CN107037464A - A kind of accident vehicle precision positioning method based on GNSS relative positionings - Google Patents
A kind of accident vehicle precision positioning method based on GNSS relative positionings Download PDFInfo
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- CN107037464A CN107037464A CN201710376317.9A CN201710376317A CN107037464A CN 107037464 A CN107037464 A CN 107037464A CN 201710376317 A CN201710376317 A CN 201710376317A CN 107037464 A CN107037464 A CN 107037464A
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- epoch
- carrier phase
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- double difference
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Abstract
The invention discloses a kind of accident vehicle precision positioning method based on GNSS relative positionings, its step is：S1：The GNSS receiver of outgoing carrier phase information, and the carrier phase of collection GNSS receiver output in real time are installed on vehicle in advance；S2：Carrying out epoch to the carrier phase of adjacent epoch and inter-satellite difference, double difference carrier phase is obtained, and determine the integer ambiguity of double difference carrier phase；S3：According to obtained double difference carrier phase set, the vehicle relative position relation between epoch is calculated；S4：Using the position of the corresponding vehicle of wherein a certain epoch phase as the origin of coordinates, according to the position relationship between epoch, the entire motion track relative to the origin of coordinates is calculated.The present invention has the advantages that principle is simple, easily realizes and promote, precision is high.
Description
Technical field
Present invention relates generally to field of satellite location, a kind of accident vehicle precision based on GNSS relative positionings is refered in particular to fixed
Position method.
Background technology
With satellite positioning tech (such as GPS, GLONASS and dipper system) fast development, its application has been related to
And the modern life, the various fields of production.At present, the Point-positioning Precision of satellite fix can accomplish meter level, pass through various offices
Domain or wide area difference, it is possible to achieve sub_meter position.
The positioning result of satellite positioning receiver, often relative to certain terrestrial coordinate system.But in many application necks
Domain, people often more concerned be motion carrier itself relative movement orbit；Tied although directly can be positioned by receiver
Really, carry out processing and obtain this relative movement orbit, but its limited precision.
It is for the vehicle in traffic accident, if it is possible to obtain precise motion track of each vehicle with respect to itself, then right
In analysis accident responsibility, cause of accident has great importance.It will be clear that One-Point Location or use local or GPS wide area differential GPS
The track that method is obtained, its precision is inadequate.And appearance application is determined based on carrier phase processing, it uses multiple antennas, but
It is required that the installation between antenna is relatively-stationary, the single antenna application of accident vehicle is not suitable for；And tradition is based on epoch difference
Carrier phase processing, its positioning result is relative to global reference frame such as terrestrial coordinate system, therefore there is global sit
Mark is tied to the Solve problems of carrier vector.
The content of the invention
The technical problem to be solved in the present invention is that：The technical problem existed for prior art, the present invention provides one
Plant simple principle, easy realization and popularization, the high accident vehicle precision positioning method based on GNSS relative positionings of precision.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of accident vehicle precision positioning method based on GNSS relative positionings, it comprises the following steps：
S1：The GNSS receiver of outgoing carrier phase information is installed on vehicle in advance, and gathers GNSS receiver in real time
The carrier phase of output；
S2：Carrying out epoch to the carrier phase of adjacent epoch and inter-satellite difference, double difference carrier phase is obtained, and determine
The integer ambiguity of double difference carrier phase；
S3：According to obtained double difference carrier phase set, the vehicle relative position relation between epoch is calculated；
S4：Using the position of the corresponding vehicle of wherein a certain epoch phase as the origin of coordinates, closed according to the position between epoch
System, calculates the entire motion track relative to the origin of coordinates.
It is used as the further improvement of the inventive method：In the step S2, it is assumed thatRepresent that receive n-th of receiver is gone through
The carrier phase value of the upper the l GNSS satellite of member, then double difference carrier phase be calculated as：
Here,For double difference of i-th GNSS satellite to jth GNSS satellite between m-th of epoch and k-th of epoch
Fuzziness, is unknown integer,For i-th GNSS satellite between m-th of epoch and k-th of epoch to jth GNSS
The double difference carrier phase measurement of satellite.
It is used as the further improvement of the inventive method：In the step S2,Using Fast integer Ambiguity Resolution algorithm
Calculating is obtained.
It is used as the further improvement of the inventive method：In the step S3, it is located on adjacent epoch k and k+1, user is on ground
Alternate position spike on spherical coordinate system is uk, is exactly, according to following equation groups, to solve uk：
Wherein：λ is the wavelength of carrier phase correspondence radio frequency,For on epoch k and k+1 using j satellites as reference star
The corresponding double difference carrier phase of i satellites,User is represented to the unit line of sight of n-th of epoch, the l GNSS satellite,For
N-th of epoch the l GNSS satellite position, j is selected differential reference satellite number, and I is the numbering collection of all visible satellites
Close.
It is used as the further improvement of the inventive method：In the step S4, it is assumed that coordinate origin takes the user position of k epoch
Put pk, the direction of reference axis is consistent with terrestrial coordinate system, then：
pk=[0 0 0]T (3)
For the epoch i before k epoch, the position p of user in the coordinate system in the epochiFor：
For the epoch i before k epoch, the position p of user in the coordinate system in the epochiFor：
Here, umAccording to (2) formula calculate alternate position spike between obtained epoch m and m+1.
Compared with prior art, the advantage of the invention is that：
1st, a kind of accident vehicle precision positioning method based on GNSS relative positionings of the invention, is determined with existing based on single-point
Position and traditional method based on differential carrier phase are compared, it is not necessary to calculate absolute position of the carrier relative to the earth, precision
It is high.
2nd, a kind of accident vehicle precision positioning method based on GNSS relative positionings of the invention, cannot be only used for vehicle thing
Therefore the relevant path of process is determined, problem is determined with respect to the small distance movement track of itself for other outdoor various carriers,
It can be solved by this method.Therefore this method has certain versatility.
3rd, a kind of accident vehicle precision positioning method based on GNSS relative positionings of the invention, with traditional One-Point Location
And remote difference such as RTK is compared, as a result of epoch difference, and establish with carrier from the reference as coordinate origin
Coordinate system, therefore the positioning precision of vehicle not in the same time can be greatly improved, so as to greatly improve vehicle in accident process
The precision of running orbit.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the inventive method.
Embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
As shown in figure 1, a kind of accident vehicle precision positioning method based on GNSS relative positionings of the present invention, including it is following
Step：
S1：The GNSS receiver of exportable carrier phase information is installed on vehicle in advance, and collection GNSS is received in real time
The carrier phase of machine output；
S2：Carrying out epoch to the carrier phase of adjacent epoch and inter-satellite difference, double difference carrier phase is obtained, and determine
The integer ambiguity of double difference carrier phase；
S3：According to obtained double difference carrier phase set, the vehicle relative position relation between epoch is calculated；
S4：Using the position of the corresponding vehicle of wherein a certain epoch phase as the origin of coordinates, closed according to the position between epoch
System, calculates the entire motion track relative to the origin of coordinates.
In concrete application example, in above-mentioned steps S2 epoch is carried out the carrier phase of adjacent epoch and inter-satellite
Difference, obtains double difference carrier phase, and determine the integer ambiguity in double difference carrier phase.Assuming thatRepresent what receiver was received
The carrier phase value of n-th of epoch upper the l GNSS satellite, then double difference carrier phase be calculated as：
Here,For double difference of i-th GNSS satellite to jth GNSS satellite between m-th of epoch and k-th of epoch
Fuzziness, is unknown integer,For i-th GNSS satellite between m-th of epoch and k-th of epoch to jth GNSS
The double difference carrier phase measurement of satellite, can be calculated using certain Fast integer Ambiguity Resolution algorithm and obtained.Here integer ambiguity is asked
Resolving Algorithm, is well known in the art, just repeats no more herein.
In concrete application example, according to double difference carrier phase set is obtained in above-mentioned steps S3, the car between epoch is calculated
Relative position relation, refers to be located on adjacent epoch k and k+1, and user is u in the alternate position spike that terrestrial coordinates is fastenedk, it is exactly root
According to following equation groups, u is solvedk：
Wherein：λ is the wavelength of carrier phase correspondence radio frequency,For on epoch k and k+1 using j satellites as reference star
The corresponding double difference carrier phase of i satellites,User is represented to the unit line of sight of n-th of epoch, the l GNSS satellite,For
N-th of epoch the l GNSS satellite position, j is selected differential reference satellite number, and I is the numbering collection of all visible satellites
Close.
In concrete application example, the position in above-mentioned steps S4 using the corresponding vehicle of wherein a certain epoch phase is used as seat
Origin is marked, according to the position relationship between epoch, the entire motion track relative to the origin of coordinates is calculated, it is assumed that coordinate origin takes
The customer location p of k epochk, the direction of reference axis is consistent with terrestrial coordinate system, then：
pk=[0 0 0]T (3)
For the epoch i before k epoch, the position p of user in the coordinate system in the epochiFor：
For the epoch i before k epoch, the position p of user in the coordinate system in the epochiFor：
Here, umAccording to (2) formula calculate alternate position spike between obtained epoch m and m+1.
From the foregoing, it will be observed that the principle of the present invention is：With reference to vehicle processes track more concerned with the relative movement locus of itself this
Core, using during some epoch corresponding vehicle location as relative movement orbit coordinate origin so that will be traditional
Relative to the orientation problem of terrestrial coordinate system, be converted into the relative positioning problem of itself, and merge carrier phase epoch difference can
This technology of high-precision relative positioning is realized, the accurate determination of car accident process footprint is realized.
It the above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention should be regarded as the protection of the present invention
Scope.
Claims (5)
1. a kind of accident vehicle precision positioning method based on GNSS relative positionings, it is characterised in that comprise the following steps：
S1：The GNSS receiver of outgoing carrier phase information, and collection GNSS receiver output in real time are installed on vehicle in advance
Carrier phase；
S2：Carrying out epoch to the carrier phase of adjacent epoch and inter-satellite difference, double difference carrier phase is obtained, and determine double difference
The integer ambiguity of carrier phase；
S3：According to obtained double difference carrier phase set, the vehicle relative position relation between epoch is calculated；
S4：Using the position of the corresponding vehicle of wherein a certain epoch phase as the origin of coordinates, according to the position relationship between epoch, meter
Calculate the entire motion track relative to the origin of coordinates.
2. the accident vehicle precision positioning method according to claim 1 based on GNSS relative positionings, it is characterised in that institute
State in step S2, it is assumed thatThe carrier phase value for n-th of epoch upper the l GNSS satellite that receiver is received is represented, then double difference
Carrier phase is calculated as：
Here,Obscured for the double difference of i-th GNSS satellite between m-th of epoch and k-th of epoch to jth GNSS satellite
Degree, is unknown integer,For i-th GNSS satellite between m-th of epoch and k-th of epoch to jth GNSS satellite
Double difference carrier phase measurement.
3. the accident vehicle precision positioning method according to claim 2 based on GNSS relative positionings, it is characterised in that institute
State in step S2,Calculated and obtained using Fast integer Ambiguity Resolution algorithm.
4. the accident vehicle precision positioning method based on GNSS relative positionings according to Claims 2 or 3, its feature exists
In in the step S3, being located on adjacent epoch k and k+1, the alternate position spike that user is fastened in terrestrial coordinates is uk, it is exactly basis
Following equation groups, solve uk：
Wherein：λ is the wavelength of carrier phase correspondence radio frequency,For the i satellites on epoch k and k+1 by reference star of j satellites
Corresponding double difference carrier phase,User is represented to the unit line of sight of n-th of epoch, the l GNSS satellite,For n-th
Epoch the l GNSS satellite position, j is selected differential reference satellite number, and I is the numbering set of all visible satellites.
5. the accident vehicle precision positioning method according to claim 4 based on GNSS relative positionings, it is characterised in that institute
State in step S4, it is assumed that coordinate origin takes the customer location p of k epochk, the direction of reference axis is consistent with terrestrial coordinate system, then：
pk=[0 0 0]T (3)
For the epoch i before k epoch, the position p of user in the coordinate system in the epochiFor：
For the epoch i before k epoch, the position p of user in the coordinate system in the epochiFor：
Here, umAccording to (2) formula calculate alternate position spike between obtained epoch m and m+1.
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| CN108205151A (en) * | 2018-01-10 | 2018-06-26 | 重庆邮电大学 | A kind of Low-cost GPS single antenna attitude measurement method |
| CN113671546A (en) * | 2021-08-18 | 2021-11-19 | 上海华测导航技术股份有限公司 | High-precision relative motion vector algorithm based on double differences between carrier observed value epochs |
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