CN106054587A - Watch with positioning function - Google Patents

Abstract

The invention relates to a watch with a positioning function. The water with a positioning function comprises a watch and a global navigation satellite system receiver connected to the watch. The watch with a positioning function is characterized in that the watch is formed by a watch movement with a timing function, a watch shell and a back cover, the back cover is provided with one or more magnetic bodies, a magnetic isolation body is between the magnetic bodies and the movement, the magnetic bodies are arranged at the inner side face (corresponding to the watch movement) of the back cover or are arranged in the back cover, the magnetic bodies is received in a corresponding cavity or hole core in the back cover, the magnetic isolation body covers the magnetic bodies and is fixed at the inner side face of the back cover or in the back cover, and a magnetic isolation piece of magnetic body barrier is formed. According to the invention, the watch has the functions of timing, health care of treating diseases and positioning.

Description

A kind of wrist-watch with positioning function

Technical field

The present invention relates to wrist-watch field, be specifically related to a kind of wrist-watch with positioning function.

Background technology

Wrist-watch is as the necessary in people's daily life, and people are the most not only satisfied with its clocking capability, a side Face, the health care of wrist-watch increasingly comes into one's own, and on the other hand, it is desirable to wrist-watch and can provide accurate positioning function.

In order to improve the precision of satellite fix as far as possible, have been developed in multiple satellite fix enhancement techniques at present, such as, Local area differential GPS, WADGPS etc., can the precision of significantly satellite fix.But, possess satellite fix and increase powerful Generally there is the problem that structure is complicated, price is high in global navigation satellite system receiver.

Summary of the invention

For solving the problems referred to above, the present invention provides a kind of wrist-watch with positioning function.

The purpose of the present invention realizes by the following technical solutions:

A kind of wrist-watch with positioning function, including wrist-watch and the global navigation satellite system receiver that is connected with wrist-watch, It is characterized in that, wrist-watch is by being made up of the timepiece movement of clocking capability, watchcase and bonnet, it is characterised in that bonnet is provided with magnetic Gonosome, has a magnetic isolation body between magnetic and movement, and described magnetic is arranged on the medial surface of bonnet (with hands The one side that table movement is corresponding), or be arranged in bonnet, described magnetic can be a magnetic, it is also possible on Multiple magnetics, and be contained in bonnet in corresponding hole or Kong Xin, described magnetic isolation body is to be covered in magnetic On body, and it is fastened on bonnet medial surface or in bonnet, constitutes the antifreeze plate of magnetic barrier.

The invention have the benefit that achieve wrist-watch can timing, possess again the treatment health-care effect of disease and location Function.

Accompanying drawing explanation

The invention will be further described to utilize accompanying drawing, but the embodiment in accompanying drawing does not constitute any limit to the present invention System, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to the following drawings Other accompanying drawing.

Fig. 1 is the schematic diagram of wrist-watch of the present invention；

Fig. 2 is the structural representation of global navigation satellite system receiver.

Reference: global navigation satellite system receiver 1, satellite pseudorange measurement acquiring unit 11, Satellite observation Pseudorange error eliminates unit 12, position resolves rough error and eliminates unit 13.

Detailed description of the invention

The invention will be further described with the following Examples.

Application scenarios 1

See Fig. 1, Fig. 2, a kind of wrist-watch with positioning function of an embodiment of this application scene, including wrist-watch and The global navigation satellite system receiver being connected with wrist-watch, it is characterised in that wrist-watch is by having the timepiece movement of clocking capability, watchcase With bonnet composition, it is characterised in that bonnet is provided with magnetic, has a magnetic isolation body, institute between magnetic and movement The magnetic stated is arranged on the medial surface of bonnet (one side corresponding with timepiece movement), or is arranged in bonnet, institute The magnetic stated can be a magnetic, it is also possible to upper multiple magnetics, and be contained in bonnet corresponding hole or In Kong Xin, described magnetic isolation body is to be covered on magnetic, and is fastened on bonnet medial surface or in bonnet, constitutes The antifreeze plate of magnetic barrier.

Preferably, described magnetic is made up of rare earth magnetic steel or ferroalloy materials, and its magnetism intensity is The volume of 1000-3000 Gauss, the volume of magnetic and its corresponding hole or Kong Xin matches.

The above embodiment of the present invention achieve wrist-watch can timing, again possess treatment disease health-care effect and location merit Energy.

Preferably, described antifreeze plate is made up of pure iron or alloy material, and its physical dimension is Physical dimension ratio between antifreeze plate and magnetic: its thickness is 1:1-4, its a diameter of 1-4:1.

This preferred embodiment is convenient to be implemented, it is simple to realize producing by batch.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, satellite Measure pseudorange error and eliminate unit 12, position resolving rough error elimination unit 13, described satellite pseudorange measurement acquiring unit 11 For processing the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates The unit 12 systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using Method of least square carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out thick in solution process Difference eliminates, the described high-precision coordinate of final acquisition.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)Measurement for every visible satellite is pseudo- Away from, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sDefend for worldwide navigation Star system receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each satellite-signal warp Cross ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For the time delay of earth rotation effects, For the pseudo range measurement noise to each satellite-signal；

Wherein,X is that the whole world is led The position coordinates vector of boat satellite systems receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers each in the calculating of pseudorange Plant delay time error, decrease the time of initial alignment, decrease the energy loss of global navigation satellite system receiver 1, increase Stand-by time, improves the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to enter Row eliminates, and after error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, each satellite clock can not exist with gps time stringent synchronization Clock correction p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set Determine T₁Span be [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudorange Measure equation linearisation to solve: Δ ρ^(M)=H Δ X

WithIt is respectively k and k-1 moment global navigation satellite system receiver 1 The pseudorange of relative satellite M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively the position of k and k-1 moment global navigation satellite system receiver 1 Put；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal is in resolving Act on the biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and worldwide navigation The error E that satellite systems receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide, other is by mistake Difference E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error is all A set of error values relevant to this measurement error can be obtained, thus measure every time and can obtain corresponding measurement error Standard deviation sigma^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meet weight because of Son chooses requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Obtain:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficientJ=1,2,3,4；

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves worldwide navigation The sensitivity of satellite systems receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including being sequentially connected with Pretreatment subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment sub-list The satellite of data exception, for the satellite pseudo range measurement data after described elimination systematic error carry out pretreatment, is rejected by unit；Institute Rheme puts Solution operator unit for according to pretreated satellite pseudo range measurement data, employing method of least square and initial weight matrix Carry out initialized Position-Solving；Described rough error judges and eliminates subelement for judging the location of position Solution operator unit output Whether solving result exists rough error, if there is rough error, rejects fault satellites rough error occur, if there is not rough error, uses minimum Square law and new weight matrix are iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time eventually Only iteration, so that it is determined that preferably satellite, and then obtain and export positioning result；Described filtering subelement is for described location Result uses Kalman filtering to be filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite The factor arrays of pseudo range measurement error equation and constant term, obtain described initial weight matrix according to elevation of satellite；According to a young waiter in a wineshop or an inn Multiplication carries out Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to defending The number of star and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement Error equation and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means cluster side Method carries out cluster analysis to the distance between described each vector, it is judged that the close and distant relation between vector, thus completes outliers identifying.

Method of least square, interative computation, clustering method and filtering are calculated and combine by this preferred embodiment, improve satellite excellent Choosing and the precision of location, after eliminating pseudo range measurement error, be made whether to exist the judgement of rough error, and isolate before interative computation There is the fault satellites of rough error, reduce amount of calculation, improve positional accuracy further.

In this application scenarios, set threshold value T₁Value be 30mm, locating speed improves 10% relatively, positioning precision Relatively improve 12%.

Application scenarios 2

See Fig. 1, Fig. 2, a kind of wrist-watch with positioning function of an embodiment of this application scene, including wrist-watch and The global navigation satellite system receiver being connected with wrist-watch, it is characterised in that wrist-watch is by having the timepiece movement of clocking capability, watchcase With bonnet composition, it is characterised in that bonnet is provided with magnetic, has a magnetic isolation body, institute between magnetic and movement The magnetic stated is arranged on the medial surface of bonnet (one side corresponding with timepiece movement), or is arranged in bonnet, institute The magnetic stated can be a magnetic, it is also possible to upper multiple magnetics, and be contained in bonnet corresponding hole or In Kong Xin, described magnetic isolation body is to be covered on magnetic, and is fastened on bonnet medial surface or in bonnet, constitutes The antifreeze plate of magnetic barrier.

Preferably, described magnetic is made up of rare earth magnetic steel or ferroalloy materials, and its magnetism intensity is The volume of 1000-3000 Gauss, the volume of magnetic and its corresponding hole or Kong Xin matches.

The above embodiment of the present invention achieve wrist-watch can timing, again possess treatment disease health-care effect and location merit Energy.

Preferably, described antifreeze plate is made up of pure iron or alloy material, and its physical dimension is Physical dimension ratio between antifreeze plate and magnetic: its thickness is 1:1-4, its a diameter of 1-4:1.

This preferred embodiment is convenient to be implemented, it is simple to realize producing by batch.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, satellite Measure pseudorange error and eliminate unit 12, position resolving rough error elimination unit 13, described satellite pseudorange measurement acquiring unit 11 For processing the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates The unit 12 systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using Method of least square carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out thick in solution process Difference eliminates, the described high-precision coordinate of final acquisition.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)Measurement for every visible satellite is pseudo- Away from, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sDefend for worldwide navigation Star system receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each satellite-signal warp Cross ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For the time delay of earth rotation effects, For the pseudo range measurement noise to each satellite-signal；

Wherein,X is that the whole world is led The position coordinates vector of boat satellite systems receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers each in the calculating of pseudorange Plant delay time error, decrease the time of initial alignment, decrease the energy loss of global navigation satellite system receiver 1, increase Stand-by time, improves the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to enter Row eliminates, and after error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, each satellite clock can not exist with gps time stringent synchronization Clock correction p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set Determine T₁Span be [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudorange Measure equation linearisation to solve: Δ ρ^(M)=H Δ X

WithIt is respectively k and k-1 moment global navigation satellite system receiver 1 The pseudorange of relative satellite M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively the position of k and k-1 moment global navigation satellite system receiver 1 Put；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal is in resolving Act on the biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and worldwide navigation The error E that satellite systems receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide, other is by mistake Difference E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error is all A set of error values relevant to this measurement error can be obtained, thus measure every time and can obtain corresponding measurement error Standard deviation sigma^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meet weight because of Son chooses requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Obtain:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficientJ=1,2,3,4；

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves worldwide navigation The sensitivity of satellite systems receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including being sequentially connected with Pretreatment subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment sub-list The satellite of data exception, for the satellite pseudo range measurement data after described elimination systematic error carry out pretreatment, is rejected by unit；Institute Rheme puts Solution operator unit for according to pretreated satellite pseudo range measurement data, employing method of least square and initial weight matrix Carry out initialized Position-Solving；Described rough error judges and eliminates subelement for judging the location of position Solution operator unit output Whether solving result exists rough error, if there is rough error, rejects fault satellites rough error occur, if there is not rough error, uses minimum Square law and new weight matrix are iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time eventually Only iteration, so that it is determined that preferably satellite, and then obtain and export positioning result；Described filtering subelement is for described location Result uses Kalman filtering to be filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite The factor arrays of pseudo range measurement error equation and constant term, obtain described initial weight matrix according to elevation of satellite；According to a young waiter in a wineshop or an inn Multiplication carries out Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to defending The number of star and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement Error equation and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means cluster side Method carries out cluster analysis to the distance between described each vector, it is judged that the close and distant relation between vector, thus completes outliers identifying.

Method of least square, interative computation, clustering method and filtering are calculated and combine by this preferred embodiment, improve satellite excellent Choosing and the precision of location, after eliminating pseudo range measurement error, be made whether to exist the judgement of rough error, and isolate before interative computation There is the fault satellites of rough error, reduce amount of calculation, improve positional accuracy further.

In this application scenarios, set threshold value T₁Value be 35mm, locating speed improves 9% relatively, positioning precision Relatively improve 11%.

Application scenarios 3

See Fig. 1, Fig. 2, a kind of wrist-watch with positioning function of an embodiment of this application scene, including wrist-watch and The global navigation satellite system receiver being connected with wrist-watch, it is characterised in that wrist-watch is by having the timepiece movement of clocking capability, watchcase With bonnet composition, it is characterised in that bonnet is provided with magnetic, has a magnetic isolation body, institute between magnetic and movement The magnetic stated is arranged on the medial surface of bonnet (one side corresponding with timepiece movement), or is arranged in bonnet, institute The magnetic stated can be a magnetic, it is also possible to upper multiple magnetics, and be contained in bonnet corresponding hole or In Kong Xin, described magnetic isolation body is to be covered on magnetic, and is fastened on bonnet medial surface or in bonnet, constitutes The antifreeze plate of magnetic barrier.

Preferably, described magnetic is made up of rare earth magnetic steel or ferroalloy materials, and its magnetism intensity is The volume of 1000-3000 Gauss, the volume of magnetic and its corresponding hole or Kong Xin matches.

The above embodiment of the present invention achieve wrist-watch can timing, again possess treatment disease health-care effect and location merit Energy.

Preferably, described antifreeze plate is made up of pure iron or alloy material, and its physical dimension is Physical dimension ratio between antifreeze plate and magnetic: its thickness is 1:1-4, its a diameter of 1-4:1.

This preferred embodiment is convenient to be implemented, it is simple to realize producing by batch.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, satellite Measure pseudorange error and eliminate unit 12, position resolving rough error elimination unit 13, described satellite pseudorange measurement acquiring unit 11 For processing the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates The unit 12 systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using Method of least square carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out thick in solution process Difference eliminates, the described high-precision coordinate of final acquisition.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)Measurement for every visible satellite is pseudo- Away from, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sDefend for worldwide navigation Star system receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each satellite-signal warp Cross ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For the time delay of earth rotation effects, For the pseudo range measurement noise to each satellite-signal；

Wherein,X is that the whole world is led The position coordinates vector of boat satellite systems receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers each in the calculating of pseudorange Plant delay time error, decrease the time of initial alignment, decrease the energy loss of global navigation satellite system receiver 1, increase Stand-by time, improves the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to enter Row eliminates, and after error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, each satellite clock can not exist with gps time stringent synchronization Clock correction p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set Determine T₁Span be [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudorange Measure equation linearisation to solve: Δ ρ^(M)=H Δ X

WithIt is respectively k and k-1 moment global navigation satellite system receiver 1 The pseudorange of relative satellite M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively the position of k and k-1 moment global navigation satellite system receiver 1 Put；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal is in resolving Act on the biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and worldwide navigation The error E that satellite systems receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide, other is by mistake Difference E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error is all A set of error values relevant to this measurement error can be obtained, thus measure every time and can obtain corresponding measurement error Standard deviation sigma^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meet weight because of Son chooses requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Obtain:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficientJ=1,2,3,4；

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves worldwide navigation The sensitivity of satellite systems receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including being sequentially connected with Pretreatment subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment sub-list The satellite of data exception, for the satellite pseudo range measurement data after described elimination systematic error carry out pretreatment, is rejected by unit；Institute Rheme puts Solution operator unit for according to pretreated satellite pseudo range measurement data, employing method of least square and initial weight matrix Carry out initialized Position-Solving；Described rough error judges and eliminates subelement for judging the location of position Solution operator unit output Whether solving result exists rough error, if there is rough error, rejects fault satellites rough error occur, if there is not rough error, uses minimum Square law and new weight matrix are iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time eventually Only iteration, so that it is determined that preferably satellite, and then obtain and export positioning result；Described filtering subelement is for described location Result uses Kalman filtering to be filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite The factor arrays of pseudo range measurement error equation and constant term, obtain described initial weight matrix according to elevation of satellite；According to a young waiter in a wineshop or an inn Multiplication carries out Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to defending The number of star and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement Error equation and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means cluster side Method carries out cluster analysis to the distance between described each vector, it is judged that the close and distant relation between vector, thus completes outliers identifying.

Method of least square, interative computation, clustering method and filtering are calculated and combine by this preferred embodiment, improve satellite excellent Choosing and the precision of location, after eliminating pseudo range measurement error, be made whether to exist the judgement of rough error, and isolate before interative computation There is the fault satellites of rough error, reduce amount of calculation, improve positional accuracy further.

In this application scenarios, set threshold value T₁Value be 40mm, locating speed improves 13% relatively, positioning precision Relatively improve 13%.

Application scenarios 4

See Fig. 1, Fig. 2, a kind of wrist-watch with positioning function of an embodiment of this application scene, including wrist-watch and The global navigation satellite system receiver being connected with wrist-watch, it is characterised in that wrist-watch is by having the timepiece movement of clocking capability, watchcase With bonnet composition, it is characterised in that bonnet is provided with magnetic, has a magnetic isolation body, institute between magnetic and movement The magnetic stated is arranged on the medial surface of bonnet (one side corresponding with timepiece movement), or is arranged in bonnet, institute The magnetic stated can be a magnetic, it is also possible to upper multiple magnetics, and be contained in bonnet corresponding hole or In Kong Xin, described magnetic isolation body is to be covered on magnetic, and is fastened on bonnet medial surface or in bonnet, constitutes The antifreeze plate of magnetic barrier.

Preferably, described magnetic is made up of rare earth magnetic steel or ferroalloy materials, and its magnetism intensity is The volume of 1000-3000 Gauss, the volume of magnetic and its corresponding hole or Kong Xin matches.

The above embodiment of the present invention achieve wrist-watch can timing, again possess treatment disease health-care effect and location merit Energy.

Preferably, described antifreeze plate is made up of pure iron or alloy material, and its physical dimension is Physical dimension ratio between antifreeze plate and magnetic: its thickness is 1:1-4, its a diameter of 1-4:1.

This preferred embodiment is convenient to be implemented, it is simple to realize producing by batch.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, satellite Measure pseudorange error and eliminate unit 12, position resolving rough error elimination unit 13, described satellite pseudorange measurement acquiring unit 11 For processing the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates The unit 12 systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using Method of least square carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out thick in solution process Difference eliminates, the described high-precision coordinate of final acquisition.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)Measurement for every visible satellite is pseudo- Away from, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sDefend for worldwide navigation Star system receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each satellite-signal warp Cross ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For the time delay of earth rotation effects, For the pseudo range measurement noise to each satellite-signal；

Wherein,X is that the whole world is led The position coordinates vector of boat satellite systems receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers each in the calculating of pseudorange Plant delay time error, decrease the time of initial alignment, decrease the energy loss of global navigation satellite system receiver 1, increase Stand-by time, improves the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to enter Row eliminates, and after error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, each satellite clock can not exist with gps time stringent synchronization Clock correction p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set Determine T₁Span be [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudorange Measure equation linearisation to solve: Δ ρ^(M)=H Δ X

WithIt is respectively k and k-1 moment global navigation satellite system receiver 1 The pseudorange of relative satellite M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively the position of k and k-1 moment global navigation satellite system receiver 1 Put；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal is in resolving Act on the biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and worldwide navigation The error E that satellite systems receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide, other is by mistake Difference E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error is all A set of error values relevant to this measurement error can be obtained, thus measure every time and can obtain corresponding measurement error Standard deviation sigma^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meet weight because of Son chooses requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Obtain:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficientJ=1,2,3,4；

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves worldwide navigation The sensitivity of satellite systems receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including being sequentially connected with Pretreatment subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment sub-list The satellite of data exception, for the satellite pseudo range measurement data after described elimination systematic error carry out pretreatment, is rejected by unit；Institute Rheme puts Solution operator unit for according to pretreated satellite pseudo range measurement data, employing method of least square and initial weight matrix Carry out initialized Position-Solving；Described rough error judges and eliminates subelement for judging the location of position Solution operator unit output Whether solving result exists rough error, if there is rough error, rejects fault satellites rough error occur, if there is not rough error, uses minimum Square law and new weight matrix are iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time eventually Only iteration, so that it is determined that preferably satellite, and then obtain and export positioning result；Described filtering subelement is for described location Result uses Kalman filtering to be filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite The factor arrays of pseudo range measurement error equation and constant term, obtain described initial weight matrix according to elevation of satellite；According to a young waiter in a wineshop or an inn Multiplication carries out Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to defending The number of star and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement Error equation and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means cluster side Method carries out cluster analysis to the distance between described each vector, it is judged that the close and distant relation between vector, thus completes outliers identifying.

Method of least square, interative computation, clustering method and filtering are calculated and combine by this preferred embodiment, improve satellite excellent Choosing and the precision of location, after eliminating pseudo range measurement error, be made whether to exist the judgement of rough error, and isolate before interative computation There is the fault satellites of rough error, reduce amount of calculation, improve positional accuracy further.

In this application scenarios, set threshold value T₁Value be 45mm, locating speed improves 14% relatively, positioning precision Relatively improve 15%.

Application scenarios 5

See Fig. 1, Fig. 2, a kind of wrist-watch with positioning function of an embodiment of this application scene, including wrist-watch and The global navigation satellite system receiver being connected with wrist-watch, it is characterised in that wrist-watch is by having the timepiece movement of clocking capability, watchcase With bonnet composition, it is characterised in that bonnet is provided with magnetic, has a magnetic isolation body, institute between magnetic and movement The magnetic stated is arranged on the medial surface of bonnet (one side corresponding with timepiece movement), or is arranged in bonnet, institute The magnetic stated can be a magnetic, it is also possible to upper multiple magnetics, and be contained in bonnet corresponding hole or In Kong Xin, described magnetic isolation body is to be covered on magnetic, and is fastened on bonnet medial surface or in bonnet, constitutes The antifreeze plate of magnetic barrier.

Preferably, described magnetic is made up of rare earth magnetic steel or ferroalloy materials, and its magnetism intensity is The volume of 1000-3000 Gauss, the volume of magnetic and its corresponding hole or Kong Xin matches.

The above embodiment of the present invention achieve wrist-watch can timing, again possess treatment disease health-care effect and location merit Energy.

Preferably, described antifreeze plate is made up of pure iron or alloy material, and its physical dimension is Physical dimension ratio between antifreeze plate and magnetic: its thickness is 1:1-4, its a diameter of 1-4:1.

This preferred embodiment is convenient to be implemented, it is simple to realize producing by batch.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, satellite Measure pseudorange error and eliminate unit 12, position resolving rough error elimination unit 13, described satellite pseudorange measurement acquiring unit 11 For processing the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates The unit 12 systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using Method of least square carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out thick in solution process Difference eliminates, the described high-precision coordinate of final acquisition.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)Measurement for every visible satellite is pseudo- Away from, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sDefend for worldwide navigation Star system receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each satellite-signal warp Cross ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For the time delay of earth rotation effects, For the pseudo range measurement noise to each satellite-signal；

Wherein,X is that the whole world is led The position coordinates vector of boat satellite systems receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers each in the calculating of pseudorange Plant delay time error, decrease the time of initial alignment, decrease the energy loss of global navigation satellite system receiver 1, increase Stand-by time, improves the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to enter Row eliminates, and after error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, each satellite clock can not exist with gps time stringent synchronization Clock correction p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set Determine T₁Span be [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudorange Measure equation linearisation to solve: Δ ρ^(M)=H Δ X

WithIt is respectively k and k-1 moment global navigation satellite system receiver 1 The pseudorange of relative satellite M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively the position of k and k-1 moment global navigation satellite system receiver 1 Put；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal is in resolving Act on the biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and worldwide navigation The error E that satellite systems receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide, other is by mistake Difference E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error is all A set of error values relevant to this measurement error can be obtained, thus measure every time and can obtain corresponding measurement error Standard deviation sigma^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meet weight because of Son chooses requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Obtain:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficientJ=1,2,3,4；

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves worldwide navigation The sensitivity of satellite systems receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including being sequentially connected with Pretreatment subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment sub-list The satellite of data exception, for the satellite pseudo range measurement data after described elimination systematic error carry out pretreatment, is rejected by unit；Institute Rheme puts Solution operator unit for according to pretreated satellite pseudo range measurement data, employing method of least square and initial weight matrix Carry out initialized Position-Solving；Described rough error judges and eliminates subelement for judging the location of position Solution operator unit output Whether solving result exists rough error, if there is rough error, rejects fault satellites rough error occur, if there is not rough error, uses minimum Square law and new weight matrix are iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time eventually Only iteration, so that it is determined that preferably satellite, and then obtain and export positioning result；Described filtering subelement is for described location Result uses Kalman filtering to be filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite The factor arrays of pseudo range measurement error equation and constant term, obtain described initial weight matrix according to elevation of satellite；According to a young waiter in a wineshop or an inn Multiplication carries out Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to defending The number of star and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement Error equation and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means cluster side Method carries out cluster analysis to the distance between described each vector, it is judged that the close and distant relation between vector, thus completes outliers identifying.

Method of least square, interative computation, clustering method and filtering are calculated and combine by this preferred embodiment, improve satellite excellent Choosing and the precision of location, after eliminating pseudo range measurement error, be made whether to exist the judgement of rough error, and isolate before interative computation There is the fault satellites of rough error, reduce amount of calculation, improve positional accuracy further.

In this application scenarios, set threshold value T₁Value be 50mm, locating speed improves 15% relatively, positioning precision Relatively improve 16%.

Last it should be noted that, above example is only in order to illustrate technical scheme, rather than the present invention is protected Protecting the restriction of scope, although having made to explain to the present invention with reference to preferred embodiment, those of ordinary skill in the art should Work as understanding, technical scheme can be modified or equivalent, without deviating from the reality of technical solution of the present invention Matter and scope.

Claims (3)

1. there is a wrist-watch for positioning function, including wrist-watch and the global navigation satellite system receiver that is connected with wrist-watch, its Being characterised by, wrist-watch is by being made up of the timepiece movement of clocking capability, watchcase and bonnet, it is characterised in that bonnet is provided with magnetic Body, has a magnetic isolation body between magnetic and movement, and described magnetic is arranged on the medial surface of bonnet (with wrist-watch The one side that movement is corresponding), or be arranged in bonnet, described magnetic can be a magnetic, it is also possible to upper many Individual magnetic, and be contained in bonnet in corresponding hole or Kong Xin, described magnetic isolation body is to be covered in magnetic On, and be fastened on bonnet medial surface or in bonnet, constitute the antifreeze plate of magnetic barrier.

A kind of wrist-watch with positioning function the most according to claim 1, it is characterised in that described magnetic is by dilute Soil magnet steel or ferroalloy materials are made, and its magnetism intensity is 1000-3000 Gauss, and the volume of magnetic is corresponding with it The volume of hole or Kong Xin matches.

A kind of wrist-watch with positioning function the most according to claim 2, it is characterised in that described antifreeze plate is by pure Ferrum or alloy material are made, and its physical dimension isPhysical dimension ratio between antifreeze plate and magnetic: Its thickness is 1:1-4, its a diameter of 1-4:1.