scope of elevation angle is 0~90 °, and the azimuth of satellite is with vehicle along road driving Direction rotate to be counterclockwise just, when satellite is located on the left of road, azimuthal scope is 0~180 °, and satellite is located at road During right side, azimuthal scope is -180 °~0 °；
Step 4) is as shown in Fig. 2, in urban environment, and due to the reflection of building, vehicle-mounted GNSS receiver easily receives The signal of non line of sight satellite, the pseudo-range measurements error of non line of sight satellite is larger, if such satellite is used for positioning calculation, will lead Vehicle location precise decreasing is caused, therefore, it is necessary to reject non line of sight satellite first in optimization selects star to position；
The vehicle location of root as roughly estimated, with reference to enhanced Three-dimensional Numeric Map, obtains vehicle current driving road two The height and vehicle of side building and the distance of both sides building, vehicle are along the depth of building on the left of road driving direction Hl, 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 shown in figure 3, all satellites observed for vehicle-mounted GNSS receiver, utilize traversal Method, 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, azimuth β, according to the azimuthal angle beta of satellite, side of the satellite relative to vehicle is judged Position；
2. when satellite is located at vehicle along road driving direction left side, pass through the azimuthal angle beta of satellite, the height of left side building Spend HlAnd the distance d of vehicle and left side buildingl, calculate elevation mask θ of the satellite in vehicle left sidel,If the elevation angle of satellite is less than θl, i.e. α ＜ θl, then the satellite is non line of sight satellite；
When satellite is located at vehicle along road driving direction right side, pass through the azimuthal angle beta of satellite, the height of right side building HrAnd the distance d of vehicle and right side buildingr, calculate elevation mask θ of the satellite in vehicle right sider,If the elevation angle of satellite is less than θr, i.e. α ＜ θr, then the satellite is non line of sight satellite；
3. all satellites observed for GNSS receiver, one by one after the observability of examination satellite, are rejected therein non- Sighting distance satellite；
Step 5) is after the identification of above-mentioned visible satellite, if visible satellite number is less than four, can not carry out GNSS puppets Away from positioning calculation, exported the vehicle location estimated roughly in step 1) as final positioning result；
If visible satellite number is no less than four and not more than six, whole satellites are used for GNSS pseudorange positioning solutions Calculate, and exported the result of resolving as final positioning result；
If visible satellite number is more than six, therefrom selects six satellites and be used for GNSS pseudorange positioning calculations, specific mistake Journey is as follows：
1. first, from visible satellite, two minimum and maximum satellites of elevation angle are selected；
2. then, select a satellite for differing maximum with the azimuth of elevation angle minimum satellite vehicle；
3. then select a satellite with the tetrahedron volume maximum of first three satellite composition；
4. and then using the method for traversal, from remaining satellite, optional two and above-mentioned four combinations of satellites, distinguish The GDOP values of six stars combination are calculated, then according to the principle of GDOP values minimum, from these combinations, choose make GDOP values minimum One group as last is selected star result；
5. select six satellites are subjected to GNSS pseudorange positioning calculations, and using the result of resolving as final positioning knot Fruit exports.
In subsequent time, star position fixing process is selected in the optimization for the 1)~step 5) that repeats the above steps, and can obtain vehicle new The position at moment, so as to fulfill the consecutive tracking of vehicle.
Beneficial effect
Beneficial effects of the present invention are：
1. star positioning method is selected in the optimization in the present invention, visible satellite is carried out using enhanced Three-dimensional Numeric Map information Identification, eliminates the interference that non line of sight satellite is positioned for GNSS, helps to improve positioning accuracy, realize vehicle under urban environment Accurate positionin；
2. the method in the present invention, after visible satellite identification is completed, for the situation of visible satellite number abundance, with fast It is principle that speed, which selects star, it is proposed that star strategy is selected in further optimization so that ensure that under urban environment the precision of vehicle location and Real-time.
Brief description of the drawings
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 to combine the schematic diagram that digital map information determines satellite elevation mask.
Primary symbols explanation in Fig. 3：
β satellites relative to vehicle azimuth
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 vehicle and the building in left side
θlThe elevation mask of vehicle left side satellite
Embodiment
With the quick increase of domestic motor vehicles ownership, the urban transportation in China is faced with increasingly serious challenge, intelligence Energy traffic system (Intelligent Transportation System, ITS) is come into being.ITS can effectively reduce traffic The generation of accident, alleviates urban transport problems, and the developmental research of ITS, too busy to get away accurate true automobile navigation position, and only exist Vehicle is accurate, on the premise of positioning in real time, can effectively command scheduling vehicle, improve urban transportation, ensure vehicle safety Traveling, therefore, automobile navigation location technology are one of key contents of current ITS researchs.
In automobile navigation positioning field, main localization method has dead reckoning, inertial navigation and satellite navigation.Boat Position calculates and inertial navigation is mainly using the onboard sensor of low cost, such as electronic compass, wheel speed sensors, micro-mechanical gyroscope Etc. the navigator fix of vehicle is realized, since the measurement error of sensor can constantly be accumulated with the time, it is typically only capable to ensure short The positioning accuracy of time；At present, Global Satellite Navigation System (Global Navigation Satellite System, GNSS) In being most widely used for vehicle location field, it refers to all satellite navigation systems, technology it is more mature have the U.S. Global positioning system (Global Positioning System, GPS), Russian GLONASS navigation system and China Beidou satellite navigation system, GNSS can provide the information such as three-dimensional position, speed, time for vehicle in real time, realize whole day Wait, comprehensive navigation locating function；
With it is traditional carry out dead reckoning or inertial navigation using low cost vehicle-mounted sensor compared with, the positioning accurate of GNSS Higher is spent, still, when vehicle traveling is in urban environment, due to the skyscraper of road both sides, the satellite-signal of GNSS is easy It is blocked and reflects, multipath effect is serious, certainly will if lacking effective examination to non line of sight satellite caused by signal reflex Huge position error is introduced, therefore, in urban environment, realizes that the accurate positionin of vehicle is current automobile navigation using GNSS One of positioning or even ITS fields problem urgently to be resolved hurrily.
In view of the deficiencies of the prior art, the present invention proposes a kind of optimization of vehicle towards urban environment and selects star positioning side Method, with reference to enhanced Three-dimensional Numeric Map information, effectively rejects the interference of non line of sight satellite, weakens the influence of multipath effect, So as to fulfill the vehicle high-precision positioning under urban environment.
To achieve the above object, the present invention adopts the following technical scheme that：First according to vehicle in the position of last moment, knot Vehicle electronics compass and wheel speed sensors are closed, rough extrapolates vehicle in the position at current time；Then, utilization is vehicle-mounted GNSS receiver, the almanac data planet of going forward side by side for receiving satellite go through resolving, obtain the position of each satellite；Then, according to vehicle Position, calculates elevation angle and azimuth of each satellite relative to vehicle；And then the vehicle location of root as roughly estimated, with reference to Enhanced Three-dimensional Numeric Map, using the geometrical relationship of signal propagation path, screens the observability of satellite, rejects non line of sight one by one Satellite；In the case of visible satellite number is sufficient, with reference to elevation angle and azimuth, further satellite is screened, is utilized Remaining combinations of satellites calculates the exact position of vehicle；
It is used for the course angle for exporting vehicle present invention employs vehicle electronics compass, wheel speed sensors are used to export vehicle Speed, GNSS receiver are used for the initial data of output satellite positioning, are then handled by host computer, star is selected with reference to optimization Location algorithm, exact position that is continuous, estimating vehicle in real time；Present embodiment receiver is specifically using lightweight car Load GNSS receiver, the FlexPak6 lightweight GNSS receivers of the concrete model such as newest release of NovAtel companies of Canada, 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 Put, receiver is installed on vehicle centroid position, in the same direction with the vehicle longitudinal axis.
Below in conjunction with the accompanying drawings, the thinking of the present invention is further described：
The flow 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 characterised in that in urban environment, By enhanced Three-dimensional Numeric Map, with reference to optimization selecting-star algorithm, non line of sight satellite interference is effectively rejected, weakens multipath effect Influence, so as to improve the positioning accuracy of Vehicular satellite navigation system, realize city vehicle it is reliable, be accurately positioned, the side Method includes the following steps：
Step 1) measures the course angle of vehicle by vehicle electronics compass, and wheel speed sensors measure the travel speed of vehicle, Then according to positioning result of the vehicle in last moment, by dead reckoning, "ball-park" estimate goes out vehicle in the position at current time Put；
Specific dead reckoning process, can referring to bibliography, (Hu Zhenwen, Sun Yumei, Xing offer fragrant vehicle locations and navigation [M] China Railway Press, 2009.)；
Step 2) receives the almanac data of satellite by vehicle-mounted GNSS receiver, calculates the position coordinates of each satellite；
Specific satellite ephemeris solution process can refer to bibliography (Xie Gang .GPS principles and receiver design [M] electronics Industrial publishing house, 2009.), (high into hair satellite navigations positioning principle and application [M] People's Transportation Press, 2011.)；
The vehicle location of step 3) root as roughly estimated, calculates elevation angle and azimuth of each satellite relative to vehicle, high Angle and azimuthal unit degree of being (°) are spent, the scope of elevation angle is 0~90 °, and the azimuth of satellite is with vehicle along road driving Direction rotate to be counterclockwise just, when satellite is located on the left of road, azimuthal scope is 0~180 °, and satellite is located at road During right side, azimuthal scope is -180 °~0 °；
Step 4) is as shown in Fig. 2, in urban environment, and due to the reflection of building, vehicle-mounted GNSS receiver easily receives The signal of non line of sight satellite, the pseudo-range measurements error of non line of sight satellite is larger, if such satellite is used for positioning calculation, will lead Vehicle location precise decreasing is caused, therefore, it is necessary to reject non line of sight satellite first in optimization selects star to position；
The vehicle location of root as roughly estimated, with reference to enhanced Three-dimensional Numeric Map, obtains vehicle current driving road two The height and vehicle of side building and the distance of both sides building, vehicle are along the depth of building on the left of road driving direction Hl, 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 shown in figure 3, all satellites observed for vehicle-mounted GNSS receiver, utilize traversal Method, 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, azimuth β, according to the azimuthal angle beta of satellite, side of the satellite relative to vehicle is judged Position；
2. when satellite is located at vehicle along road driving direction left side, pass through the azimuthal angle beta of satellite, the height of left side building Spend HlAnd the distance d of vehicle and left side buildingl, calculate elevation mask θ of the satellite in vehicle left sidel,If the elevation angle of satellite is less than θl, i.e. α ＜ θl, then the satellite is non line of sight satellite；
When satellite is located at vehicle along road driving direction right side, pass through the azimuthal angle beta of satellite, the height of right side building HrAnd the distance d of vehicle and right side buildingr, calculate elevation mask θ of the satellite in vehicle right sider,If the elevation angle of satellite is less than θr, i.e. α ＜ θr, then the satellite is non line of sight satellite；
3. all satellites observed for GNSS receiver, one by one after the observability of examination satellite, are rejected therein non- Sighting distance satellite；
Step 5) is after the identification of above-mentioned visible satellite, if visible satellite number is less than four, can not carry out GNSS puppets Away from positioning calculation, exported the vehicle location estimated roughly in step 1) as final positioning result；
If visible satellite number is no less than four and not more than six, whole satellites are used for GNSS pseudorange positioning solutions Calculate, and exported the result of resolving as final positioning result；
If visible satellite number is more than six, therefrom selects six satellites and be used for GNSS pseudorange positioning calculations, specific mistake Journey is as follows：
1. first, from visible satellite, two minimum and maximum satellites of elevation angle are selected；
2. then, select a satellite for differing maximum with the azimuth of elevation angle minimum satellite vehicle；
3. then select a satellite with the tetrahedron volume maximum of first three satellite composition；
4. and then using the method for traversal, from remaining satellite, optional two and above-mentioned four combinations of satellites, distinguish The GDOP values of six stars combination are calculated, then according to the principle of GDOP values minimum, from these combinations, choose make GDOP values minimum One group as last is selected star result；
5. select six satellites are subjected to GNSS pseudorange positioning calculations, and using the result of resolving as final positioning knot Fruit exports.
Wherein, the specific calculating process of pseudorange positioning calculation can refer to document (Lu Yu .GPS global positioning receivers [M] Electronic Industry Press, 2009.), the computational methods of GDOP values can refer to bibliography (Wang Hui south .GPS navigation principles and application [M] Science Presses, 2003,134-139).
In subsequent time, star position fixing process is selected in the optimization for the 1)~step 5) that repeats the above steps, and can obtain vehicle new The position at moment, so as to fulfill the consecutive tracking of vehicle.

Claims (1)

1. a kind of optimization of vehicle based on digitally enhanced map selects star positioning method, it is characterised in that in urban environment, leads to Enhanced Three-dimensional Numeric Map is crossed, with reference to optimization selecting-star algorithm, non line of sight satellite interference is effectively rejected, weakens multipath effect Influence, so as to improve the positioning accuracy of Vehicular satellite navigation system, realize reliable, the accurate positionin of city vehicle, the method Include the following steps：
Step 1) measures the course angle of vehicle by vehicle electronics compass, and wheel speed sensors measure the travel speed of vehicle, then According to positioning result of the vehicle in last moment, by dead reckoning, vehicle is roughly estimated in the position at current time；
Step 2) receives the almanac data of satellite by vehicle-mounted GNSS receiver, calculates the position coordinates of each satellite；
The vehicle location of step 3) root as roughly estimated, calculates elevation angle and azimuth of each satellite relative to vehicle, elevation angle With azimuthal unit degree of being (°), the scope of elevation angle is 0~90 °, and the azimuth of satellite is with side of the vehicle along road driving To rotating to be counterclockwise just, when satellite is located on the left of road, azimuthal scope is 0~180 °, and satellite is located on the right side of road When, azimuthal scope is -180 °~0 °；
The vehicle location of step 4) root as roughly estimated, with reference to enhanced Three-dimensional Numeric Map, obtains vehicle current driving road The height and vehicle of both sides building and the distance of both sides building, vehicle is along the depth of building on the left of road driving direction For Hl, 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, all satellites observed for vehicle-mounted GNSS receiver, using the method for traversal, by One screens the observability of satellite, rejects non line of sight satellite, and detailed process is as follows：
1. the elevation angle of satellite is α, azimuth β, according to the azimuthal angle beta of satellite, orientation of the satellite relative to vehicle is judged；
2. when satellite is located at vehicle along road driving direction left side, pass through the azimuthal angle beta of satellite, the height H of left side buildingl And the distance d of vehicle and left side buildingl, calculate elevation mask θ of the satellite in vehicle left sidel,If the elevation angle of satellite is less than θl, i.e. α ＜ θl, then the satellite is non line of sight satellite；
When satellite is located at vehicle along road driving direction right side, pass through the azimuthal angle beta of satellite, the height H of right side buildingrWith And the distance d of vehicle and right side buildingr, calculate elevation mask θ of the satellite in vehicle right sider, If the elevation angle of satellite is less than θr, i.e. α ＜ θr, then the satellite is non line of sight satellite；
3. all satellites observed for GNSS receiver, one by one after the observability of examination satellite, reject non line of sight therein Satellite；
Step 5), if visible satellite number is less than four, can not carry out GNSS pseudoranges and determine after the identification of above-mentioned visible satellite Position resolves, and is exported the vehicle location estimated roughly in step 1) as final positioning result；
If visible satellite number is no less than four and not more than six, whole satellites are used for GNSS pseudorange positioning calculations, and Exported the result of resolving as final positioning result；
If visible satellite number is more than six, therefrom selects six satellites and be used for GNSS pseudorange positioning calculations, detailed process is such as Under：
1. first, from visible satellite, two minimum and maximum satellites of elevation angle are selected；
2. then, select a satellite for differing maximum with the azimuth of elevation angle minimum satellite vehicle；
3. then select a satellite with the tetrahedron volume maximum of first three satellite composition；
4. and then using the method for traversal, from remaining satellite, optional two and above-mentioned four combinations of satellites, calculate respectively The GDOP values of six stars combination, then according to the principle of GDOP values minimum, from these combinations, choose make GDOP values minimum one group Star result is selected as last；
5. select six satellites are subjected to GNSS pseudorange positioning calculations, and the result of resolving is defeated as final positioning result Go out.
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