CN106646570A - Multi-base-station satellite differential positioning and inertia combination vehicle precise positioning method - Google Patents
Multi-base-station satellite differential positioning and inertia combination vehicle precise positioning method Download PDFInfo
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- CN106646570A CN106646570A CN201710020373.9A CN201710020373A CN106646570A CN 106646570 A CN106646570 A CN 106646570A CN 201710020373 A CN201710020373 A CN 201710020373A CN 106646570 A CN106646570 A CN 106646570A
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention relates to a method which is based on the technology of satellite differential positioning and inertial navigation, employs the data fusion and wireless bandwidth data communication, and achieves the precise positioning of a vehicle. The invention aims at effectively integrating various types of positioning navigation technologies, the data fusion and the wireless bandwidth data communication into a seamless positioning system suitable for intelligent traffic, providing real-time stable continuous position information for a sub-meter level to a centimeter level for a running vehicle, and achieving the lane-level positioning navigation of the vehicle. The technical scheme of the invention is that the method employs a reference station and a moving terminal, wherein the reference station is installed nearby a road, and consists of a satellite receiver of the reference station and a wireless bandwidth data communication module; the data is transmitted according to the demands of the moving terminal; the moving terminal is disposed on the vehicle, consists of the wireless bandwidth data communication module and a combined positioning system, can actively visit a plurality of reference stations for obtaining data to complete the multi-base-station differential positioning, and also can adjust the updating frequency of data transmission in real time.
Description
Technical field
The present invention is that one kind is related to the communication of satellite real time differential technology, inertial navigation, data fusion and broadband wireless data
Accurate positioning method, continuously can provide high-precision positioning service for vehicle.
Background technology
Intelligent transportation system is applied to advanced electronic information technology in communications and transportation, realizes efficiently value-added service, its
In many business be all that based on vehicle position information, therefore alignment system is that a basis is put down in intelligent transportation system
Platform.Intelligent transportation system can use NAVSTAR, and location-based service is provided for surface car by space-based satellite.
At present, the GNSS (satellite positioning navigations being assemblied on vehicle）Receiver can only receive satellite-signal to complete single-point by itself
Positioning（SPP）, its positional information precision is generally between several meters to more than ten meters.The precision of this rank may be only used for commonly leading
Boat and the business not high to required precision.But increasing new business requires the positioning of at least sub-meter grade in intelligent transportation
Precision, such as fine control of traffic and road, vehicle lane level positioning, safety assistant driving, bus or train route collaboration, automatic Pilot etc., mesh
The positioning precision of the front this localization method for using there is notable deficiency.
Driver is during scorch if there is tired or scatterbrained situation, it is easy to which thing occurs
Therefore.In terms of safety assistant driving, if it is possible to which the exact position of mobile vehicle is provided, it will help safer driving row
To reduce accident rate.Advanced intelligent transportation system is carried in vehicle collision avoidance prompting, the dangerous prompting of lane change, spacing danger
Wake up to wait and have higher and higher demand in safety assistant driving aspect and automatic Pilot assisting navigation, and these applications are required to energy
Enough stable acquisition at least even more high-precision positioning services of sub-meter grade in real time, so the SPP satellites that at present vehicle is used
Bit platform is unable to reach the performance requirement in terms of safe driving.
RTK（It is dynamic in real time）Technology is a kind of satellite difference location technology that precision positioning is provided for dynamic terminal, at this
In invention, RTK refers to a kind of differential technique of the relative positioning based on pseudorange or carrier-phase measurement, is obtained in that up to li
The positioning precision of meter level.In RTK difference, base station is sent to movement station pseudorange and carrier-phase measurement, and movement station
Using these data, calculus of differences is carried out with reference to local pseudorange and carrier phase observed quantity, so as to obtain the high accuracy of movement station
Positional information.
Pseudo range difference is also a kind of satellite real-time requiring technology, using the teaching of the invention it is possible to provide the up to positioning precision of decimeter grade.
In pseudo range difference, base station broadcast pseudo range difference correcting value, movement station utilizes puppet of the pseudo range difference correcting value to local receiver
Calibrated away from measured value, then according to the method for SPP calculates the PVT of movement station（Position, Velocity and Time）Information.
Although satellite difference positioning can provide high-precision positioning service to vehicle, if it is poor to rely solely on satellite
Divide positioning, however it remains a defect：Because the system is completely dependent on satellite-signal, so can only open satellite-signal is good
The operation of wealthy area, once vehicle is entered in tunnel, overpass or " urban canyons ", satellite-signal by building, bridge or
Tunnel is stopped that vehicle would become hard to obtain accurate location information.Additionally, broadband wireless communications are during transmission signal
The situation of the intermittent breaks such as data packetloss is likely to occur, at this moment mobile vehicle will be unable to obtain the differential data that base station sends,
This also results in vehicle and can not obtain accurate location information.Therefore in these cases, the system is all difficult in whole section
It is upper to provide seamless hi-Fix service for vehicle.
Inertial navigation system（INS）It is using gyro and accelerometer as the navigation calculation system of senser element, the system
Speed of the carrier in navigational coordinate system, position and attitude information are calculated according to the measured value of gyro and accelerometer.Inertia
Navigation system is a kind of autonomic navigation system for not relying on external information, can all weather operations, there is provided position, speed and boat
To etc. data, data updating rate is high, short-term accuracy and good stability, and produced navigation information continuity is good and noise is low.
But the defect of INS is the site error of its output can be accumulated over time.
When the situation that satellite-signal is blocked or Wireless Data Transmission interrupts occurs, the state of this intermittent breaks
Duration is generally shorter, and generally a few tens of milliseconds is between a few minutes.Within this short time, it is continuous that INS systems are provided
Position and velocity information can keep very high accuracy.
Inertial navigation system and global position system have very strong complementary characteristic.Using its respective advantage, satellite is poor
Point alignment system and inertial navigation system can build a combined Differential positioning navigation system, and for vehicle continuous seamless is provided
Hi-Fix navigation Service, when satellite signal receiving and good wireless communication state, by satellite difference positioning be
System and INS complete the precise positioning navigation of vehicle jointly, when there is short interruption in satellite-signal or radio communication, by
INS continues to provide continuous hi-Fix and velocity information.
Applicant once applied for a kind of entitled " car positioned based on inertial navigation and satellite difference on the 19th in August in 2016
Precise positioning method "（Application No. 201610686099.4）Patent of invention, mention Differential positioning and inertial navigation group first
Syzygy is united for vehicle precise positioning.In the invention, base station is with identical data renewal frequency being broadcast to differential data
All vehicles, but in fact, the vehicle of different rates is different for the demand of differential data, under different road environments
Driving vehicle be also different to the demand of differential data.In addition, in the invention, mobile terminal is only with a benchmark
The data stood, execution be single base station Differential positioning.But in fact, vehicle usually can cover jointly in multiple base stations
The region of lid, if mobile terminal can complete multiple base stations united Differential positioning to multiple base stations and resolve, can improve positioning accurate
Degree and stability.
The content of the invention
The technical problem to be solved in the present invention is：It is not enough for business demand in intelligent transportation and existing system, there is provided one
Kind disclosure satisfy that the seamless positioning system that vehicle decimeter grade to centimeter-level positioning is required, the system globe area inertial navigation, satellite
Real-time requiring technology, data fusion and wireless broadband communication network, disclosure satisfy that vehicle under Various Complex road environment
Hi-Fix problem, for the consecutive tracking navigation Service that vehicle provides track level.
The invention solves the problems that another technical problem be：Vehicle actively accesses peripheral base station to obtain required difference number
According to, and can be according to the transmission renewal frequency of the self-demand base station differential data of dynamic adjustment in real time.
The invention solves the problems that another technical problem be：Vehicle receives two and two or more base station difference number
According to when, can be realizing to the differential data of multiple base stations multiple base stations united Differential positioning solution by the way of data fusion
Calculate.
This author has consulted existing patent of invention and technical literature data, the technical side for being similar to the present invention does not also occur
Case.The technical solution adopted in the present invention is：
A kind of positioning navigation method for obtaining driving vehicle exact position, velocity information, has merged satellite real time differential and has determined
Position, inertial positioning navigation, data fusion and broadband wireless data communication system, it is characterised in that：The system includes base station
Part and mobile terminal part, base station is partially installed on base station, produces differential data, responds the request of data of mobile terminal, and
The high precision position information of local differential data and home base stations is sent to corresponding mobile terminal, mobile terminal part is then arranged on
On vehicle, the differential data of one or two above base stations can be received, complete multiple base stations united Differential positioning algorithm, can
Real-time adjustment base station sends the renewal frequency of differential data, realizes accurate Differential positioning, wherein：
Base station part includes a GNSS reference receiver, is responsible for producing differential data, and differential data includes pseudo range difference
Correcting value, Pseudo-range Observations and carrier phase observation data；
Base station part also includes a wireless broadband communication mould, is responsible for the data communication with mobile terminal, the difference of base station
Data and high precision position information are sent to corresponding mobile terminal；
Mobile terminal part includes a wireless broadband communication module, is responsible for and base station sets up data communication, can simultaneously access one
Individual or multiple base stations, and the differential data of one or more base station end is received, and corresponding differential data is transmitted to combination
Alignment system；
Mobile terminal part also includes an integrated positioning system, is made up of GNSS differential position systems and inertial navigation system, connects
The base station differential data that wireless broadband communication module transfers is received, data fusion, Differential positioning and the group with inertial navigation is completed
Clearing are closed, the location information of vehicle is finally exported；
Base station part has discernible communication ID, and mobile terminal part is allocated a discernible ID, periphery is obtained in real time
The ID of addressable base station, and base station is actively accessed according to demand to obtain differential data.
Described base station part, it is characterised in that：The high precision position of home base stations known to GNSS reference receivers
Information, one or more navigation satellites signal of real-time reception GPS, GLONASS, the Big Dipper or Galileo obtains pseudo-
Away from observed quantity and carrier phase observed quantity, while calculating pseudo range difference correction based on locally known high precision position information
Amount.
Described base station part, it is characterised in that：GNSS reference receivers are sent to wireless broadband communication module
Data contain base station high precision position information, also contains pseudo range observed quantity, carrier phase observed quantity, or pseudo range difference school
Positive quantity, wherein：
When carrier phase and available pseudo range observed quantity, GNSS reference receivers are sent to carrier phase and pseudo range observed quantity
Broadband communicating module；
When carrier phase and pseudo range observed quantity it is unavailable, and pseudo range difference correcting value it is available when, GNSS reference receivers are pseudo-
Broadband communicating module is sent to away from difference correction amount.
Described base station part, it is characterised in that：Enter line number between GNSS reference receivers and broadband communicating module
Specific data encoding format is based on according to transmission, RTCM can be adopted, it would however also be possible to employ extended formatting.
Described base station part, it is characterised in that：Wireless broadband communication module possesses broadband wireless communications function
System, can adopt 3G or 4G universal standard systems, or more than the system of broadband wireless communication of 4G speed standards, it is also possible to
Using the system of broadband wireless communication of autonomous Design, the request of data from mobile terminal is received, and radio communication is set up in mobile terminal,
And the transmission renewal frequency set according to mobile terminal is persistently sent to corresponding movement differential data and local reference station location
End.
Described movement station part, it is characterised in that：Wireless broadband communication module is adopted and base station radio broadband connections mould
Block identical receive-transmit system, is responsible for accessing base station and obtaining its differential data and base station high precision position information, can access simultaneously
Multiple base stations simultaneously receive the data of multiple base stations, wherein：
If being not received by the difference information of base station, combination of notifications alignment system is needed；
If receiving the differential data of a base station or multiple base stations, integrated positioning system is forwarded the data to.
Described movement station part, it is characterised in that：Integrated positioning system is by GNSS differential position systems and inertial navigation
System is coupled, and two-part data are carried out with fusion treatment, the location information at output mobile end.
Described movement station part, it is characterised in that：Inertial navigation system includes gyroscope and acceierometer sensor, point
Not Ce Liang mobile terminal angular speed and acceleration, and perform inertial navigation algorithm,.
Described movement station part, it is characterised in that：GNSS receiving units in integrated positioning system can real-time reception
One or more navigation satellites signal of GPS, GLONASS, the Big Dipper or Galileo, while obtaining multiple base stations
Differential data, wherein：
When GNSS differential position systems cannot receive satellite-signal or cannot receive more than three satellite-signals, integrated positioning
System is exported the location information of vehicle by inertial navigation system；When GNSS differential position systems can receive more than three satellites
During signal, when without the difference information for receiving base station, GNSS differential position systems perform One-Point Location algorithm；When wireless
Broadband communicating module receives the difference information of multiple base stations and simultaneously local mobile terminal receives more than three GNSS satellite signals
When, GNSS differential position systems（3-1）Perform multiple base stations united Differential positioning algorithm；
The output of GNSS differential position systems and inertial navigation system is combined to perform and combines fixed by GNSS/INS combinational algorithms module
Position algorithm, the speed, position and sensor error to INS carries out optimal estimation, obtains the amount of error correction of INS, and feeds back
Inertial navigation system is returned, wherein inertial navigation unit calculates the location information of current time mobile terminal.
Described movement station part, it is characterised in that：According to the differential data of the self-demand base station of dynamic adjustment in real time
Send renewal frequency.
The invention has the beneficial effects as follows：Inertial navigation, satellite real time differential technology and broadband wireless data have been merged in invention
The communication technology, can not only provide high-precision position and velocity information for mobile terminal, it is also possible to solve to work as satellite-signal quilt
It is difficult to obtain a difficult problem for high precision position data in the case of stop or wireless communication link intermittent breaks.The present invention can be with structure
Build the Precise Position System of a seamless coverage, in complicated road environment for vehicle provide real-time stabilization decimeter grade or
The positioning service of Centimeter Level, provides foundation location data and supports for increasing innovative service in intelligent transportation.In the present invention,
Mobile terminal improves system customization degree according to itself speed determination data renewal frequency, while mobile terminal can be to multiple
The data that base station sends carry out data fusion, can preferably using the data of many base stations.
By obtaining high-precision location information, mobile vehicle can be navigated to specific track.Drive in safety auxiliary
Sail aspect to can be realized as based on applications such as track level overspeed prompting, violation assisting automobile driver, bend deceleration promptings；It is accurate in intelligence
Navigation aspect can just provide track level navigation, the rationally timely application such as lane change prompting；In automatic Pilot and control aspect, energy
Enough realize the applications such as speeds control, the safe driving auxiliary control of track level.
Description of the drawings
Fig. 1 is the system deployment and work sheet of this example.
Fig. 2 is the system structural framework of this example.
Fig. 3 is mobile terminal integrated positioning system structural framing in this example.
Fig. 4 is the main process figure of mobile terminal in this example.
Specific embodiment
Technical scheme is described in further detail with reference to embodiment.Obviously, described embodiment
Only a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, people in the art
All other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is the system deployment and work sheet of this example, and base station 1-1 and base station 1-3 is provided in the benchmark of near roads
Stand, Differential positioning data can be provided for mobile terminal 1-2.Overlay area between multiple base stations is to overlap, it is possible to achieve seamless
Covering path, in FIG, there is certain overlap the overlay area of base station 1-1 and base station 1-3.Each base station has uniquely may be used
The communication ID of access, and the locus coordinate of itself.Base station is responsible for receiving GNSS satellite signal, and produces pseudo range difference
Correcting value, pseudorange and carrier phase observed quantity etc. for Differential positioning data.Base station is equipped with wireless transceiver system, can receive
From the access of vehicle mobile terminal.Each base station can set up data communication with periphery multiple mobile terminals.
Mobile terminal 1-2 is arranged on vehicle, is assigned a discernible ID, and the base for being nearby available for accessing is obtained in real time
Stand ID.Mobile terminal 1-2 can receive GNSS satellite signal, and when needing to realize that high-precision difference is positioned, mobile terminal 1-2 is accessed
Neighbouring base station to obtain required differential data, the then precise location information of output mobile end 1-2.
When movement station is in the region that two and two or more base station cover simultaneously, multiple bases can be accessed and received
Stand to obtain the differential data of these base stations.In FIG, overlap is covered when mobile terminal 1-2 drives to base station 1-1 and base station 1-3
During region, mobile terminal 1-2 selects to access simultaneously base station 1-1 and base station 1-3 to obtain the differential data of two base stations, then holds
The multiple base stations united Differential positioning of row resolves the positional information for obtaining mobile terminal 1-2.It should be noted that in this case, move
Moved end 1-2 can also only select the differential data of a base station, and complete Differential positioning, at this moment just be equivalent in fact in mobile terminal
Single base station Differential positioning, therefore this is a kind of special shape of many base station Differential positionings.
Fig. 2 illustrates the system framework of this example, including base station part 2-1 and mobile terminal part 2-6.Base station part
2-1 is mounted on base station, including a GNSS reference receivers 2-2 and wireless broadband communication module 2-3, GNSS receiver 2-2
It is configured to base station mode of operation.Base station mode of operation in the present invention refers to that GNSS reception systems receive aeronautical satellite letter
Number, and be responsible for calculating the data for Differential positioning, these data are available for mobile terminal to access.Reference receiver 2-2 is
The high precision position information of home base stations is stored, this position can in advance be obtained in deployment by Technology of Precision Measurement.
GNSS reference receivers 2-2 can be the multi-mode satellite receiver of single-frequency point or multifrequency point.Because having at present
GPS, GLONASS, tetra- kinds of satellite systems of the Big Dipper or Galileo, if single-frequency point single mode receiver, then GNSS receiver 2-
2 signals that can only receive single satellite system therein.If the multimode rake receiver of multifrequency point, GNSS receiver 2-2 can be with
Receive the signal of two or more satellite systems.Receiver 2-2 goes out currently visible defending according to the signal of change for receiving
The observed quantities such as the pseudorange and carrier phase of star.
To calculate pseudo range difference correcting value, receiver 2-2 passes through satellite earth antenna 2-4 real-time reception satellite-signals, and
The positional information of base station 1-1 is estimated according to the satellite-signal that real-time reception is arrived, receiver 2-2 is accurate position known to the 1-1 of base station
Confidence ceases and is compared with the position for currently estimating, and calculates pseudo range difference correcting value, and computational methods are as follows：
WhereinIt is that the distance between receiver and satellite are tried to achieve based on known precise position information,It is based on estimated position
And the distance between receiver and satellite are tried to achieve,As pseudo range difference correcting value.
When carrier phase and available pseudo range observed quantity, receiver 2-2 is sent to width carrier phase and pseudo range observed quantity
Band communication module 2-3.When carrier phase and pseudo range observed quantity it is unavailable, and pseudo range difference correcting value it is available when, receiver 2-2 handles
Pseudo range difference correcting value is sent to broadband communicating module 2-3.
Receiver 2-2 is sent to the data form of broadband communicating module 2-3 and can adopt international standards form, it is also possible to from
Definition, in this example, receiver 2-2 transmits data according to RTCM codings and gives broadband communicating module 2-3, then Jing antennas
2-5 is sent to mobile terminal.
Broadband communicating module 2-3 can use the data network of wireless 3G or 4G, it is possible to use other broadband communication networks,
Its speed reaches 4G or the standard more than 4G.Broadband communicating module 2-3 has unique discernible communication ID, and mobile terminal
Enter row data communication, receive the access request from mobile terminal, the differential data and high precision position information of base station are sent out
Give mobile terminal.
Mobile terminal part 2-6 is arranged on vehicle, including an integrated positioning system 2-8 and wireless broadband communication module 2-
7.Communication module 2-7 is configured with and communication module 2-3 identical communication system, is allocated a discernible communication ID, passes through
Antenna 2-9 and base station communication.Mobile terminal part 2-6 obtains in real time the communication ID of peripheral base station.When mobile terminal, 2-6 needs base station
Differential data when, communication module 2-7 is initiated to ask to base station, and enters row data communication with communication module 2-3, receiving
Base station differential data be sent to integrated positioning system 2-8 by former form.
The differential data that mobile terminal 2-6 can in real time adjust base station according to self-demand sends renewal frequency.In this reality
In example, mobile terminal 2-6 determines differential data renewal frequency according to itself speed, is divided into two grades, when speed is higher than 60 kilometers
When fast, mobile terminal 2-6 obtains the differential data of base station with the frequency of more than 10Hz, when speed is less than 60 kilometers of speed per hours, moves
Moved end 2-6 obtains the differential data of base station with the frequency of below 5Hz.
When having base station to be available for accessing near the 2-6 of mobile terminal, wireless broadband communication module 2-7 obtains the difference of the base station
Divided data, sends into integrated positioning system 2-8.Integrated positioning system 2-8 can receive satellite-signal, calculate local mobile terminal
The pseudorange of 2-6 and carrier phase observed quantity, in combination with the differential data of base station, complete real-time requiring.
If during the region that mobile terminal 2-6 is covered in many base stations simultaneously, wireless broadband communication module 2-7 can be simultaneously
Two or more base station is accessed, therefore obtains the differential data and correspondence of two or more base stations
Benchmark station location, and these data are sent into integrated positioning system 2-8.In integrated positioning system 2-8 modules, mobile terminal pair
The differential data of multiple base stations performs multiple base stations united Differential positioning and resolves.It should be noted that in this case, wirelessly
Broadband communicating module 2-7 can also only select that the differential data of a base station, and equally achievable Differential positioning is resolved, this
When, mobile terminal 2-6 translates into single base station Differential positioning in fact, and this is a kind of special shape of many base station Differential positionings,
Mobile terminal integrated positioning system 2-8 is mainly by a GNSS receiver for possessing Differential positioning function and an INS inertia
Navigation system is constituted.This example gives the mobile terminal integrated positioning system constituted based on closed loop loose coupling, its structure chart such as Fig. 3
It is shown to contain GNSS differential position system 3-1 and INS inertial navigation system 3-2.It should be noted that by GNSS
It is not limited to described in this example with the combination of INS, in addition to this example, can also be using modes such as close coupling, deep couplings.
Closed loop configuration refers to that estimated position, speed and attitude error feed back to INS systems, is used to correct the positioning solution of INS.Difference
Divided data control unit 3-4 and wireless broadband communication module 2-7 communicate, and are responsible for initiating the differential data demand to base station, connect
The differential data of base station is received, and is processed according to the type of the differential data for receiving, base station difference is sent into GNSS
In difference resolving and integrated unit 3-5.Mobile terminal GNSS signal receiving unit 3-3 is responsible for receiving satellite-signal, can be single-frequency
The multi-mode satellite receiver module of point or multifrequency point, possesses identical satellite signal receiving function with reference receiver 2-2, complete
Capture into satellite-signal, tracking and the base band signal process such as decode, obtain the pseudorange of local mobile terminal, carrier phase and
The data such as satellite ephemeris, and these data are sent into the resolving of GNSS difference and integrated unit 3-5.
GNSS difference is resolved and the function of integrated unit 3-5 mainly includes：Performed according to vehicle state in which corresponding
GNSS positioning calculations, according to different types of differential data corresponding satellite difference algorithm, the difference to multiple base stations are performed
Data perform multiple base stations united Differential positioning algorithm：
If the carrier phase and pseudo range observed quantity of base station is included in differential data, differential data control unit 3-4 is selected
The carrier phase of base station and pseudo range observed quantity are sent into difference to resolve with integrated unit 3-5, RTK difference algorithms are performed；
If carrier phase and pseudo range observed quantity are unavailable, and pseudo range difference calibrator quantity can with when, differential data control is single
First 3-4 is selected to send into pseudo range difference calibrator quantity and resolved with integrated unit 3-5, performs pseudo range difference algorithm.Pseudo range difference is calculated
The main solution process of method is as follows：Pseudo range difference resolves the pseudo range difference correcting value for mainly using base station transmissionTo this
The pseudo-range measurements on ground are modified, i.e.,, whereinFor mobile terminal raw pseudo range observation,It is through repairing
Pseudo-range Observations after just.Based on revised Pseudo-range Observations, the GNSS of mobile terminal completes follow-up One-Point Location and resolves；
When GNSS difference is resolved and integrated unit 3-5 receives the differential data of multiple base stations, multiple base stations united difference is performed
Divide location algorithm.This example provides a kind of more intuitively multiple base stations united Differential positioning algorithm, and mobile terminal first is respectively directed to
Each base station for receiving completes corresponding Differential positioning, it is assumed that obtain N number of mobile end positionAnd the side for estimating
Difference, , then the linear optimal estimate of multiple base stations united Differential positioning can be expressed as
（1a）
（1b）
（1c）
Wherein,,。
When（1）In formula during N=1, its result is just equivalent to single base station Differential positioning, therefore single base station Differential positioning can be considered
The special case that multiple base stations united Differential positioning is resolved.Explanation is needed exist for, multiple base stations united Differential positioning algorithm is not
It is only limitted to the algorithm that this example is given.
If when carrier phase, pseudo range observed quantity and all unavailable pseudo range difference calibrator quantity, sending marking signal to difference
Resolve and integrated unit 3-5, difference is resolved and integrated unit 3-5 is held using the data of mobile terminal GNSS signal receiving unit 3-3
Row One-Point Location algorithm.
Difference is resolved and integrated unit 3-5 is input into result of calculation in GNSS/INS combinational algorithm unit 3-8.
Inertial navigation system 3-2 is by Inertial Measurement Unit（IMU）3-6 and inertial navigation unit 3-7 is constituted, IMU3-6 bags
One group of gyroscope and acceierometer sensor are included, the angular speed and acceleration of mobile terminal are measured respectively, and by this group of angle speed
Rate and acceleration issue inertial navigation unit 3-7.
Combinational algorithm unit 3-8 will be resolved and the arithmetic result of integrated unit 3-5 and inertial navigation unit 3-7 carries out data
Fusion treatment, optimal estimation is carried out by EKF to the speed of INS, position, attitude and sensor error,
The amount of error correction of INS feeds back to inertial navigation unit 3-7.
Inertial navigation unit 3-7 is responsible for when satellite-signal is not received, and according to the measured value of IMU output mobile end is continued
Location information.Inertial navigation unit 3-7 also corrects position and the speed of mobile terminal according to the feedback of combinational algorithm unit 3-8
Information, now, using amount of error correction and the angular speed and acceleration measurement at current time, and according to a upper moment
Position data, exports the location informations such as position, speed and the attitude of current time mobile terminal, while being sent to combinational algorithm mould
Block 3-8.
The main program flow process of mobile terminal is as shown in Figure 4.The GNSS receiver of mobile terminal persistently receives GNSS signal 4-1,
And the angular speed and acceleration 4-3 of IMU measurements mobile terminal.Whether the GNSS receiver of mobile terminal traces into more than four（Bag
Containing four）Satellite 4-2.If not tracing into sufficient amount of satellite, illustrate mobile terminal may be blocked by surrounding objects or
Person enters tunnel etc., leads to not receive satellite-signal.In this case, mobile terminal relies on the inertial navigation of INS systems
Algorithm 4-4 exports the location information of vehicle.
If the GNSS receiver of mobile terminal can receive more than four（Comprising four）Satellite, then mobile terminal enter one
Can step judgement complete Differential positioning 4-5, and its foundation for judging is the differential data for whether receiving base station.If do not received
To differential data, then local One-Point Location 4-6 is carried out, its position and velocity information are sent into GNSS/INS combinational algorithm 4-7
Out position and speed correction amount are calculated, the correction feeds back to inertial navigation algorithm 4-4, the result of calculation of INS is modified,
And export the location information of vehicle.If mobile terminal receives the differential data from base station, further determine whether to receive two
Individual above base station data 4-10, iff the differential data for receiving a base station, then complete single base station Differential positioning solution
4-11 is calculated, and position and speed correction amount will be calculated in position and velocity information feeding GNSS/INS combinational algorithm 4-7, this is repaiied
Positive quantity feeds back to inertial navigation algorithm 4-4, and the result of calculation of INS is modified, and exports the location information of vehicle.If received
To two or more base station differential data, then 4-13, its position and speed are resolved into the fusion of many base station difference
Information is sent into GNSS/INS combinational algorithm 4-7 and calculates position and speed correction amount, and the correction feeds back to inertial navigation calculation
Method 4-4, is modified to the result of calculation of INS, and exports location information.
Whether single base station Differential positioning resolves 4-11 or the fusion of many base station difference resolves 4-13, and it calculates speed
Degree information can be used to determine renewal frequency 4-12 of differential data.Mobile terminal feeds back to base station, base data renewal frequency
Quasi- station persistently sends differential data according to the renewal frequency for setting, and mobile terminal is responsible for receiving differential data 4-9.When mobile terminal needs
When changing data renewal frequency, new renewal frequency can be sent to base station, base station is then according to new renewal frequency
Rate persistently sends differential data, until mobile terminal changes again the transmission renewal frequency of differential data, or closes and base station
Between communication.
Therefore, the accurate real-time location navigation that the present invention can realize continuous seamless for vehicle, while according to self-demand,
The renewal frequency of active accommodation differential data.When vehicle is between the overlapping coverage areas in multiple base stations, can receive simultaneously
The differential data of multiple base stations, the differential data for making full use of many base stations to send carries out Data Fusion, realizes movement
The Differential positioning at end, improves the robustness and positioning precision of system.
Claims (10)
1. a kind of positioning navigation method for obtaining driving vehicle exact position, velocity information, has merged satellite real time differential
Positioning, inertial positioning navigation, data fusion and broadband wireless data communication system, it is characterised in that：The system includes benchmark
Stand part（2-1）With mobile terminal part（2-6）, base station part（2-1）On base station, differential data is produced, response is moved
The request of data of moved end, and the high precision position information of local differential data and home base stations is sent to corresponding mobile terminal,
Mobile terminal part（2-6）Then it is arranged on vehicle, the differential data of one or two above base stations can be received, completes many bases
Joint of standing Differential positioning algorithm, is capable of the renewal frequency of real-time adjustment base station transmission differential data, realizes that accurate difference is determined
Position, wherein：
Base station part（2-1）Including a GNSS reference receiver（2-2）, it is responsible for producing differential data, differential data bag
Correcting value containing pseudo range difference, Pseudo-range Observations and carrier phase observation data；
Base station part（2-1）Also include a wireless broadband communication module（2-3）, it is responsible for the data communication with mobile terminal,
The differential data and high precision position information of base station is sent to corresponding mobile terminal；
Mobile terminal part（2-6）Including a wireless broadband communication module（2-7）, it is responsible for and data communication is set up in base station, can be same
When access one or more base station, and receive the differential data of one or more base station, and the forwarding of corresponding differential data
To integrated positioning system（2-8）；
Mobile terminal part（2-6）Also include an integrated positioning system（2-8）, by GNSS differential position systems and inertial navigation system
System composition, receives wireless broadband communication module（2-7）The base station differential data for transferring, complete data fusion, Differential positioning and
Combination with inertial navigation is settled accounts, and finally exports the location information of vehicle；
Base station part（2-1）With discernible communication ID, mobile terminal part（2-6）A discernible ID is allocated, it is real
When obtain the addressable base station IDs of periphery, base station is actively accessed according to demand to obtain differential data.
2. the base station part according to right 1, it is characterised in that：GNSS reference receivers（2-2）Known home base stations
High precision position information, one or more navigation system of real-time reception GPS, GLONASS, the Big Dipper or Galileo defends
Star signal, obtains pseudo range observed quantity and carrier phase observed quantity, while being calculated based on locally known high precision position information
Go out pseudo range difference correcting value.
3. the base station part according to right 1, it is characterised in that：GNSS reference receivers（2-2）It is sent to without live width
Band communication module（2-3）Data contain base station high precision position information, also contains pseudo range observed quantity, carrier phase observation
Amount, or pseudo range difference correcting value, wherein：
When carrier phase and available pseudo range observed quantity, GNSS reference receivers（2-2）Carrier phase and pseudo range observed quantity
It is sent to broadband communicating module（2-3）；
When carrier phase and pseudo range observed quantity it is unavailable, and pseudo range difference correcting value it is available when, GNSS reference receivers（2-2）
Pseudo range difference correcting value is sent to broadband communicating module（2-3）.
4. the base station part according to right 1, it is characterised in that：GNSS reference receivers（2-2）With broadband connections mould
Block（2-3）Between carry out data transmission based on specific data encoding format, RTCM being adopted, it would however also be possible to employ other lattice
Formula.
5. the base station part according to right 1, it is characterised in that：Wireless broadband communication module（2-3）Be possess broadband without
The system of line communication function, can adopt wireless 3G or 4G universal standards system, or more than 4G speed standards broadband without
Line communication system, it would however also be possible to employ the broadband wireless communications system of autonomous Design, receives the request of data from mobile terminal, and moves
Radio communication is set up in moved end, and the transmission renewal frequency set according to mobile terminal is persistently sent out differential data and home base stations position
Give corresponding mobile terminal.
6. the movement station part according to right 1, it is characterised in that：Wireless broadband communication module（2-7）Using with base station without
Line broadband communicating module（2-3）Identical receive-transmit system, is responsible for accessing base station and obtaining its differential data and base station high precision position
Confidence ceases, and can simultaneously access multiple base stations and receive the differential data of multiple base stations, wherein：
If being not received by the difference information of base station, combination of notifications alignment system is needed（2-8）；
If receiving the differential data of a base station or multiple base stations, integrated positioning system is forwarded the data to（2-8）.
7. the movement station part according to right 1, it is characterised in that：Integrated positioning system（2-8）By GNSS Differential positionings system
System（3-1）And inertial navigation system（3-2）It is coupled, two-part data is carried out with fusion treatment, output mobile end
Location information.
8. the movement station part according to right 1, it is characterised in that：Inertial navigation system（3-2）Including gyroscope and acceleration
Degree flowmeter sensor, measures respectively the angular speed and acceleration of mobile terminal, and performs inertial navigation algorithm,.
9. the movement station part according to right 1, it is characterised in that：Integrated positioning system（2-8）In GNSS receiving units
（3-3）Can real-time reception GPS, GLONASS, the Big Dipper or Galileo one or more navigation satellites signal, while
The differential data of multiple base stations is obtained, wherein：
GNSS differential position systems（3-1）When cannot receive satellite-signal or more than three satellite-signals cannot be received, group
Close alignment system（2-8）By inertial navigation system（3-2）The location information of output vehicle；When GNSS differential position systems（3-1）
When can receive more than three satellite-signals, when without the difference information for receiving base station, GNSS differential position systems
（3-1）Perform One-Point Location algorithm；When wireless broadband communication module（2-7）Receive the difference information and while sheet of multiple base stations
When ground mobile terminal receives more than three GNSS satellite signals, GNSS differential position systems（3-1）Perform multiple base stations united difference
Divide location algorithm；
GNSS/INS combinational algorithm modules（3-8）By GNSS differential position systems（3-1）And inertial navigation system（3-2）Output
With reference to integrated positioning algorithm is performed, the speed, position and sensor error to INS carries out optimal estimation, obtains the error of INS
Correcting value, and feed back to inertial navigation system（3-2）, wherein inertial navigation unit（3-7）Calculate current time mobile terminal
Location information.
10. the movement station part according to right 1, it is characterised in that：According to the self-demand base station of dynamic adjustment in real time
Differential data sends renewal frequency.
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