CN106597508A - Optimization method and device based on BeiDou and GPS terminal positioning data - Google Patents
Optimization method and device based on BeiDou and GPS terminal positioning data Download PDFInfo
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- CN106597508A CN106597508A CN201611186549.XA CN201611186549A CN106597508A CN 106597508 A CN106597508 A CN 106597508A CN 201611186549 A CN201611186549 A CN 201611186549A CN 106597508 A CN106597508 A CN 106597508A
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- satellite data
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- big dipper
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Abstract
The embodiment of the invention provides an optimization method and device based on BeiDou and GPS terminal positioning data, which solve the technical problems that a current satellite navigation receiver can receive GPS satellite data and BeiDou II satellite data at the same time, the received satellite data is quite sizable and measurement data redundancy is greatly increased, and positioning resolving cannot be completed if the number of received satellites of a single system is less than four. The method comprises the following steps: conducting pretreatment on obtained first satellite data received by a BeiDou module and obtained second satellite data received by a GPS; conducting unified reference conversion on the pretreated first satellite data and second satellite data; and conducting accurate positioning on the first satellite data and the second satellite data after the unified reference conversion through a double-difference carrier wave phase observation equation.
Description
Technical field
It is the present invention relates to communication technical field more particularly to a kind of based on the Big Dipper and the optimization side of GPS terminal location data
Method and device.
Background technology
Combined using the Beidou navigation location technology of GPS positioning technology and China's independent intellectual property right, collect, analyze existing
Field application data, studies location algorithm optimisation technique, and with reference to Guangdong Power Grid emergency communication total management system functional development is equipped,
Realize that disaster relief personnel reliable location is followed the trail of, take precautions against disaster relief personnel's lost contact risk.This will greatly improve the utilization of emergency communication resource
Efficiency and using effect, it is significant for the construction for strengthening emergency communication system.Information fusion technology is information science
One new and high technology in field, it is the acquisition to much information, transmission and basic skills, technology, the means for processing, Yi Jixin
The technology that the expression of breath, internal relation and the characteristics of motion are studied.
When at present satellite navigation receiver can simultaneously receive the satellite data of GPS and Beidou II, what its reception was obtained defends
Sing data is considerable, and measurement data redundancy is greatly increased, and when the satellite number of single system is received less than 4, result in cannot
Complete the technical problem of positioning calculation.
The content of the invention
It is provided in an embodiment of the present invention a kind of based on the Big Dipper and the optimization method and device of GPS terminal location data, solve
When current satellite navigation receiver can simultaneously receive the satellite data of GPS and Beidou II, the satellite data that its reception is obtained
Considerable, measurement data redundancy is greatly increased, caused to complete fixed when the satellite number of single system is received less than 4
The technical problem that position resolves.
It is provided in an embodiment of the present invention a kind of based on the Big Dipper and the optimization method of GPS terminal location data, including：
The first satellite data received to the big dipper module for getting and the second satellite data of GPS receiver carry out pre- place
Reason；
Pretreated first satellite data and the second satellite data are carried out unifying Reference Transforming；
The first satellite data and the second satellite data after unified Reference Transforming is passed through into double difference carrier phase observational equation
It is accurately positioned.
Preferably, the first satellite data for receiving to the big dipper module for getting and the second satellite data of GPS receiver are entered
Row pretreatment is specifically included：
Raw measurement data detection and analysis, satellite data are carried out successively respectively to the first satellite data and the second satellite data
Availability, the evaluation of the quality of data, Satellite Tracking quality, the smothing filtering of initial data, interpolation and wild point are rejected, multistation condition
Data complement pretreatment.
Preferably, pretreated first satellite data and the second satellite data are carried out unifying Reference Transforming specifically wrapping
Include：
The coordinate basis and time reference of pretreated first satellite data and the second satellite data are carried out conversion and
Unified conversion.
Preferably, the first satellite data and the second satellite data after unified Reference Transforming is seen by double difference carrier phase
Surveying equation carries out being accurately positioned specifically including：
First double difference observational equation is obtained according to the Big Dipper, the second double difference observational equation is obtained according to GPS；
First double difference observational equation and the second double difference observational equation simultaneous are obtained into double difference carrier phase observational equation；
The first satellite data and the second satellite data after unified Reference Transforming is passed through into double difference carrier phase observational equation
It is accurately positioned.
Preferably, the first satellite data and the second satellite data after unified Reference Transforming is seen by double difference carrier phase
Surveying before equation is accurately positioned also includes：
Demarcate antenna phase center variation.
It is provided in an embodiment of the present invention a kind of based on the Big Dipper and the optimization device of GPS terminal location data, including placing an order
Unit：
Pretreatment unit, second for the first satellite data for receiving to the big dipper module for getting and GPS receiver is defended
Sing data carries out pretreatment；
Unifying datum unit, for carrying out unifying benchmark turn to pretreated first satellite data and the second satellite data
Change；
Equation unit is resolved, for the first satellite data and the second satellite data after unified Reference Transforming to be passed through into double difference
Carrier phase observational equation is accurately positioned.
Preferably, pretreatment unit, specifically for carrying out original successively respectively to the first satellite data and the second satellite data
The analysis of beginning measurement test, satellite data availability, the evaluation of the quality of data, Satellite Tracking quality, initial data it is smooth
Filtering, interpolation and wild point are rejected, the data complement pretreatment of multistation condition.
Preferably, unifying datum unit, specifically to pretreated first satellite data and the coordinate of the second satellite data
Conversion is changed and unified to benchmark and time reference.
Preferably, resolving equation unit includes：
First equation subelement, for obtaining the first double difference observational equation according to the Big Dipper, obtains the second double difference and sees according to GPS
Survey equation；
Second equation subelement, carries for the first double difference observational equation and the second double difference observational equation simultaneous to be obtained into double difference
Wave phase observational equation；
Subelement is accurately positioned, for the first satellite data and the second satellite data after unified Reference Transforming to be passed through into double
Difference carrier phase observational equation is accurately positioned.
Preferably, resolving equation unit also includes：
Subelement is demarcated, for demarcating antenna phase center variation.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
It is provided in an embodiment of the present invention a kind of based on the Big Dipper and the optimization method and device of GPS terminal location data, it is based on
The optimization method of the Big Dipper and GPS terminal location data includes：The first satellite data that the big dipper module for getting is received and GPS
The second satellite data for receiving carries out pretreatment；Pretreated first satellite data and the second satellite data are carried out unifying base
Quasi- conversion；The first satellite data and the second satellite data after unified Reference Transforming is entered by double difference carrier phase observational equation
Row is accurately positioned.In the present embodiment, the first satellite data received by the big dipper module to getting and the second of GPS receiver
Satellite data carries out pretreatment；Pretreated first satellite data and the second satellite data are carried out unifying Reference Transforming；Will
It is accurately fixed that the first satellite data and the second satellite data after unified Reference Transforming is carried out by double difference carrier phase observational equation
Position, solving current satellite navigation receiver can be while when receiving the satellite data of GPS and Beidou II, what its reception was obtained defends
Sing data is considerable, and measurement data redundancy is greatly increased, when receive single system satellite number less than 4, it is caused cannot
Complete the technical problem of positioning calculation.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of based on the Big Dipper and the optimization method of GPS terminal location data provided in an embodiment of the present invention
The schematic flow sheet of embodiment.
Specific embodiment
It is provided in an embodiment of the present invention a kind of based on the Big Dipper and the optimization method and device of GPS terminal location data, solve
When current satellite navigation receiver can simultaneously receive the satellite data of GPS and Beidou II, the satellite data that its reception is obtained
Considerable, measurement data redundancy is greatly increased, caused to complete fixed when the satellite number of single system is received less than 4
The technical problem that position resolves.
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described, it is clear that disclosed below to the technical scheme in the embodiment of the present invention
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Fig. 1 is referred to, a kind of optimization method based on the Big Dipper and GPS terminal location data provided in an embodiment of the present invention
One embodiment includes：
Step S101：The first satellite data that the big dipper module for getting is received and the second satellite data of GPS receiver
Carry out pretreatment；
Step S102：Pretreated first satellite data and the second satellite data are carried out unifying Reference Transforming；
Step S103：The first satellite data and the second satellite data after unified Reference Transforming is passed through into double difference carrier phase
Observational equation is accurately positioned.
Preferably, the first satellite data for receiving to the big dipper module for getting and the second satellite data of GPS receiver are entered
Row pretreatment is specifically included：
Raw measurement data detection and analysis, satellite data are carried out successively respectively to the first satellite data and the second satellite data
Availability, the evaluation of the quality of data, Satellite Tracking quality, the smothing filtering of initial data, interpolation and wild point are rejected, multistation condition
Data complement pretreatment.
Preferably, pretreated first satellite data and the second satellite data are carried out unifying Reference Transforming specifically wrapping
Include：
The coordinate basis and time reference of pretreated first satellite data and the second satellite data are carried out conversion and
Unified conversion.
Preferably, the first satellite data and the second satellite data after unified Reference Transforming is seen by double difference carrier phase
Surveying equation carries out being accurately positioned specifically including：
First double difference observational equation is obtained according to the Big Dipper, the second double difference observational equation is obtained according to GPS；
First double difference observational equation and the second double difference observational equation simultaneous are obtained into double difference carrier phase observational equation；
The first satellite data and the second satellite data after unified Reference Transforming is passed through into double difference carrier phase observational equation
It is accurately positioned.
Preferably, the first satellite data and the second satellite data after unified Reference Transforming is seen by double difference carrier phase
Surveying before equation is accurately positioned also includes：
Demarcate antenna phase center variation.
Satellite original measurement and its pretreatment
The pretreatment of satellite raw measurement data is the important step of whole positioning calculation, in data processing method research
The pretreatment of initial data includes：Raw measurement data is tested and analyzed, satellite data availability, the evaluation of the quality of data；Satellite
Tracking quality；The smothing filtering of initial data, interpolation and wild point are rejected；The data complement of multistation condition.
Data Detection analysis is mainly from pseudorange raw observation, carrier phase raw observation, integrated Doppler numeration etc.
It is compared to each other in the physical significance of measurement amount and checking, is rejected unavailable and suspicious data.According to measurement principle, three
Original measurement amount, derives mutually in precision allowed band, can derive other two from any one of three physical quantitys, so as to
Reach the purpose of the mutual verification of three original measurement amounts.When being checked, if the inside of three physical quantitys meets well, table
Bright raw measurement data is effective；Otherwise, then the sample point data existing problems are illustrated, should be rejected.
Positioning calculation model
High-precision satellite fix is all based on carrier phase observation data.Different global position systems has specific seat
Mark benchmark and time reference.The Big Dipper uses CSCS2000 country's geodetic coordinate systems and Big Dipper time system (BeiDouT)；
GPS uses WGS-84 coordinate systems and gps time system (GPST).The two coordinate systems and time system difference are less,
When required precision is not high, be negligible, it is contemplated that the difference between hi-Fix world coordinates system, in the Big Dipper and
During GPS Combined Calculations, the coordinate basis of the two and time reference should be changed and unified.
When time reference is synchronous, due to also there is small synchronous error between BeiDouT and GPST.In order to eliminate not
With impact of the satellite system to positioning, double difference combination here is only limited to inside same system, i.e., for BeiDou systems can be with
A double difference observational equation is obtained, for GPS system, a double difference observational equation is also obtained, then carrying out simultaneous can obtain
BeiDou/GPS double difference carrier phase observational equations.For the double difference observational equation in relative localization, defend due to completely eliminating
Star clock correction and receiver clock-offsets affect, and nearer in distance between sites, and Multipath Errors effectively suppress or negligible situation
Under, three-dimensional relative position, integer ambiguity unknown number are only left in double difference observational equation.In addition, it is necessary to explanation is antenna phase
Position centre deviation, its value is provided or prior Accurate Calibration by antenna manufacturer, with reference to antenna direction placement carry out affecting amendment with
Eliminate.Thus, it is possible to obtain BeiDou/GPS double difference carrier phase observational equations.Double difference integer ambiguity is usually first obtained,
Then relative coordinates corrected value is obtained again, and then obtains accurate relative position information.
In the present embodiment, the first satellite data received by the big dipper module to getting and the second of GPS receiver is defended
Sing data carries out pretreatment；Pretreated first satellite data and the second satellite data are carried out unifying Reference Transforming；Will system
The first satellite data and the second satellite data after one Reference Transforming is accurately positioned by double difference carrier phase observational equation,
Solving current satellite navigation receiver can be while when receiving the satellite data of GPS and Beidou II, the satellite that its reception is obtained
Data are considerable, and measurement data redundancy is greatly increased, when receive single system satellite number less than 4, it is caused cannot be complete
Into the technical problem of positioning calculation.
Being included based on the optimization device of the Big Dipper and GPS terminal location data in the embodiment：
Pretreatment unit 201, for the second of the first satellite data for receiving to the big dipper module for getting and GPS receiver
Satellite data carries out pretreatment；
Unifying datum unit 202, for carrying out unifying base to pretreated first satellite data and the second satellite data
Quasi- conversion；
Equation unit 203 is resolved, for the first satellite data and the second satellite data after unified Reference Transforming to be passed through
Double difference carrier phase observational equation is accurately positioned.
Preferably, pretreatment unit, specifically for carrying out original successively respectively to the first satellite data and the second satellite data
The analysis of beginning measurement test, satellite data availability, the evaluation of the quality of data, Satellite Tracking quality, initial data it is smooth
Filtering, interpolation and wild point are rejected, the data complement pretreatment of multistation condition.
Preferably, unifying datum unit, specifically to pretreated first satellite data and the coordinate of the second satellite data
Conversion is changed and unified to benchmark and time reference.
Preferably, resolving equation unit includes：
First equation subelement, for obtaining the first double difference observational equation according to the Big Dipper, obtains the second double difference and sees according to GPS
Survey equation；
Second equation subelement, carries for the first double difference observational equation and the second double difference observational equation simultaneous to be obtained into double difference
Wave phase observational equation；
Subelement is accurately positioned, for the first satellite data and the second satellite data after unified Reference Transforming to be passed through into double
Difference carrier phase observational equation is accurately positioned.
Preferably, resolving equation unit also includes：
Subelement is demarcated, for demarcating antenna phase center variation.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematic, for example, the unit
Divide, only a kind of division of logic function can have other dividing mode, such as multiple units or component when actually realizing
Can with reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can according to the actual needs be selected to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, during a computer read/write memory medium can be stored in.Based on such understanding, technical scheme is substantially
The part for contributing to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And aforesaid storage medium includes：USB flash disk, portable hard drive, read only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, above example only to illustrate technical scheme, rather than a limitation；Although with reference to front
State embodiment to be described in detail the present invention, it will be understood by those within the art that：It still can be to front
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. it is a kind of based on the Big Dipper and the optimization method of GPS terminal location data, it is characterised in that to include：
The first satellite data received to the big dipper module for getting and the second satellite data of GPS receiver carry out pretreatment；
Pretreated first satellite data and the second satellite data are carried out unifying Reference Transforming；
The first satellite data and the second satellite data after unified Reference Transforming is carried out by double difference carrier phase observational equation
It is accurately positioned.
2. it is according to claim 1 based on the Big Dipper and the optimization method of GPS terminal location data, it is characterised in that to obtaining
The first satellite data and the second satellite data of GPS receiver that the big dipper module got is received carries out pretreatment and specifically includes：
Carry out raw measurement data detection and analysis, satellite data successively respectively to the first satellite data and the second satellite data can use
Property, the evaluation of the quality of data, Satellite Tracking quality, the smothing filtering of initial data, interpolation and wild point reject, the number of multistation condition
According to complementary pretreatment.
3. it is according to claim 2 based on the Big Dipper and the optimization method of GPS terminal location data, it is characterised in that to pre-
The first satellite data and the second satellite data after process carries out unifying Reference Transforming specifically including：
The coordinate basis and time reference of pretreated first satellite data and the second satellite data are changed and unified
Conversion.
4. it is according to claim 3 based on the Big Dipper and the optimization method of GPS terminal location data, it is characterised in that will to unite
The first satellite data and the second satellite data after one Reference Transforming is accurately positioned by double difference carrier phase observational equation
Specifically include：
First double difference observational equation is obtained according to the Big Dipper, the second double difference observational equation is obtained according to GPS；
First double difference observational equation and the second double difference observational equation simultaneous are obtained into double difference carrier phase observational equation；
The first satellite data and the second satellite data after unified Reference Transforming is carried out by double difference carrier phase observational equation
It is accurately positioned.
5. it is according to claim 4 based on the Big Dipper and the optimization method of GPS terminal location data, it is characterised in that will to unite
The first satellite data and the second satellite data after one Reference Transforming is accurately positioned by double difference carrier phase observational equation
Also include before：
Demarcate antenna phase center variation.
6. it is a kind of based on the Big Dipper and the optimization device of GPS terminal location data, it is characterised in that to include with lower unit：
Pretreatment unit, for the first satellite data for receiving to the big dipper module for getting and the second satellite number of GPS receiver
According to carrying out pretreatment；
Unifying datum unit, for carrying out unifying Reference Transforming to pretreated first satellite data and the second satellite data；
Equation unit is resolved, for the first satellite data and the second satellite data after unified Reference Transforming to be passed through into double difference carrier wave
Phase observations equation is accurately positioned.
7. it is according to claim 6 based on the Big Dipper and the optimization device of GPS terminal location data, it is characterised in that pre- place
Reason unit, specifically for the first satellite data and the second satellite data are carried out successively respectively raw measurement data detection and analysis,
Satellite data availability, the evaluation of the quality of data, Satellite Tracking quality, the smothing filtering of initial data, interpolation and wild point rejecting,
The data complement pretreatment of multistation condition.
8. it is according to claim 7 based on the Big Dipper and the optimization device of GPS terminal location data, it is characterised in that benchmark
The coordinate basis and time reference of pretreated first satellite data and the second satellite data are specifically carried out turning by Unified Element
Change and unify conversion.
9. it is according to claim 8 based on the Big Dipper and the optimization device of GPS terminal location data, it is characterised in that to resolve
Equation unit includes：
First equation subelement, for obtaining the first double difference observational equation according to the Big Dipper, according to GPS the second double difference observation side is obtained
Journey；
Second equation subelement, for the first double difference observational equation and the second double difference observational equation simultaneous to be obtained into double difference carrier wave phase
Position observational equation；
Subelement is accurately positioned, for the first satellite data and the second satellite data after unified Reference Transforming to be carried by double difference
Wave phase observational equation is accurately positioned.
10. it is according to claim 9 based on the Big Dipper and the optimization device of GPS terminal location data, it is characterised in that to resolve
Equation unit also includes：
Subelement is demarcated, for demarcating antenna phase center variation.
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