CN106054217B - A kind of method of GNSS receiver code observation - Google Patents
A kind of method of GNSS receiver code observation Download PDFInfo
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- CN106054217B CN106054217B CN201610332702.9A CN201610332702A CN106054217B CN 106054217 B CN106054217 B CN 106054217B CN 201610332702 A CN201610332702 A CN 201610332702A CN 106054217 B CN106054217 B CN 106054217B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000012937 correction Methods 0.000 claims abstract description 4
- 239000005433 ionosphere Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- 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
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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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 discloses a kind of method of GNSS receiver code observation, step 1：Calculate code observational equation：Step 2：Since satellite clock is asynchronous with clock is received, if receiver clock-offsets δ tr, satellite clock correction δ ts, obtain following formula：Step 3：Formula in step 2 is substituted into code observational equation, obtains following formula：Step 4：It calculatesObtain following formula：Step 5：Formula in step 4 is substituted into the formula in step 3, obtains following formula：
Description
Technical field
The present invention relates to a kind of methods of GNSS receiver code observation, belong to technical field of navigation and positioning.
Background technology
GNSS is the abbreviation of Global Navigation Satellite System.Chinese translation is global navigational satellite
System.Currently, GNSS contains the GPS in the U.S., the GLONASS of Russia, the Galileo systems of European Union, Chinese Compass
(Big Dipper), its available number of satellite reaches 100 or more after all building up.
The basic observation of GNSS receiver is propagation time of the signal from satellite to receiver, is generated inside receiver
Replica code, and postpone reasonable time and be aligned with the satellite-signal received, calculate signal propagation by measuring this retardation
Time.Since code measures observation by various influences such as satellite clock, receiver clock and atmosphere errors, so institute's ranging
From with actual distance and unequal, how to improve surveyed range accuracy is our urgent problems.
Invention content
Purpose：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of side of GNSS receiver code observation
Method.
Technical solution：In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of method of GNSS receiver code observation, including steps are as follows：
Step 1：Calculate code observational equation：
P in formulat sFor the code observed quantity on from satellite s to receiver r；T is
Observation time；C is the light velocity in vacuum；trIt is received the time that machine r is received for signal；tsFor signal emit from satellite s when
Between；It is signal from satellite s to the propagation time of receiver r；For code measurement error；
Step 2：Since satellite clock is asynchronous with clock is received, if receiver clock-offsets δ tr, satellite clock correction δ ts, obtain down
Formula：
Step 3：Formula in step 2 is substituted into code observational equation, obtains following formula：
Step 4：It calculatesObtain following formula：
In formulaThe propagation time for being signal from satellite antenna to receiver antenna；
drFor the hardware code delay of receiver end；dsFor the hardware code delay of satellite end；Geometry between satellite and receiver away from
From；For ionosphere delay；For tropospheric delay；Postpone for multipath；
Step 5：Formula in step 4 is substituted into the formula in step 3, obtains following formula：
Advantageous effect：A kind of method of GNSS receiver code observation provided by the invention, by the investigation to different variables,
The precision of yard observed range can be greatly improved.
Specific implementation mode
A kind of method of GNSS receiver code observation, including steps are as follows：
Step 1：Calculate code observational equation：
P in formulat sFor the code observed quantity on from satellite s to receiver r；T is
Observation time；C is the light velocity in vacuum；trIt is received the time that machine r is received for signal；tsFor signal emit from satellite s when
Between；It is signal from satellite s to the propagation time of receiver r；For code measurement error；
Step 2：Since satellite clock is asynchronous with clock is received, if receiver clock-offsets δ tr, satellite clock correction δ ts, obtain down
Formula：
Step 3：Formula in step 2 is substituted into code observational equation, obtains following formula：
Step 4：It calculatesObtain following formula：
In formulaThe propagation time for being signal from satellite antenna to receiver antenna；
drFor the hardware code delay of receiver end；dsFor the hardware code delay of satellite end；Geometry between satellite and receiver away from
From；For ionosphere delay；For tropospheric delay；Postpone for multipath；
Step 5：Formula in step 4 is substituted into the formula in step 3, obtains following formula：
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (1)
1. a kind of method of GNSS receiver code observation, it is characterised in that：Including steps are as follows：
Step 1：Calculate code observational equation：
P in formulat sFor the code observed quantity on from satellite s to receiver r；T is observation
Time；C is the light velocity in vacuum；trIt is received the time that machine r is received for signal；tsThe time emitted from satellite s for signal；
It is signal from satellite s to the propagation time of receiver r；For code measurement error；
Step 2：Since satellite clock is asynchronous with clock is received, if receiver clock-offsets δ tr, satellite clock correction δ ts, obtain following formula：
Step 3：Formula in step 2 is substituted into code observational equation, obtains following formula：
Step 4：It calculatesObtain following formula：
In formulaThe propagation time for being signal from satellite antenna to receiver antenna；drFor
The hardware code delay of receiver end；dsFor the hardware code delay of satellite end；Geometric distance between satellite and receiver；
For ionosphere delay；For tropospheric delay；Postpone for multipath；
Step 5：Formula in step 4 is substituted into the formula in step 3, obtains following formula：
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610332702.9A CN106054217B (en) | 2016-05-19 | 2016-05-19 | A kind of method of GNSS receiver code observation |
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|---|---|---|---|
| CN201610332702.9A CN106054217B (en) | 2016-05-19 | 2016-05-19 | A kind of method of GNSS receiver code observation |
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| Publication Number | Publication Date |
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| CN106054217A CN106054217A (en) | 2016-10-26 |
| CN106054217B true CN106054217B (en) | 2018-09-21 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106597493B (en) * | 2016-12-16 | 2018-10-26 | 武汉大学 | Nonlinear function drives space-time chaos satellite navigation ranging code realization method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101833080A (en) * | 2009-03-12 | 2010-09-15 | 周迅 | Method for measuring attitude of carrier by using additional constraint condition of GPS system |
| CN101825717B (en) * | 2010-04-16 | 2012-10-24 | 北京航空航天大学 | Carrier smoothing code pseudorange technology-based dynamic attitude positioning method |
| US8248300B2 (en) * | 2010-06-02 | 2012-08-21 | Honeywell International Inc. | System and method of compensating for micro-jump events |
| CN104483688A (en) * | 2014-11-03 | 2015-04-01 | 中国人民解放军63961部队 | High precision baseline solution method based on Beidou satellite navigation system |
| CN104597465B (en) * | 2015-01-23 | 2017-03-15 | 河海大学 | A kind of method that raising GPS combines Static Precise Point Positioning convergence rate with GLONASS |
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