CN106959456B - A kind of GNSS SURVEYING CONTROL NETWORK Accuracy Estimation - Google Patents

A kind of GNSS SURVEYING CONTROL NETWORK Accuracy Estimation Download PDF

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CN106959456B
CN106959456B CN201710187042.4A CN201710187042A CN106959456B CN 106959456 B CN106959456 B CN 106959456B CN 201710187042 A CN201710187042 A CN 201710187042A CN 106959456 B CN106959456 B CN 106959456B
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satellite
precision
observation
point
elevation angle
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CN106959456A (en
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李祖锋
万宗礼
薛绍军
吕宝雄
缪志选
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PowerChina Northwest Engineering Corp Ltd
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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
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • 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
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of GNSS SURVEYING CONTROL NETWORK Accuracy Estimations: 1, carrying out the analysis of baseline visible satellite based on satellite Ouluding boundary constraint condition, each survey station observation is simulated based on analysis result, it establishes double difference observation equation and solves, the baseline positioning precision factor is calculated according to the Q diagonal matrix in error equation；2, the simultaneous observation combined sorting of target observation point is carried out, count each baseline DOP value situation of different observation periods, and the estimation of ring accuracy of observation is synchronized according to the corresponding dilution of precision of network forming condition and observation period filtered out, the selection for simultaneous observation point and observation period；3, networking is carried out according to multiple synchronous rings, using the precision m of the variance matrix estimation algorithm estimation control net of basic lineal vectori.The present invention is suitable for carrying out GNSS observation in high-mountain gorge areas and the inferior observation area in hardship of city housing-group effect, and precision index is relatively reliable.

Description

A kind of GNSS SURVEYING CONTROL NETWORK Accuracy Estimation
Technical field
The invention belongs to GNSS SURVEYING CONTROL NETWORK field of measuring technique, and in particular to a kind of GNSS SURVEYING CONTROL NETWORK precision is estimated Meter method.
Background technique
The most common method of the estimation of GNSS SURVEYING CONTROL NETWORK precision is simulation at present, is needed through network point Rough coordinates simulate observed quantity, and simulate observation covariance, and select suitable precision estimation model, this method exists A variety of methods, but either simulation or other evaluation methods have been derived during specific implementation, has not been accounted for each The real satellite signal ground shelter edge-restraint condition at a control point, does not account for the shared satellite situation of baseline yet, Generally there are differents for its precision evaluated and actual conditions, especially under high-mountain gorge areas and city housing-group environment, This situation is particularly acute.
In addition, GNSS SURVEYING CONTROL NETWORK measurement attainable precision by the satellite number that can be received in the unit time The distribution situation of amount and satellite, and received satellite-signal the factors such as duration influence, i.e., by ephemeris forecast accuracy Influence.Since existing single survey station dilution of precision calculates satellite visibility screening generally by one fixed elevation angle of setting (such as 10 ° or 15 °), in this, as the Rule of judgment of satellite visibility, but actually since satellite position is with respect to survey station point Barrier blocks, and such as high-mountain gorge areas, city housing-group effects, practical receivable satellite-signal will have very big Gap, when elevation mask E is 30 °, the time for seeing 4 and the above GPS satellite accounts for the 90% of whole day, elevation mask E When being 40 °, the time for seeing 4 and the above GPS satellite accounts for the 47% of whole day.In high-mountain gorge areas, it is frequently encountered and is greater than The case where 30 ° of elevation angle is blocked, this results in there is very big error to satellite visibility and dilution of precision accuracy of the forecast, The estimation for influencing GNSS control net measurement accuracy is unfavorable for ancillary staff and formulates more preferably observation scheduling plan.
Summary of the invention
The object of the present invention is to provide a kind of GNSS SURVEYING CONTROL NETWORK Accuracy Estimation, solve existing estimation method without The problem of method can actually receive star condition with respect to control net, solves existing estimation method and does not consider survey station obstruction conditions, cause Accuracy extimate index and the incongruent problem of actual conditions.
A technical solution of the present invention is a kind of GNSS SURVEYING CONTROL NETWORK Accuracy Estimation, including following Step:
Step 1, baseline positioning precision factor R DOP value is estimated；
Baseline is carried out based on satellite Ouluding boundary constraint condition and shares satellite analysis, and each survey station is simulated based on analysis result Observation is established double difference observation equation and error equation and is solved；It is relatively fixed that baseline is calculated according to the Q diagonal matrix in error equation Position dilution of precision RDOP, and basic lineal vector dilution of precision is decomposed into (DOPΔX,DOPΔY,DOPΔH) form；
Step 2, observation program is planned；
According to the calculated baseline positioning precision factor (DOPΔX,DOPΔY,DOPΔH) carry out the same of target observation point Step observation combined sorting, counts each baseline DOP value situation of different observation periods, and according to the network forming condition filtered out and The corresponding dilution of precision of observation period synchronizes the estimation of ring accuracy of observation, the choosing for simultaneous observation point and observation period It selects；
Step 3, according to planning observation program assessment control net precision；
Networking is carried out according to multiple synchronous rings that step 2 determines, is controlled using the variance matrix estimation algorithm of basic lineal vector The precision estimation of net.
The features of the present invention also characterized in that:
Further, double difference observation equation and error equation are established described in above-mentioned steps 1 and are solved specifically according to following step It is rapid to implement:
Firstly, defining two endpoints of baseline are as follows: starting point A (x1,y1,z1), B (x2,y2,z2), it is known that A point coordinate (x1,y1, z1) and observational equation be
Dan Zhandan star
Then, double difference relative positioning is carried out:
1. single poor between survey station
2. inter-satellite asks poor
Secondly, obtaining Q=(ATPA)-1, i is reference satellite, and j is other satellites；
Further, in above-mentioned steps 3, using the variance matrix estimation algorithm estimation control net precision m of basic lineal vectoriIncluding base Covariance matrix method, and the precision estimation method based on estimated covariance matrix are established in estimation RDOP value, specifically: estimation control Make the precision m of netiWhen, substitute into error delta in weight unit0, i.e. mi=δR×δ0；Wherein δ0Calculation method are as follows:
IndividuallyCalculation formula:
WhereinFor the practical calculation accuracy of baseline ij, RDOPijFor synthesis relative accuracy corresponding to baseline ij because Son；
Then control net δ0Are as follows:
N is the baseline number for statistics in formula.
Further, in above-mentioned steps 1, carrying out the shared satellite analysis of baseline based on satellite Ouluding boundary constraint condition includes Following steps:
Step 1, satellite visibility analysis；
(1), it measures target point satellite and blocks elevation angle；
Under topocentric coordinates, it is first determined coordinate of ground point, then centered on target point since the either direction according to Certain angle measures cross sectional feature point, obtains that target point all directions are corresponding to block elevation angle Ei；
(2), satellite spatial position is resolved converts with coordinate；
Elevation angle E is blocked according to step 1iBroadcast ephemeris information is obtained, then calculates satellite in track areal coordinate system Position, converted finally by coordinate, obtain position of the satellite in instantaneous terrestrial coordinate system respectively and sat in the agreement earth Position in mark system；
(3), filtering barrier blocks satellite；
Geocentric coordinates of step (2) satellite calculated in conventional terrestrial coordinate system is converted into and is with ground survey station R The three-dimensional coordinate of the topocentric coordinate system of coordinate origin, and then acquire the elevation angle e and azimuth A of satellite；Then, according to it is specified when The target point all directions that the elevation angle e and azimuth A and step 1 for inscribing the satellite in a certain orientation are calculated are corresponding to block Elevation angle Ei, obtain moment orientation blocks elevation angle Ei；By the elevation of satellite e in moment orientation and block height again Spend angle EiIt is compared, if e≤Ei, then illustrate the satellite-invisible, reject the satellite；If e > Ei, then illustrate the satellite as it can be seen that Retain the satellite；Satellite is filtered one by one according to said method, obtains accurate satellite visibility result；
Step 2, computational geometry dilution of precision DOP value
The state matrix of the observation satellite group obtained in this way is foundation, computational geometry dilution of precision DOP value, and then obtain The ephemeris forecast of satellite obstruction conditions must be accounted for.
Further, elevation angle E is blocked described in step (1)iCalculation method are as follows:
Coordinate of ground point is determined first, it is then clockwise according to certain angle since the either direction centered on target point Cross section is measured, measures section format are as follows: Di,Hi, wherein DiPlan range for cut surface character point to target point, HiFor Cut surface character point height；Secondly the elevation angle of characteristic point is calculated according to cross sectionIf target point measures n elevation angle altogether, then Target point all directions are corresponding to block elevation angle EiAre as follows:
Further, the elevation angle of characteristic pointCalculation formula it is preferredFormula Middle H0For target point height.
Further, the calculation method of step (3) Satellite elevation angle e and azimuth A are as follows:
Obtain coordinate of the satellite in the topocentric coordinate system using ground survey station R as coordinate origin:
In formula,
[XR YR ZR]TFor the WGS-84 coordinate vector of ground survey station R, then have:
Wherein, B and L is the geodetic latitude and geodetic longitude of survey station R respectively.
Then elevation of satellite e are as follows:
Satellite aximuth A are as follows:
Wherein,
Further, elevation angle E is blocked in given time described in step (3) and orientationiCalculation method are as follows:
Known two adjacent to block elevation angle are as follows: (Ai-1, Ei-1), (Ai+1, Ei+1), it is specified using being solved by linear interpolation Block elevation angle in orientation: E=aA+b；By (Ai-1, Ei-1), (Ai+1, Ei+1) substitute into above formula can find out parameter a, b；Then will The satellite aximuth A of given timeiAbove formula is substituted into, the height for finding out corresponding direction blocks angle are as follows: Ei=aAi+b。
Further, when obstruction conditions are approximate linear variation, blocking elevation angle interpolation, (height is blocked in setting using i Angle quantity is n, i≤n) a point is linear fits point to be located elevation angle:
E=a0+a1A+a2A2+...+anAn。
Further, the calculating of geometric dilution of precision DOP value uses direction cosine method in above-mentioned steps 2；The geometry essence Spending factor D OP value includes plane positioning precision factor HRDOP, height accuracy factor Ⅴ RDOP, the spatial position precision factor PRDOP, combined influence dilution of precision GDOP, three-dimensional position dilution of precision PDOP, horizontal component dilution of precision HDOP, vertical component Dilution of precision VDOP and clock deviation dilution of precision TDOP value.
The beneficial effects of the present invention are: (1) present invention carries out control net precision estimation by RDOP value, with conventional method phase Than being the circumstance of occlusion at each control point considered in the accuracy evaluation stage, and handled by analog differential, determining opposite The positioning accuracy factor.(2) present invention is suitable for carrying out in high-mountain gorge areas and the inferior observation area in hardship of city housing-group effect GNSS observation is formulated it is estimated that receiving the precision index that situation is identical with real satellite according to actual observation condition The relatively reliable observation program of precision index out is made precision index and is more preferably seen according to equipment situation and personnel's situation auxiliary Operation plan is surveyed, and evaluates the precision index of control net according to the surveillance program of formulation.For high mountain gorge and city block GNSS observation program under environment, which is formulated, has unprecedented advantage.
Detailed description of the invention
Fig. 1 is the flow diagram of the estimation method of GNSS SURVEYING CONTROL NETWORK precision of the present invention；
Fig. 2 is the flow diagram for taking the ephemeris forecast Satellite visibility analysis of satellite obstruction conditions into account.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description, but the present invention is not limited to Lower specific embodiment.
The estimation method of GNSS SURVEYING CONTROL NETWORK precision of the invention is specifically implemented according to the following steps with reference to Fig. 1:
Step 1, satellite visibility analysis
The determination method of ephemeris forecast of satellite obstruction conditions is taken into account referring to Fig. 2.
(1) it measures target point satellite and blocks elevation angle；
Based on topographic map, digital elevation model (DEM) or other digital geo-information products with Height attribute into The measurement of row list survey station elevation of satellite.
Determine coordinate of ground point first, then centered on target point from northern to according to certain angle (5 °) up time Needle measures cross section (cross section distance is determines according to actual conditions), measures section format are as follows:
Di,Hi
Wherein DiPlan range for cut surface character point to target point, HiFor cut surface character point height, if target point is measured altogether Survey n elevation angle.The elevation angle of characteristic pointAre as follows:
H0For target point height, then target point all directions are corresponding blocks elevation angle EiAre as follows:
GNSS elevation angle is usually to be expressed in the form of topocentric coordinates, is carrying out height using topographic map and DEM model data Need to convert it to topocentric coordinates form when spending angle measurements.
It is influenced by earth curvature, when replacing level surface using the horizontal plane of topocentric coordinates, height difference is influenced to calculate public Formula is as follows:
When D is 2Km and 3Km, height difference is influenced to be 0.31m and 0.71m.Therefore, in general height angle measurements process In can ignore its influence, when have it is higher require be to need to consider its influence, the elevation angle of characteristic pointCalculation formula Become:
The elevation angle format that single survey station measures is as follows:
(2) satellite spatial position is resolved converts with coordinate；
Elevation angle, downloading and the newest broadcast ephemeris information of parsing are blocked according to the target point that step 1 is measured, broadcasts star It goes through downloading and parsing is the basis of GNSS ephemeris forecast and accuracy evaluation module, be the precondition of satellite position calculation.
By calculating the mean angular velocity of satellite motion, the equalization point angle for observing moment satellite, eccentric anomaly, true near point Angle, the argument of latitude, perturbation correction member, and then position of the satellite in track areal coordinate system is calculated, it converts, obtains finally by coordinate Obtain position of the satellite in instantaneous terrestrial coordinate system and the position in conventional terrestrial coordinate system.
(3) filtering barrier blocks satellite.
The visible number of satellite, the visibility of single survey station are carried out according to satellite almanac and the survey station elevation of satellite file measured And DOP value analysis and prediction.
Geocentric coordinates of step 2 satellite calculated in conventional terrestrial coordinate system is converted into ground survey station R as seat The three-dimensional coordinate of the topocentric coordinate system of origin is marked, and then acquires elevation angle and the azimuth of satellite, the height of other system-satellites Angle and azimuthal calculation method are similar therewith.After the elevation angle and azimuth for obtaining satellite, according to step 1 barrier The coordinate elevation information of circumstance of occlusion and target point measures to obtain target point visible satellite situation in conjunction with step 1 Survey station blocks height angle information, and the filtering that satellite is blocked to barrier can be realized.Calculating process is as follows:
1) elevation of satellite and azimuthal computation model are as follows.
Coordinate of the satellite in station heart rectangular coordinate system are as follows:
In formula,
[XR YR ZR]TFor the WGS-84 coordinate vector of ground survey station R.
Wherein, B and L is the geodetic latitude and geodetic longitude of survey station R respectively.
Elevation of satellite are as follows:
Satellite aximuth:
2) screening of visible satellite
According to the elevation angle block information in step 1, it is known that two adjacent to block elevation angle are as follows:
(Ai-1, Ei-1), (Ai+1, Ei+1)
By linear interpolation solve herein block elevation angle:
E=aA+b
By (Ai-1, Ei-1), (Ai+1, Ei+1) substitute into above formula can find out parameter a, b.By the satellite aximuth A of given timei Above formula is substituted into, the height for finding out corresponding direction blocks angle are as follows:
Ei=aAi+b
Compare the elevation angle e of satellite herein and blocks elevation angle Ei, judge satellite whether as it can be seen that the visible differentiation of satellite Formula:
E > Ei
If e > Ei, then illustrate the satellite as it can be seen that retaining the satellite；Otherwise, then the satellite is rejected.
For the obstruction conditions of approximate linear variation, elevation angle interpolation can be used i (set and block elevation angle quantity as n, i ≤ n) a point is linear fits point to be located elevation angle:
E=a0+a1A+a2A2+...+anAn
Thus satellite condition blocked to barrier is filtered one by one, has determined satellite visibility.
Step 2, computational geometry dilution of precision DOP value.
After obtaining the satellite visibility analysis result of estimation satellite obstruction conditions, the observation satellite group that obtains in this way State matrix is foundation, using direction cosine method computational geometry dilution of precision DOP value, including the plane positioning precision factor HRDOP, height accuracy factor Ⅴ RDOP, spatial position precision factor PRDOP, combined influence dilution of precision GDOP, three-dimensional position essence Spend factor PDOP, horizontal component dilution of precision HDOP, vertical component dilution of precision VDOP and clock deviation dilution of precision TDOP value.In turn Obtain the ephemeris forecast for accounting for satellite obstruction conditions.Control net precision estimation of the invention is carried out on the basis of the result, It is more tallied with the actual situation by its estimated accuracy value.
In above-mentioned network point position precision miTheoretical Design efficiency, the reality that further assessment control is netted on the basis of estimation The efficiency indexs such as design efficiency and gross efficiency；Station rate is set using the scale and repetition of control net, carries out the assessment of fee forecast；Benefit With the individual baseline sum and necessary baseline number of control net, extra baseline is assessed, and calculate the whole network reliability index and net type Precision performance indicator；Assess prior art design scheme in each point accuracy situation and each baseline Side length accuracy, Azimuth accuracy, redundant obser ration part equally accurate information, can obtain the information more to tally with the actual situation.
The accuracy that can be improved control net Accuracy extimate through the above steps is because taking satellite obstruction conditions into account On the basis of satellite visibility analysis, more accurate ephemeris forecast could be obtained, and then can just estimate more accurately control net Accuracy value.
Step 3, baseline positioning precision factor R DOP value is estimated；
Baseline positioning precision factor R DOP value estimation can be considered satellite geometry distribution dilution of precision, Baselines, Using a known coordinate, another point coordinate is solved, carries out relative positioning.It is then according to relative positioning model in error equation It resolves.Its RDOP value is still association's factor matrices of error equation.By asking control net each baseline two-end-point of institute's structure Difference carries out the shared satellite statistics of baseline.
Two endpoints of baseline, starting point A (x1,y1,z1), B (x2,y2,z2)
1., it is known that A point coordinate (x1,y1,z1)
2. observational equation
Dan Zhandan star
Double difference relative positioning
1) single poor between survey station
2) inter-satellite asks poor
Abbreviation:
Q=(ATPA)-1(P can be unit matrix).
I is reference satellite, and j is other satellites.
Its relevant coefficient of known point A can be 0.
There is no observations, therefore factor battle array is assisted not have to L.
Baseline positioning precision factor R DOP can be determined according to Q diagonal matrix, and basic lineal vector dilution of precision is decomposed For (DOPΔX,DOPΔY,DOPΔH) form.
According to control net rough coordinates and the control long connection of selvage is arranged, according to observation period plan, output institute There is baseline two o'clock to share satellite visibility and RDOP value.
Step 4, observation program is planned；
According to the calculated baseline positioning precision factor (DOPΔX,DOPΔY,DOPΔH) carry out the same of target observation point Step observation combined sorting, counts each baseline DOP value situation of different observation periods, and according to the network forming condition filtered out and The corresponding dilution of precision of observation period synchronizes the estimation of ring accuracy of observation, the choosing for simultaneous observation point and observation period It selects.
Wherein, the selection method of simultaneous observation point and observation period are as follows:
Support the overall accuracy statistics of surveillance program.After selected surveillance program, all baselines of multiple periods are provided altogether depending on defending The statistical informations such as star visibility and DOP value.The precision information of different periods, different baselines is summarized.
Baseline setting and combination are carried out by the matching degree of DOP value in the same period, and optimization selection evaluation is carried out to multiple schemes, Preferred embodiment (including simultaneous observation sequence, beginning and ending time period, baseline information) is provided, and specifies sight gauge on this basis It draws.
Observe difficult target point DOPdSynchronization network forming recommend, will observe difficult point with can n point of network forming build Vertical virtual synchronous observed relationships, form the DOP value of each baseline:
DOPd-1,DOPd-2,...,DOPd-i,...DOPd-n
DOP value is ranked up according to ascending order, according to instrument quantity R, sequentially intercepts R point as optimal synchronous sight Survey baseline.
According to the above precision analysis as a result, and combine site contour and transportation condition, determined under manual intervention each same Walk the measurement control point of observation period.
Step 5, according to planning observation program assessment control net precision；
Networking is carried out according to multiple synchronous rings that step 2 determines, to carry out the precision estimation of control net.Precision assessment method Using the variance matrix estimation algorithm of general common basic lineal vector.Refer to due to providing the relative accuracy factor in the estimation of DOP value Mark, therefore the positional accuracy index δ estimated accordinglyRIt is nondimensional relative accuracy, in order to determine control net precision, needs Error delta in an appropriate weight unit is substituted into covariance matrix0, wherein δ0Generally according to the RDOP and essence under different observing environments Degree statistical conditions are determined.IndividuallyCalculation formula is as follows:
WhereinFor the practical calculation accuracy of baseline ij, RDOPijFor the synthesis relative accuracy factor corresponding to baseline ij. Then control net δ0Are as follows:
N is the baseline number for statistics in the formula.
Thus network point position precision m can be determinediAre as follows:
mi=δR×δ0
Above-mentioned steps include establishing variance (covariance) battle array method based on estimation RDOP value, and be based on estimated variance The precision estimation method of (covariance) battle array can estimate control net precision by above step.This method is based on evaluating The positioning precision factor has the advantages that accuracy evaluation closer to truth compared with the conventional method, is carrying out difficulty Area control screen cloth network optimization has a clear superiority.

Claims (9)

1. a kind of GNSS SURVEYING CONTROL NETWORK Accuracy Estimation, which comprises the following steps:
Step 1, baseline positioning precision factor R DOP value is estimated；
Baseline is carried out based on satellite Ouluding boundary constraint condition and shares satellite analysis, and each survey station observation is simulated based on analysis result Value, establishes double difference observation equation and error equation and solves；Baseline relative positioning essence is calculated according to the Q diagonal matrix in error equation Factor R DOP is spent, and is (DOP by baseline positioning precision FactorizationΔX,DOPΔY,DOPΔH) form；
Step 2, observation program is planned；
According to the calculated baseline positioning precision factor (DOPΔX,DOPΔY,DOPΔH) carry out the synchronous of target observation point and see Combined sorting is surveyed, counts each baseline DOP value situation of different observation periods, and according to the network forming condition filtered out and observation Period corresponding dilution of precision synchronizes the estimation of ring accuracy of observation, the selection for simultaneous observation point and observation period；
Step 3, according to planning observation program assessment control net precision；
According to multiple synchronous rings that step 2 determines networkings are carried out, using the variance matrix estimation algorithm estimation control net of basic lineal vector Precision mi；Detailed process is as follows:
Using the variance matrix estimation algorithm estimation control net precision m of basic lineal vectoriIncluding establishing covariance matrix side based on estimation RDOP value Method, and the precision estimation method based on estimated covariance matrix, specifically: the precision m of estimation control netiWhen, substitute into weight unit Middle error delta0, i.e. mi=RDOPij×δ0；Wherein δ0Calculation method are as follows:
IndividuallyCalculation formula:
WhereinFor the practical calculation accuracy of baseline ij, RDOPijFor the synthesis relative accuracy factor corresponding to baseline ij；
Then control net δ0Are as follows:
N is the baseline number for statistics in formula.
2. GNSS SURVEYING CONTROL NETWORK Accuracy Estimation according to claim 1, which is characterized in that established described in step 1 Double difference observation equation and error equation and solve the following steps are included:
Firstly, defining two endpoints of baseline are as follows: starting point A (x1,y1,z1), B (x2,y2,z2), it is known that A point coordinate (x1,y1,z1) and Observational equation is Dan Zhandan star
Then, double difference relative positioning is carried out:
1. single poor between survey station
2. inter-satellite asks poor
Secondly, obtaining Q=(ATPA)-1, i is reference satellite, and j is other satellites；
3. GNSS SURVEYING CONTROL NETWORK Accuracy Estimation according to claim 1, which is characterized in that be based on described in step 1 It is further comprising the steps of that satellite Ouluding boundary constraint condition carries out the shared satellite analysis of baseline:
Step 1.1, satellite visibility analysis；
(1), it measures target point satellite and blocks elevation angle；
Under topocentric coordinates, it is first determined coordinate of ground point, then centered on target point since the either direction according to certain Angle measurement cross sectional feature point, obtains that target point all directions are corresponding to block elevation angle Ei；
(2), satellite spatial position is resolved converts with coordinate；
Elevation angle E is blocked according to step (1)iBroadcast ephemeris information is obtained, position of the satellite in track areal coordinate system is then calculated It sets, is converted finally by coordinate, obtain position of the satellite in instantaneous terrestrial coordinate system respectively and in conventional terrestrial coordinate system In position；
(3), filtering barrier blocks satellite；
Geocentric coordinates of step (2) satellite calculated in conventional terrestrial coordinate system is converted into using ground survey station R as coordinate The three-dimensional coordinate of the topocentric coordinate system of origin, and then acquire the elevation angle e and azimuth A of satellite；Then, according under given time The target point all directions that the elevation angle e and azimuth A and step 1 of the satellite in a certain orientation are calculated are corresponding to block height Angle Ei, obtain moment orientation blocks elevation angle Ei；By the elevation of satellite e in moment orientation and block elevation angle again EiIt is compared, if e≤Ei, then illustrate the satellite-invisible, reject the satellite；If e > Ei, then illustrate the satellite as it can be seen that retaining The satellite；Satellite is filtered one by one according to said method, obtains accurate satellite visibility result；
Step 1.2, computational geometry dilution of precision DOP value
The state matrix of the observation satellite group obtained in this way is foundation, computational geometry dilution of precision DOP value, and then cared for And the ephemeris forecast of satellite obstruction conditions.
4. GNSS SURVEYING CONTROL NETWORK Accuracy Estimation according to claim 3, which is characterized in that described in step (1) Block elevation angle EiCalculation method are as follows:
Coordinate of ground point is determined first, is then measured clockwise since the either direction centered on target point according to certain angle Cross section measures section format are as follows: Di,Hi, wherein DiPlan range for cut surface character point to target point, HiFor section Feature point height；Secondly the elevation angle of characteristic point is calculated according to cross sectionIf target point measures n elevation angle altogether, then target All directions are corresponding blocks elevation angle E for pointiAre as follows:
5. GNSS SURVEYING CONTROL NETWORK Accuracy Estimation according to claim 4, which is characterized in that the height of the characteristic point Spend angleCalculation formula beH in formula0For target point height.
6. GNSS SURVEYING CONTROL NETWORK Accuracy Estimation according to claim 3, which is characterized in that described in step (3) The calculation method of elevation of satellite e and azimuth A are as follows:
Obtain coordinate of the satellite in the topocentric coordinate system using ground survey station R as coordinate origin:
In formula,
[XR YR ZR]TFor the WGS-84 coordinate vector of ground survey station R, then have:
Wherein, B and L is the geodetic latitude and geodetic longitude of survey station R respectively；
Then elevation of satellite e are as follows:
Satellite aximuth A are as follows:
Wherein,
7. GNSS SURVEYING CONTROL NETWORK Accuracy Estimation according to claim 3, which is characterized in that described in step (3) Elevation angle E is blocked in given time and orientationiCalculation method are as follows:
Known two adjacent to block elevation angle are as follows: (Ai-1, Ei-1), (Ai+1, Ei+1), specified orientation is solved using by linear interpolation Block elevation angle: E=aA+b；It willParameter a, b can be found out by substituting into above formula；Then will refer to The satellite aximuth A that timing is carvediAbove formula is substituted into, the height for finding out corresponding direction blocks angle are as follows: Ei=aAi+b。
8. GNSS SURVEYING CONTROL NETWORK Accuracy Estimation according to claim 7, which is characterized in that when obstruction conditions are close It is described to block elevation angle interpolation and fit point to be located elevation angle using i point is linear when liny deformation:
E=a0+a1A+a2A2+...+anAn
In formula, n is the quantity for blocking elevation angle, i≤n.
9. GNSS SURVEYING CONTROL NETWORK Accuracy Estimation according to claim 3, which is characterized in that described in step 1.2 The calculating of geometric dilution of precision DOP value uses direction cosine method；The geometric dilution of precision DOP value includes plane relative positioning essence Spend factor HRDOP, height accuracy factor Ⅴ RDOP, spatial position precision factor PRDOP, combined influence dilution of precision GDOP, three-dimensional Position dilution of precision PDOP, horizontal component dilution of precision HDOP, vertical component dilution of precision VDOP and clock deviation dilution of precision TDOP Value.
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