CN106526629B - Satellite navigation and its orientation method and device - Google Patents
Satellite navigation and its orientation method and device Download PDFInfo
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- CN106526629B CN106526629B CN201611208417.2A CN201611208417A CN106526629B CN 106526629 B CN106526629 B CN 106526629B CN 201611208417 A CN201611208417 A CN 201611208417A CN 106526629 B CN106526629 B CN 106526629B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
Abstract
The present invention proposes a kind of satellite navigation and its orientation method and device, the observation satellite that the baseline being made of signal receiver determines is obtained first, the smallest one group of satellite of the positioning precision factor is calculated as proper star and primary, pass through the carrier phase of signal receiver continuous measuring basis star and primary again, and search for the integer ambiguity of the carrier phase of proper star and primary, finally according to carrier phase, integer ambiguity and the positioning precision factor calculate the baseline vector that signal receiver is constituted, the deflection of signal receiver can be obtained after acquisition baseline vector, to be oriented to satellite navigation.Satellite navigation and its orientation method of the invention and device, proper star and primary are determined in conjunction with the positioning precision factor, positioning accuracy is high, is conducive to accurately calculate the baseline vector that signal receiver is constituted, to accurately be oriented satellite navigation.
Description
Technical field
The present invention relates to satellite navigation directional technology field more particularly to a kind of satellite navigation and its orientation method and
Device.
Background technique
Global four large satellite navigation system include the Beidou satellite navigation system of China, GPS of America satellite navigation system, Russia
Ross " GLONASS " satellite navigation system, European " Galileo " satellite navigation system.Satellite navigation system includes space segment, control
Section processed and user segment.Space segment is made of satellite, and control section is related to the operational management of satellite, and user segment includes dual-use use
Family equipment.Application of the satellite navigation directional technology as satellite navigation satellite system high-precision location technique is carried based on satellite
Wave phase signal interference measuring principle, determine space two o'clock direction at geometric vector under given coordinate system.
It determines proper star and primary is the committed step of satellite navigation directional technology, the space geometry point of proper star and primary
Cloth will affect positioning accuracy, and traditional method is to select the smallest 4 satellites of geometric dilution of precision as proper star and master
It the case where star, which is only applicable to change star speed very slow fast static position measurement in control survey, is unable to satisfy and is changing star fast speed
High dynamic precise relative measurement in the case of positioning accuracy demand.
Summary of the invention
Based on this, the present invention proposes a kind of satellite navigation and its orientation method and device, can satisfy and is changing star speed
Spend the positioning accuracy demand in the case of faster high dynamic precise relative measurement.
A kind of orientation method of satellite navigation, comprising:
Obtain proper star and primary that the baseline being made of signal receiver determines；Wherein proper star and primary is opposite
The calculated value of the positioning accuracy factor is less than or equal to preset threshold；
Pass through the carrier phase of signal receiver measuring basis star and primary；
Search for the integer ambiguity of the carrier phase of proper star and primary；
Baseline vector is calculated according to carrier phase, integer ambiguity and the positioning precision factor.
A kind of orienting device of satellite navigation, comprising:
Proper star and primary determining module, for obtaining the proper star and master that the baseline being made of signal receiver determines
Star；Wherein the calculated value of the positioning precision factor of proper star and primary is less than or equal to preset threshold；
Carrier phase measurement module, for passing through the carrier phase of signal receiver measuring basis star and primary；
Searching for integer cycle module, the integer ambiguity of the carrier phase for searching for proper star and primary；
Baseline vector computing module, for according to carrier phase, integer ambiguity and the positioning precision factor
Calculate baseline vector.
A kind of satellite navigation, comprising:
Proper star and primary determine equipment, for obtaining the smallest one group of satellite of the positioning precision factor as proper star
And primary；
Carrier phase measurement equipment, for passing through the carrier phase of signal receiver measuring basis star and primary；
Searching for integer cycle equipment, the integer ambiguity of the carrier phase for searching for proper star and primary；
Baseline vector calculates equipment, for according to carrier phase, integer ambiguity and the positioning precision factor
Calculate baseline vector.
Above-mentioned satellite navigation and its orientation method and device are provided with signal receiver on satellite navigation,
By the orientation to signal receiver positioning characterization to satellite navigation, the base being made of signal receiver is obtained first
The observation satellite that line determines, calculates the smallest one group of satellite of the positioning precision factor as proper star and primary, then pass through
The carrier phase of signal receiver continuous measuring basis star and primary, and search for the complete cycle of the carrier phase of proper star and primary
Fuzziness finally calculates signal receiver structure according to carrier phase, integer ambiguity and the positioning precision factor
At baseline vector, the deflection of signal receiver can be obtained after obtaining baseline vector, thus fixed to satellite navigation
To.Satellite navigation and its orientation method of the invention and device, determined in conjunction with the positioning precision factor proper star and
Primary, positioning accuracy is high, is conducive to accurately calculate the baseline vector that signal receiver is constituted, to accurately set satellite navigation
It is standby to be oriented.
Detailed description of the invention
Fig. 1 is the orientation method flow diagram of the satellite navigation in one embodiment；
Fig. 2 is the orientation schematic diagram of the satellite navigation in one embodiment；
Fig. 3 is the orientation method flow diagram of the satellite navigation in another embodiment；
Fig. 4 is the orientation method flow diagram of the satellite navigation in another embodiment；
Fig. 5 is the orientation method flow diagram of the satellite navigation in further embodiment；
Fig. 6 is the structural schematic diagram of the orienting device of the satellite navigation in one embodiment；
Fig. 7 is the structural schematic diagram of the satellite navigation in one embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In one embodiment, referring to Fig. 1, a kind of orientation method of satellite navigation, comprising:
S11: the smallest one group of satellite of the positioning precision factor is obtained as proper star and primary；
S12: pass through the carrier phase of signal receiver measuring basis star and primary；
S13: the integer ambiguity of the carrier phase of search proper star and primary；
S14: baseline vector is calculated according to carrier phase, integer ambiguity and the positioning precision factor.
Satellite navigation is to be used based on satellite navigation directional technology and satellite carrier phase signal interferometric principle
In determine space two o'clock direction at geometric vector under given coordinate system satellite navigation slewing equipment.Proper star and
Primary is the optimal one group of satellite of positioning accuracy of space geometry distribution, and usual proper star and primary are made of 4 satellites, wherein
One is benchmark star, and in addition three are primary, can be realized by signal receiver and proper star and primary to satellite navigation
The orientation of equipment.Signal receiver can be the antenna being mounted on satellite navigation, and antenna can emit and receive signal,
By the slewing for being oriented achievable satellite navigation to signal receiver.Baseline vector is signal receiver
Vector is constituted, after obtaining baseline vector, can further obtain baseline size and Orientation, such as obtains baseline course angle and pitch angle,
To realize the orientation to satellite to equipment.Signal receiver can be to be two or more, specifically can be in satellite navigation such as Fig. 2
Two antennas are installed in equipment.Carrier phase is the phase in the time of reception received satellite-signal relative to signal receiver
The measured value of the carrier signal phase of generation, carrier phase measurement precision are highest.
In the present embodiment, the positioning accuracy of proper star and primary passes through the positioning precision factor (Relative
Dilution of Precision, abbreviation RDOP) it determines, the positioning precision factor is suitable for fast static position measurement in control survey and height
The case where dynamic precision relative measurement, the positioning precision factor is smaller, illustrates that the positioning accuracy of proper star and primary is higher, will
The smallest one group of satellite of the positioning precision factor is as proper star and primary.
In a kind of optional embodiment, make referring to Fig. 3, obtaining the smallest one group of satellite of the positioning precision factor
For benchmark star and primary, realized by following steps:
S111: the maximum satellite of pitch angle alternately star is obtained according to baseline；Wherein alternative star number amount is more than or equal to 5；
S112: the positioning precision factor of any 4 satellites in the alternative star is calculated, by the positioning precision factor
The smallest 4 satellites are set as proper star and primary.
In present embodiment, the pitch angle of each observation satellite is obtained by baseline, by a series of maximum satellites of pitch angle
Alternately star can reduce the influence of troposphere and ionospheric error, in relative positioning, need 4 or more satellite ability
Relative positioning resolving is enough carried out, therefore alternately star, the raising positioning precision factor resolve essence to the satellite of selection 5 or more
Degree.
In a kind of optional embodiment, referring to Fig. 4, the smallest 4 satellites of the positioning precision factor are arranged
It is further comprising the steps of before benchmark star and primary:
S1121: it if the positioning precision factor is greater than preset threshold, after waiting preset time, recalculates described
The positioning precision factor of any 4 satellites in alternative star；
S1122: by before and after preset time, the smallest 4 satellites of the positioning precision factor of acquisition are set as proper star
And primary.
Preset threshold is the accuracy value that need to meet as the positioning precision of proper star and primary, concretely 10.Meter
It calculates in the alternative star after the positioning precision factor of any 4 satellites, whether judges the positioning precision factor
It is arranged greater than preset threshold, if more than, then after waiting preset time, the positioning precision factor of alternative star is recalculated, it will
The smallest one group of satellite of the positioning precision factor calculated twice before and after preset time is as proper star and primary.This embodiment party
In formula, the positioning precision factor of alternative star is repeatedly calculated, guarantee as far as possible setting proper star and primary it is opposite
The positioning accuracy factor is minimum, improves positioning accuracy.If being less than, can be not required to recalculate the positioning precision of the alternative star
The factor.
In a kind of optional embodiment, after waiting preset time, any 4 satellites in the alternative star are recalculated
The positioning precision factor after, comprising the following steps:
If the alternative star, before and after preset time, the positioning precision factor of any 4 satellites of calculating is all larger than
Preset threshold then expands the quantitative range of the alternative star；
The positioning precision factor of any 4 satellites in alternative star after calculating expanded scope；
The positioning precision factor is minimum, and 4 satellites for being less than or equal to preset threshold be set as proper star and
Primary.
After waiting preset time, the positioning precision factor of any 4 satellites in the alternative star is recalculated, for
The alternative star, if the positioning precision factor of any 4 satellites calculated twice is all larger than preset threshold, expand described in
The quantitative range of alternative star, such as starting determining alternative star is 5, then 7 can be extended to, after then calculating expanded scope
The positioning precision factor of any 4 satellites in alternative star, the positioning precision factor is less than or equal to default if it exists
4 satellites of threshold value, and 4 satellites, in extended alternative star, the positioning precision factor is minimum, it can be 4 by this
Satellite is set as proper star and primary.If after expanded scope, the positioning precision factor of alternative star is still not achieved precision and wants
It asks, the range for expanding alternative star can be continued, continue to calculate.But the quantitative range of alternative star is not infinity, because of alternative star
Quantitative range it is more, calculation amount is bigger, thus should be required according to precision index and the processing capacity of platform from it is all it is available altogether
An appropriate number of alternative star is selected to carry out relative positioning resolving in the TV star.
Integer ambiguity (ambiguity of whole cycles) is also known as integral cycle unknown, is in global positioning system
When the carrier phase measurement of technology, complete cycle corresponding to the first observation of phase difference is unknown between carrier phase and reference phase
Number, integer ambiguity are extremely important in global positioning system carrier phase measurement and must solve the problems, such as.A kind of optional
Embodiment in, search for the integer ambiguity of the carrier phase of proper star and primary, comprising the following steps:
The optimal integer ambiguity for searching for carrier phase in several epoch calculates base according to the optimal integer ambiguity
Line vector.
Epoch is chronomere, and astronomically, epoch is defined a certain for specified celestial coordinate or orbit parameter
Particular moment.In astronomy and satellite positioning, also referred to as epoch at the time of data acquired corresponds to.In present embodiment, it can search
Then optimal integer ambiguity in one or more epoch of rope calculates baseline arrow according to the optimal integer ambiguity
Amount.It makes full use of the integer ambiguity information of carrier phase in more epoch to determine optimal carrier phase ambiguity, load can be improved
The accuracy of wave phase integer ambiguity, to guarantee the accuracy of orientation.
Preferably, referring to Fig. 5, searching for the optimal integer ambiguity of carrier phase in several epoch, including following step
It is rapid:
S131: obtaining the integer ambiguity that frequency of occurrence is most in default epoch number is the first fuzziness；
S132: the integer ambiguity for obtaining frequency of occurrence more than second in default epoch number is the second fuzziness；
S133: the residual error of the first fuzziness and the second fuzziness is calculated；
S134: if the residual error is greater than threshold value, confirm that first fuzziness is optimal fuzziness.
If measuring a certain integer ambiguity in default epoch number to occur repeatedly, such as within 6 epoch, to proper star
The integer ambiguity of carrier phase scan for, the complete cycle mould of the carrier phase of proper star is searched in the 1st, 3,5 epoch
Paste degree 13 weeks, it is 14 weeks in the integer ambiguity that the 2nd and 4 epoch searches the carrier phase of proper star, is searched in the 6th epoch
The integer ambiguity of carrier phase of rope to proper star is 12 weeks, illustrates that the integer ambiguity for 13 occurs 3 times, for the first mould
Paste degree illustrates that the integer ambiguity for 14 occurs 2 times, is the second fuzziness, occurs 1 time for 12 integer ambiguity, counts
The residual error of the first fuzziness Yu the second fuzziness is calculated, if the residual error is greater than threshold value, can be identified as 13 weeks integral circumference ambiguities
Degree is the optimal fuzziness of the carrier phase of the proper star.Residual error can be calculated in the following way:Wherein ε is residual error, and i is i-th satellite, and n is n-th satellite, X12For baseline vector, N12For
Integer ambiguity vector.
In one embodiment, after carrier phase and integer ambiguity building double difference observation equation, including following step
It is rapid:
The carrier phase that continuously measures is obtained, Detection of Cycle-slip and cycle slip fixing are carried out, to confirm that the carrier phase is
It is no that there are cycle slip errors.
During signal receiver carries out continuous carrier phase measurement to observation satellite, it may lead for some reason
It causes complete cycle to count and mistake occurs, make carrier phase observation data compared with carrier phase normal value, the jump of an integer multiples occur, claim
Be cycle slip error, the generation of cycle slip error will destroy carrier phase observation data continuity, make to subsequent carrier phase observation data
At batches of complete cycle number deviation.In carrying out carrier phase measurement, Detection of Cycle-slip real-time detection carrier phase observation data can be passed through
Cycle slip error whether occurs, if producing cycle slip error, carries out cycle slip fixing, carrier phase observation data is repaired, protects
The continuity and accuracy of card orientation result.Specifically, TurboEdit algorithm progress Detection of Cycle-slip can be used and cycle slip is repaired
It is multiple, that is, wide item combination and ionospheric combination is used in combination to carry out Detection of Cycle-slip and cycle slip fixing.
After measuring carrier phase, integer ambiguity and the positioning precision factor, connect according to observational equation to calculate signal
The baseline vector of the composition of receiving unit.Observational equation includes single poor observational equation, double difference observation equation and three poor observational equations.
In one embodiment, the step of baseline vector is calculated according to carrier phase, integer ambiguity and the positioning precision factor
Suddenly include:
Pass through the pseudorange of signal receiver measuring basis star and primary；
In the following way, double difference observation equation is constructed according to carrier phase and integer ambiguity:
Φ12=AX12+N12+ε12
Wherein,
Φ12For the carrier phase that signal receiver 1 and signal receiver 2 obtain, A is coefficient matrix, and λ is carrier wave wave
It is long, r(n)For signal receiver to the unit direction vector of n satellite, ε12For signal receiver 1 and signal receiver 2
Double difference observation error vector, X12For the baseline vector that signal receiver 1 and signal receiver 2 are constituted, N12It is connect for signal
The integer ambiguity vector that receiving unit 1 and signal receiver 2 measure；
In the following way, baseline is calculated according to carrier phase, integer ambiguity and the positioning precision factor
Vector X12Least square solution:
X12=(ATPA)-1ATP(Φ12-N12)
X12For baseline vector, (ATPA)-1For positioning precision factor values, P is pseudorange.
Pseudorange be the light velocity be multiplied by the time as used in the propagation of the distance measuring signal arriving signal receiving device of satellite launch it
Afterwards, the distance between resulting satellite and signal receiver, but in signal communication process, the influence of error is such as received
Machine clock deviation satellite clock correction sky error and tropospheric refraction error etc. make actual observation distance and satellite to signal
The true distance of receiving device is simultaneously unequal, so referred to as pseudorange.
Φ12It is a column vector, for except benchmark for the carrier phase that signal receiver 1 and signal receiver 2 obtain
The double-differential carrier phase observation of other observation satellites outside star.N12It is obtained for signal receiver 1 and signal receiver 2
Integer ambiguity vector is a column vector, indicates the integer ambiguity vector of other observation satellites in addition to proper star.
Known carrier wave phase and integer ambiguity, according to double difference observation equation can baseline vector least square solution, knot
Close the positioning precision factor, wherein the positioning precision factor (ATPA)-1It is related with pseudorange, pass through formula X12=(ATPA)- 1ATP(Φ12-N12) calculate baseline vector.Since two or more signal receivers synchronize observation to same satellite
When, the observed quantities such as carrier phase, integer ambiguity and pseudorange for measuring will receive the influence of some errors, as satellite orbit misses
Difference, satellite clock correction, receiver clock-offsets, ionospheric error and tropospheric error etc., and influence of these errors to observed quantity has
These observed quantities are combined by certain correlation by building double difference observation equation, above-mentioned error can be carried out eliminating or
Person weakens, and the positioning accuracy to satellite navigation can be improved.
The orientation method of above-mentioned satellite navigation is provided with signal receiver on satellite navigation, by letter
Number receiving device positioning characterization obtains what the baseline being made of signal receiver determined to the orientation of satellite navigation first
Observation satellite calculates the smallest one group of satellite of the positioning precision factor as proper star and primary, then is received by signal
The carrier phase of equipment continuous measuring basis star and primary, and the integer ambiguity of the carrier phase of proper star and primary is searched for,
The baseline that signal receiver is constituted finally is calculated according to carrier phase, integer ambiguity and the positioning precision factor
Vector can obtain the deflection of signal receiver after obtaining baseline vector, to orient to satellite navigation.The present invention
The orientation method combination positioning precision factor of satellite navigation determine proper star and primary, positioning accuracy is high, have
Conducive to the accurate baseline vector for calculating signal receiver and constituting, to be accurately oriented to satellite navigation.
The above are the specific embodiment of the orientation method of satellite navigation of the invention, below just satellite of the invention
The specific embodiment of the orienting device of navigation equipment is described further.
In one embodiment, referring to Fig. 6, a kind of orienting device of satellite navigation, comprising:
Proper star and primary determining module, for obtaining the smallest one group of satellite of the positioning precision factor as proper star
And primary；
Carrier phase measurement module, for passing through the carrier phase of signal receiver measuring basis star and primary；
Searching for integer cycle module, the integer ambiguity of the carrier phase for searching for proper star and primary；
Baseline vector computing module, for according to carrier phase, integer ambiguity and the positioning precision factor
Calculate baseline vector.
In one embodiment, baseline vector computing module includes:
Pseudo range measurement module, for passing through the pseudorange of signal receiver measuring basis star and primary；
Double difference observation equation constructs module, in the following way, being constructed according to carrier phase and integer ambiguity double
Poor observational equation:
Φ12=AX12+N12+ε12
Wherein,
Φ12For the carrier phase that signal receiver 1 and signal receiver 2 obtain, A is coefficient matrix, and λ is carrier wave wave
It is long, r(n)For signal receiver to the unit direction vector of n satellite, ε12For signal receiver 1 and signal receiver 2
Double difference observation error vector, X12For baseline vector, N12For integer ambiguity vector；
Baseline vector least square solution computing module, in the following way, according to carrier phase, integer ambiguity with
And the positioning precision factor calculates baseline vector X12Least square solution:
X12=(ATPA)-1ATP(Φ12-N12)
Wherein, X12For baseline vector, (ATPA)-1For positioning precision factor values, P is pseudorange.
In one embodiment, proper star and primary determining module include:
Alternative star determining module, for obtaining the maximum satellite of pitch angle alternately star according to baseline；Wherein alternative star
Quantity is more than or equal to 5；
Positioning precision factor computing module, for calculating the relative positioning essence of any 4 satellites in the alternative star
The factor is spent, sets proper star and primary for the smallest 4 satellites of the positioning precision factor.
In one embodiment, positioning precision factor computing module, comprising:
Identification module after waiting preset time, is counted again if being greater than preset threshold for the positioning precision factor
Calculate the positioning precision factor of any 4 satellites in the alternative star；
Comparison module, for by before and after preset time, the smallest 4 satellites of the positioning precision factor of acquisition to be set as
Proper star and primary.
In one embodiment, comparison module includes:
Alternative star range extension module, if for the alternative star before and after preset time, any 4 satellites of calculating
The positioning precision factor is all larger than preset threshold, then expands the quantitative range of the alternative star；
Expand computing module, for calculating the positioning precision of any 4 satellites in the alternative star after expanded scope
The factor；
Determining module, for the positioning precision factor is minimum, and 4 satellites for being less than or equal to preset threshold are set
It is set to proper star and primary.
In one embodiment, searching for integer cycle module includes:
Optimal searching for integer cycle module, for searching for the optimal integer ambiguity of carrier phase in several epoch,
Baseline vector is calculated according to the optimal integer ambiguity.
In one embodiment, optimal searching for integer cycle module includes:
First fuzziness obtains module, is first for obtaining the integer ambiguity that frequency of occurrence is most in default epoch number
Fuzziness；
Second fuzziness obtains module, and the integer ambiguity for obtaining frequency of occurrence more than second in default epoch number is the
Two fuzzinesses；
Residual computations module, for calculating the residual error of the first fuzziness Yu the second fuzziness；
First fuzziness confirmation module confirms that first fuzziness is most if being greater than threshold value for the residual error
Excellent integer ambiguity.
In one embodiment, double difference observation equation building module includes:
Detection and repair module, for obtaining the carrier phase continuously measured, progress Detection of Cycle-slip and cycle slip fixing, with
Confirm the carrier phase with the presence or absence of cycle slip error.
In one embodiment, referring to Fig. 7, a kind of satellite navigation, comprising:
Proper star and primary determine equipment, for obtaining the smallest one group of satellite of the positioning precision factor as proper star
And primary；
Carrier phase measurement equipment, for passing through the carrier phase of signal receiver measuring basis star and primary；
Searching for integer cycle equipment, the integer ambiguity of the carrier phase for searching for proper star and primary；
Baseline vector calculates equipment, for according to carrier phase, integer ambiguity and the positioning precision factor
Calculate baseline vector.
The orientation method of satellite navigation and its orienting device and satellite navigation of the invention corresponds, upper
The technical characteristic and its advantages for stating the embodiment elaboration of the orientation method of satellite navigation are suitable for the satellite and lead
In equipment of navigating and its embodiment of orienting device, hereby give notice that.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
The each technical characteristic all possible combinations applied in example are all described, as long as however lance is not present in the combination of these technical characteristics
Shield all should be the range that this specification is recorded.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but not
Limitations on the scope of the patent of the present invention therefore can be interpreted as.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (8)
1. a kind of orientation method of satellite navigation characterized by comprising
The smallest one group of satellite of the positioning precision factor is obtained as proper star and primary；
Pass through the carrier phase of signal receiver measuring basis star and primary；
Search for the integer ambiguity of the carrier phase of proper star and primary；
Baseline vector is calculated according to carrier phase, integer ambiguity and the positioning precision factor；
Wherein, the integer ambiguity of the carrier phase of proper star and primary is searched for, including searches for carrier phase in several epoch
Optimal integer ambiguity the step of, then according to carrier phase, integer ambiguity and the positioning precision factor meter
It is to calculate baseline vector using the optimal integer ambiguity in the step of calculating baseline vector；
Wherein, the optimal integer ambiguity for searching for carrier phase in several epoch includes: to obtain in default epoch number to go out occurrence
The most integer ambiguity of number is the first fuzziness；
The integer ambiguity for obtaining frequency of occurrence more than second in default epoch number is the second fuzziness；
Calculate the residual error of the first fuzziness Yu the second fuzziness；
If the residual error is greater than threshold value, confirm that first fuzziness is optimal fuzziness.
2. the orientation method of satellite navigation according to claim 1, which is characterized in that according to carrier phase, complete cycle
Fuzziness and the positioning precision factor calculate the step of baseline vector and include:
Pass through the pseudorange of signal receiver measuring basis star and primary；
In the following way, double difference observation equation is constructed according to carrier phase and integer ambiguity:
Φ12=AX12+N12+ε12
Wherein,
Φ12For the carrier phase that signal receiver 1 and signal receiver 2 obtain, A is coefficient matrix, and λ is carrier wavelength, r(n)For signal receiver to the unit direction vector of n satellite, ε12For pair of signal receiver 1 and signal receiver 2
Poor observation error vector, X12For the baseline vector that signal receiver 1 and signal receiver 2 are constituted, N12It is set for signal reception
The integer ambiguity vector measured for 1 and signal receiver 2；
In the following way, baseline vector is calculated according to carrier phase, integer ambiguity and the positioning precision factor
X12Least square solution:
X12=(ATPA)-1ATP(Φ12-N12)
Wherein, X12For baseline vector, (ATPA)-1For positioning precision factor values, P is pseudorange.
3. the orientation method of satellite navigation according to claim 1, which is characterized in that obtain positioning precision because
The smallest one group of satellite of son includes: as the step of proper star and primary
The maximum satellite of pitch angle alternately star is obtained according to baseline；Wherein alternative star number amount is more than or equal to 5；
The positioning precision factor of any 4 satellites in the alternative star is calculated, the positioning precision factor is 4 the smallest
Satellite is set as proper star and primary.
4. the orientation method of satellite navigation according to claim 3, which is characterized in that by the positioning precision factor
The smallest 4 satellites are set as before proper star and primary, comprising the following steps:
If the positioning precision factor is greater than preset threshold, after waiting preset time, recalculates in the alternative star and appoint
It anticipates the positioning precision factor of 4 satellites；
By before and after preset time, the smallest 4 satellites of the positioning precision factor of acquisition are set as proper star and primary.
5. the orientation method of satellite navigation according to claim 4, which is characterized in that after waiting preset time, weight
It newly calculates in the alternative star after the positioning precision factor of any 4 satellites, comprising the following steps:
If the alternative star, before and after preset time, the positioning precision factor of any 4 satellites of calculating is all larger than default
Threshold value then expands the quantitative range of the alternative star；
The positioning precision factor of any 4 satellites in alternative star after calculating expanded scope；
The positioning precision factor is minimum, and 4 satellites for being less than or equal to preset threshold are set as proper star and primary.
6. the orientation method of satellite navigation according to claim 2, which is characterized in that according to carrier phase and complete cycle
Fuzziness constructs after double difference observation equation, comprising the following steps:
The carrier phase continuously measured is obtained, Detection of Cycle-slip and cycle slip fixing are carried out, to confirm whether the carrier phase deposits
In cycle slip error.
7. a kind of orienting device of satellite navigation characterized by comprising
Proper star and primary determining module, for obtaining the smallest one group of satellite of the positioning precision factor as proper star and master
Star；
Carrier phase measurement module, for passing through the carrier phase of signal receiver measuring basis star and primary；
Searching for integer cycle module, the integer ambiguity of the carrier phase for searching for proper star and primary；
Baseline vector computing module, for being calculated according to carrier phase, integer ambiguity and the positioning precision factor
Baseline vector；
Wherein, the integer ambiguity of the carrier phase of proper star and primary is searched for, including searches for carrier phase in several epoch
Optimal integer ambiguity the step of, then according to carrier phase, integer ambiguity and the positioning precision factor meter
It is to calculate baseline vector using the optimal integer ambiguity in the step of calculating baseline vector；
Wherein, the optimal integer ambiguity for searching for carrier phase in several epoch includes: to obtain in default epoch number to go out occurrence
The most integer ambiguity of number is the first fuzziness；
The integer ambiguity for obtaining frequency of occurrence more than second in default epoch number is the second fuzziness；
Calculate the residual error of the first fuzziness Yu the second fuzziness；
If the residual error is greater than threshold value, confirm that first fuzziness is optimal fuzziness.
8. a kind of satellite navigation characterized by comprising
Proper star and primary determine equipment, for obtaining the smallest one group of satellite of the positioning precision factor as proper star and master
Star；
Carrier phase measurement equipment, for passing through the carrier phase of signal receiver measuring basis star and primary；
Searching for integer cycle equipment, the integer ambiguity of the carrier phase for searching for proper star and primary；
Baseline vector calculates equipment, for being calculated according to carrier phase, integer ambiguity and the positioning precision factor
Baseline vector；
Wherein, the integer ambiguity of the carrier phase of proper star and primary is searched for, including searches for carrier phase in several epoch
Optimal integer ambiguity the step of, then according to carrier phase, integer ambiguity and the positioning precision factor meter
It is to calculate baseline vector using the optimal integer ambiguity in the step of calculating baseline vector；
Wherein, the optimal integer ambiguity for searching for carrier phase in several epoch includes: to obtain in default epoch number to go out occurrence
The most integer ambiguity of number is the first fuzziness；
The integer ambiguity for obtaining frequency of occurrence more than second in default epoch number is the second fuzziness；
Calculate the residual error of the first fuzziness Yu the second fuzziness；
If the residual error is greater than threshold value, confirm that first fuzziness is optimal fuzziness.
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