CN106226799A - A kind of mobile terminal realizing rapid frequency scanning - Google Patents

Abstract

A kind of mobile terminal realizing rapid frequency scanning of the present invention, including mobile terminal and the global navigation satellite system receiver that is connected with mobile terminal, it is characterised in that described mobile terminal includes time-frequency conversion module and frequency point selection module；Described time-frequency conversion module, for being converted to frequency-region signal by the time-domain signal received；Described frequency point selection module, the power spectrum for the frequency-region signal by scanning frequency band to be scanned determines the frequency for access network.The present invention improves the speed of frequency scanning, adds the degree of accuracy of the frequency determined.

Description

A kind of mobile terminal realizing rapid frequency scanning

Technical field

The present invention relates to field of mobile terminals, be specifically related to a kind of mobile terminal realizing rapid frequency scanning.

Background technology

In wireless communication system especially cellular communication system, frequency scanning to mobile terminal be one very important Step.When, after mobile terminal-opening, the frequency that can prestore according to oneself carries out priority access trial, if it fails, then need Other all possible frequency band to perform a scan and to find the frequency that can access, then access network.When mobile whole It is also required to perform a scan during the first start of end or when network signal cannot be detected.

On the other hand, it is desirable to mobile terminal and accurate positioning function can be provided.

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 mobile terminal realizing rapid frequency scanning.

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

A kind of mobile terminal realizing rapid frequency scanning, including mobile terminal and the worldwide navigation that is connected with mobile terminal Satellite systems receiver, it is characterised in that described mobile terminal includes time-frequency conversion module and frequency point selection module；Described time-frequency Conversion module, for being converted to frequency-region signal by the time-domain signal received；Described frequency point selection module, for treating by scanning The power spectrum of the frequency-region signal of scan band determines the frequency for access network.

The invention have the benefit that the speed that improve frequency scanning, add the degree of accuracy of the frequency determined, and real Show location.

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 mobile terminal 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 mobile terminal realizing rapid frequency scanning of an embodiment of this application scene, bag Include mobile terminal and the global navigation satellite system receiver being connected with mobile terminal, it is characterised in that described mobile terminal bag Include time-frequency conversion module and frequency point selection module；Described time-frequency conversion module, for being converted to frequency by the time-domain signal received Territory signal；Described frequency point selection module, the power spectrum for the frequency-region signal by scanning frequency band to be scanned determines for accessing The frequency of network.

Preferably, described time-frequency conversion module, it is additionally operable to be divided into by time-domain signal multiple with reference to duration T for time interval Time-domain segment signal, processes each time-domain segment signal successively, and signal intensity is only more than the time-domain segment signal of pre-determined threshold Carry out time frequency signal conversion.

The above embodiment of the present invention improves the speed of frequency scanning, adds the degree of accuracy of the frequency determined, and realizes Location.

Preferably, described frequency point selection module, the power spectrum being additionally operable to treat the frequency-region signal of scan band is scanned, Determine effective frequency range, wherein, effective frequency range comprises continuous print frequency and performance number corresponding to each frequency is all higher than presetting Power threshold, using effective frequency range intermediate-frequeney point as the alternative frequency being used for access network；Be additionally operable to by effective frequency range with have The distance of the center frequency point of effect frequency range less than the frequency of predetermined interval thresholding as preferential alternative frequency, by effective frequency range other Frequency as the alternative frequency of second priority, according to from center frequency point distance from close to remote order, each preferential alternative frequency is set Priority.

This preferred embodiment can further determine that effective frequency range.

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 phase Pseudorange to 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, coefficient

(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 mobile terminal realizing rapid frequency scanning of an embodiment of this application scene, bag Include mobile terminal and the global navigation satellite system receiver being connected with mobile terminal, it is characterised in that described mobile terminal bag Include time-frequency conversion module and frequency point selection module；Described time-frequency conversion module, for being converted to frequency by the time-domain signal received Territory signal；Described frequency point selection module, the power spectrum for the frequency-region signal by scanning frequency band to be scanned determines for accessing The frequency of network.

Preferably, described time-frequency conversion module, it is additionally operable to be divided into by time-domain signal multiple with reference to duration T for time interval Time-domain segment signal, processes each time-domain segment signal successively, and signal intensity is only more than the time-domain segment signal of pre-determined threshold Carry out time frequency signal conversion.

The above embodiment of the present invention improves the speed of frequency scanning, adds the degree of accuracy of the frequency determined, and realizes Location.

Preferably, described frequency point selection module, the power spectrum being additionally operable to treat the frequency-region signal of scan band is scanned, Determine effective frequency range, wherein, effective frequency range comprises continuous print frequency and performance number corresponding to each frequency is all higher than presetting Power threshold, using effective frequency range intermediate-frequeney point as the alternative frequency being used for access network；Be additionally operable to by effective frequency range with have The distance of the center frequency point of effect frequency range less than the frequency of predetermined interval thresholding as preferential alternative frequency, by effective frequency range other Frequency as the alternative frequency of second priority, according to from center frequency point distance from close to remote order, each preferential alternative frequency is set Priority.

This preferred embodiment can further determine that effective frequency range.

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

WithNot Wei k with k-1 moment global navigation satellite system receiver 1 relative The pseudorange of 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；

(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, coefficient

(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 mobile terminal realizing rapid frequency scanning of an embodiment of this application scene, bag Include mobile terminal and the global navigation satellite system receiver being connected with mobile terminal, it is characterised in that described mobile terminal bag Include time-frequency conversion module and frequency point selection module；Described time-frequency conversion module, for being converted to frequency by the time-domain signal received Territory signal；Described frequency point selection module, the power spectrum for the frequency-region signal by scanning frequency band to be scanned determines for accessing The frequency of network.

Preferably, described time-frequency conversion module, it is additionally operable to be divided into by time-domain signal multiple with reference to duration T for time interval Time-domain segment signal, processes each time-domain segment signal successively, and signal intensity is only more than the time-domain segment signal of pre-determined threshold Carry out time frequency signal conversion.

The above embodiment of the present invention improves the speed of frequency scanning, adds the degree of accuracy of the frequency determined, and realizes Location.

Preferably, described frequency point selection module, the power spectrum being additionally operable to treat the frequency-region signal of scan band is scanned, Determine effective frequency range, wherein, effective frequency range comprises continuous print frequency and performance number corresponding to each frequency is all higher than presetting Power threshold, using effective frequency range intermediate-frequeney point as the alternative frequency being used for access network；Be additionally operable to by effective frequency range with have The distance of the center frequency point of effect frequency range less than the frequency of predetermined interval thresholding as preferential alternative frequency, by effective frequency range other Frequency as the alternative frequency of second priority, according to from center frequency point distance from close to remote order, each preferential alternative frequency is set Priority.

This preferred embodiment can further determine that effective frequency range.

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 phase Pseudorange to 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, coefficient

(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 mobile terminal realizing rapid frequency scanning of an embodiment of this application scene, bag Include mobile terminal and the global navigation satellite system receiver being connected with mobile terminal, it is characterised in that described mobile terminal bag Include time-frequency conversion module and frequency point selection module；Described time-frequency conversion module, for being converted to frequency by the time-domain signal received Territory signal；Described frequency point selection module, the power spectrum for the frequency-region signal by scanning frequency band to be scanned determines for accessing The frequency of network.

Preferably, described time-frequency conversion module, it is additionally operable to be divided into by time-domain signal multiple with reference to duration T for time interval Time-domain segment signal, processes each time-domain segment signal successively, and signal intensity is only more than the time-domain segment signal of pre-determined threshold Carry out time frequency signal conversion.

The above embodiment of the present invention improves the speed of frequency scanning, adds the degree of accuracy of the frequency determined, and realizes Location.

Preferably, described frequency point selection module, the power spectrum being additionally operable to treat the frequency-region signal of scan band is scanned, Determine effective frequency range, wherein, effective frequency range comprises continuous print frequency and performance number corresponding to each frequency is all higher than presetting Power threshold, using effective frequency range intermediate-frequeney point as the alternative frequency being used for access network；Be additionally operable to by effective frequency range with have The distance of the center frequency point of effect frequency range less than the frequency of predetermined interval thresholding as preferential alternative frequency, by effective frequency range other Frequency as the alternative frequency of second priority, according to from center frequency point distance from close to remote order, each preferential alternative frequency is set Priority.

This preferred embodiment can further determine that effective frequency range.

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 phase Pseudorange to 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, coefficient

(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 mobile terminal realizing rapid frequency scanning of an embodiment of this application scene, bag Include mobile terminal and the global navigation satellite system receiver being connected with mobile terminal, it is characterised in that described mobile terminal bag Include time-frequency conversion module and frequency point selection module；Described time-frequency conversion module, for being converted to frequency by the time-domain signal received Territory signal；Described frequency point selection module, the power spectrum for the frequency-region signal by scanning frequency band to be scanned determines for accessing The frequency of network.

Preferably, described time-frequency conversion module, it is additionally operable to be divided into by time-domain signal multiple with reference to duration T for time interval Time-domain segment signal, processes each time-domain segment signal successively, and signal intensity is only more than the time-domain segment signal of pre-determined threshold Carry out time frequency signal conversion.

The above embodiment of the present invention improves the speed of frequency scanning, adds the degree of accuracy of the frequency determined, and realizes Location.

Preferably, described frequency point selection module, the power spectrum being additionally operable to treat the frequency-region signal of scan band is scanned, Determine effective frequency range, wherein, effective frequency range comprises continuous print frequency and performance number corresponding to each frequency is all higher than presetting Power threshold, using effective frequency range intermediate-frequeney point as the alternative frequency being used for access network；Be additionally operable to by effective frequency range with have The distance of the center frequency point of effect frequency range less than the frequency of predetermined interval thresholding as preferential alternative frequency, by effective frequency range other Frequency as the alternative frequency of second priority, according to from center frequency point distance from close to remote order, each preferential alternative frequency is set Priority.

This preferred embodiment can further determine that effective frequency range.

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 phase Pseudorange to 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, coefficient

(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. realize a mobile terminal for rapid frequency scanning, defend including mobile terminal and the worldwide navigation being connected with mobile terminal Star system receiver, it is characterised in that described mobile terminal includes time-frequency conversion module and frequency point selection module；Described time-frequency becomes Die change block, for being converted to frequency-region signal by the time-domain signal received；Described frequency point selection module, for waiting to sweep by scanning The power spectrum of the frequency-region signal retouching frequency band determines the frequency for access network.

A kind of mobile terminal realizing rapid frequency scanning the most according to claim 1, it is characterised in that described time-frequency becomes Die change block, is additionally operable to for time interval, time-domain signal is divided into multiple time-domain segment signal, successively to each time-domain segment with reference to duration T Signal processes, and only more than the time-domain segment signal of pre-determined threshold, signal intensity is carried out time frequency signal conversion.

A kind of mobile terminal realizing rapid frequency scanning the most according to claim 2, it is characterised in that described frequency selects Selecting module, the power spectrum being additionally operable to treat the frequency-region signal of scan band is scanned, and determines effective frequency range, wherein, effectively frequency Comprise continuous print frequency in Duan and performance number corresponding to each frequency is all higher than the power threshold preset, by effective frequency range intermediate frequency Point is as the alternative frequency for access network；It is additionally operable to be less than distance with the center frequency point of effective frequency range in effective frequency range The frequency of predetermined interval thresholding is as preferential alternative frequency, using other frequency in effective frequency range as the alternative frequency of second priority, root According to from center frequency point distance from close to the priority of each preferential alternative frequency is set to remote order.