CN107064974A - A kind of localization method and system for suppressing urban canyons multipath satellite-signal - Google Patents
A kind of localization method and system for suppressing urban canyons multipath satellite-signal Download PDFInfo
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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
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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
- G01S19/22—Multipath-related issues
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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
- G01S19/52—Determining velocity
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Abstract
Current GNSS vehicle positionings and GNSS inertia combined navigations have been carried out commonly used.But when vehicle traveling is in urban canyon environment, because the skyscraper of highway both sides is blocked, GNSS satellite-signal is vulnerable to blocking and reflecting for highway both sides building, multipath effect is serious, if lacking effective examination to non line of sight satellite caused by signal reflex, certainly will introduce huge position error, therefore, under urban canyon environment, GNSS multipath errors are eliminated, are one of current automobile navigation positioning or even ITS fields problem urgently to be resolved hurrily.In view of the shortcomings of the prior art, the present invention proposes a kind of localization method and system for suppressing urban canyons multipath satellite-signal.This method make use of building only to have larger block to the satellite of left and right directions, but the fact that not blocked to the satellite of front, above and behind, effectively judge and reject invisible satellite, weaken the influence of multipath effect, so that the vehicle high-precision positioning under realizing urban canyon environment.
Description
Technical Field
The invention relates to the field of satellite navigation positioning, in particular to a positioning method and a positioning system for restraining urban canyon multipath satellite signals.
Background
With the rapid increase of domestic motor vehicles, urban traffic in China faces increasingly serious challenges, and Intelligent Transportation Systems (ITS) are produced at the same time. The ITS can effectively reduce the occurrence of traffic accidents and relieve the urban traffic problem, and the development and research of the ITS can not leave accurate vehicle navigation and positioning, and only on the premise of accurate and real-time vehicle positioning, the ITS can effectively command and dispatch vehicles, improve urban traffic and ensure the safe driving of the vehicles, so that the vehicle navigation and positioning technology is one of the key contents of the existing ITS research.
In the field of vehicle navigation and positioning, the main positioning methods include dead reckoning, inertial navigation and satellite navigation. The dead reckoning and the inertial navigation mainly adopt low-cost vehicle-mounted sensors, such as an electronic compass, a wheel speed sensor, a micro-electromechanical gyroscope and the like, to realize the navigation and positioning of a vehicle, and because the measurement error of the sensors can be continuously accumulated along with time, the positioning precision of a short time can be usually ensured; at present, a Global Navigation Satellite System (GNSS) is most widely applied in the field of vehicle Positioning, and generally refers to all Satellite Navigation systems, and the technology of the GNSS is mature, and includes a Global Positioning System (GPS) in the united states, a glonass Navigation System in russia and a beidou Satellite Navigation System in china, and the GNSS can provide information such as three-dimensional position, speed, time and the like for a vehicle in real time, so as to realize an all-weather and all-round Navigation and Positioning function.
Currently, GNSS vehicle-mounted positioning and GNSS-inertial integrated navigation have achieved common applications. However, when a vehicle runs in an urban canyon environment, because high-rise buildings at two sides of a road are shielded, satellite signals of GNSS are easily shielded and reflected by the buildings at two sides of the road, the multipath effect is serious, and if a non-line-of-sight satellite caused by signal reflection is lack of effective discrimination, a huge positioning error is inevitably introduced, so that the GNSS multipath error is eliminated in the urban canyon environment, and the method is one of the problems to be solved urgently in the fields of vehicle navigation positioning and ITS at present.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a positioning method and a positioning system for restraining urban canyon multipath satellite signals. The method utilizes the fact that the building only shields the satellites in the left and right directions greatly but does not shield the satellites in front, above and behind, effectively judges and eliminates invisible satellites, weakens the influence of multipath effect, and accordingly realizes high-precision positioning of vehicles in the urban canyon environment.
In order to achieve the purpose, the invention adopts the following technical scheme: in an urban canyon environment, roads are straight, no shielding exists in the front and the back, but buildings on the two sides of the roads are shielded, due to reflection of the buildings, a vehicle-mounted GNSS receiver easily receives signals of non-line-of-sight satellites, pseudo-range measurement values of the non-line-of-sight satellites are large in error, and if the satellites are used for positioning resolving, the positioning accuracy of a vehicle is reduced, so that the non-line-of-sight satellites are required to be removed firstly in the optimized satellite selection positioning; the position of the vehicle at the current moment is predicted according to the running speed of the vehicle and the positioning result of the vehicle at the previous moment or by using inertial navigation. The satellite positioning receiver on the vehicle receives the received satellite signals, the ephemeris in the signals comprises the position information of the satellite, the position of the satellite can be calculated, and the pseudo range residue of the received satellite can be calculated according to the pseudo range measurement value of the satellite. The occlusion critical point is the satellite unobstructed pitch angle according to fixed altitude, fixed vehicle and building distance, which is represented by equation (7). Satellites with elevation angles greater than equation (7) are unobstructed, while satellites with elevation angles less than equation (7) are obstructed by buildings.
As shown in FIG. 3, the relationship between altitude angle α and heading angle θ is derived as follows (in the same way as for the left side, taking the vehicle to the right building as an example), α when the heading angle is 90 °0Is the minimum height angle, height h, and distance l from the vehicle to the building on the right, then
tanα0＝h/l (1)
The vehicle is taken as a coordinate origin O, the right front of the vehicle is taken as a y axis, the vehicle arrives at a right building is taken as an x axis, the right upper side of the vehicle is taken as a z axis, a space three-dimensional coordinate system is established, and then the coordinate of any point A on the top of the building is taken as the coordinate origin O
(l, y, h), then
The following equations are then derived from (2) and (3), respectively
y＝l/tanθ (5)
The following (6) is derived from (1), (4) and (5)
By transforming formula (6)
α＝tan-1[tanα0·sinθ](7)
The altitude α of the vehicle in the visible satellite range and the azimuth theta of the visible satellite relative to the road direction have a certain curve relationship, and the relation between α and theta can be solved as α -tan-1[tanα0·sinθ]Wherein α0(α for the left and right sides of the vehicle respectivelymlAnd αmrInstead) is the minimum altitude angle, unknown first initialize α0Calculates an elevation angle α of each satellite and an azimuth angle theta relative to the road direction according to the estimated vehicle position, substitutes the azimuth angle theta of the satellite into the formula (7) to calculate a corresponding lowest elevation angle α (theta), then calculates a difference delta α between the elevation angle of each satellite and the corresponding elevation angle on the curve to be α - α (theta), sorts the differences from large to small, and sequentially and circularly calculates a pseudo range residual resp of the satelliteiSetting a threshold value for the satellite pseudo range residue, comparing the satellite pseudo range residue with the threshold value, when the satellite residual is less than the threshold value, the satellite is the visible satellite, when the satellite pseudo range residue is greater than the threshold value, ending the circulation, and when the satellite pseudo range residue is not greater than the threshold value, the circulation is not needed to be compared, and the altitude angle and the direction angle of the satellite are substituted into the equation (7) to obtain α0And will α0Adding a smaller degree to adjust α0(i.e., α)mlAnd αmr) The range of the visible satellite can be determined after the curve is determined, and interference signals caused by multipath are eliminatedNon-line-of-sight satellites, and finally selecting proper satellites from the visible satellites to determine the position of the vehicle in the road at the moment, and repeating the method at the next moment to determine the position at the next moment0Can determine the range of the visible satellite at every moment, thereby greatly improving the positioning precision of the vehicle.
Drawings
FIG. 1-System flow diagram;
FIG. 2-schematic of visible satellites and non-line-of-sight satellites;
FIG. 3-a is a schematic illustration of the maximum elevation angle in the critical point;
3-b is a schematic view of the elevation angle and the heading angle of a vehicle to any critical point of a building;
figure 4-plot of satellite azimuth angle versus minimum elevation angle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
When the vehicle is on the road, the position of the vehicle at the current time is predicted through the driving speed of the vehicle and the positioning result of the vehicle at the previous time or through inertial navigation, then the position of each satellite is obtained by utilizing a GNSS receiver on the vehicle to receive ephemeris data of the satellite and carry out ephemeris calculation, the vehicle has a certain curve relation to the altitude angle α and the direction angle theta of the visible satellite range, and the relation between α and theta can be obtained as α -tan-1[tanα0·sinθ]Wherein α0(actually, the minimum height angle α on the left and right sides of the vehiclemlAnd αmr) Is the minimum altitude angle, unknown, first initialized α0Calculates an elevation angle α of each satellite and an azimuth angle theta relative to the road direction according to the estimated vehicle position, substitutes the azimuth angle theta of the satellite into the formula (7) to calculate a corresponding lowest elevation angle α (theta), then calculates a difference delta α between the elevation angle of each satellite and the corresponding elevation angle on the curve to be α - α (theta), sorts the differences from large to small, and sequentially and circularly calculates a pseudo range residual resp of the satelliteiSetting a threshold value for the pseudorange residuals of the satellites, comparing the pseudorange residuals of the satellites with the threshold value in sequence, wherein the satellites remain visible when the satellite residuals are less than the threshold value, terminating the cycle when the satellite pseudorange residuals are greater than the threshold value, and comparing the altitude α of the satellites without comparing the satellite residualsiAngle of direction thetaiα can be obtained by substituting equation (7)0And will α0Plus a smaller number of degrees, i.e.Thereby adjusting α0(i.e., α)mlAnd αmr) The range of the visible satellites can be determined after the curve is determined, the non-line-of-sight satellites which interfere signals due to multipath are eliminated, finally, proper satellites are selected from the visible satellites to determine the position of the vehicle in the road at the moment, and the position of the vehicle at the next moment can be determined by repeating the method at the next moment.
The GNSS receiver is used for outputting original data of satellite positioning, processing the original data through an embedded computer such as a raspberry pi, and continuously estimating the accurate position of a vehicle in real time by combining an algorithm of optimizing satellite selection; the specific type of the receiver adopted by the embodiment is 8T of ublox company, and ephemeris of a satellite, a pseudo-range measurement value, a carrier phase and other original data can be output; the antenna of the receiver is arranged at the right center of the vehicle roof, and the receiver is arranged at the position of the mass center of the vehicle and is in the same direction with the longitudinal axis of the vehicle.
Receiving ephemeris data of satellites through a GNSS receiver, and calculating position coordinates of each satellite; specific satellite ephemeris solution processes can be found in the literature references (xie steel. GPS principle and receiver design [ M ] electronic specification industry press, 2009).
As shown in fig. 2, in an urban canyon environment, due to reflection of a building, a GNSS receiver easily receives signals of non-line-of-sight satellites, a pseudo-range measurement value of the non-line-of-sight satellites has a large error, and if such satellites are used for positioning calculation, the vehicle positioning accuracy is reduced, so that in the optimized satellite selection positioning, the non-line-of-sight satellites need to be removed first.
The pseudorange residuals of the satellites are subjected to a number of actual tests and performance analyses to set a threshold value m, the residuals are visible satellites below the threshold value, the residuals are non-line-of-sight satellites above the threshold value, and the minimum altitude α is adjusted according to the magnitudes of the residuals0And thus the range of the satellites in view at the current time.
The pseudorange residuals of the satellites are computed as follows, and the essence of the satellite positioning timing algorithm is to solve one of the following four-element non-linear equations:
the system of nonlinear equations (8) can be solved using newton's iteration, let k represent the number of newton iterations the current epoch is undergoing, and k-1 is the number of iterations the current epoch has completed. In the kth Newton iteration of the current epoch, each non-linear equation of the equation set (8) may be at [ x [ ]k-1,tu,k-1]TIs linearized, and the linearized matrix equation is
Wherein,
g is a Jacobian matrix. Each component of the vector b is equal to a distance measurement of the receiver to the corresponding satelliteSubtracting the predicted value r of geometric distance(n)(xk-1) And receiver clock error prediction value tu,k-1The difference between such a measurement and a prediction is usually called a residue, and the vector b here is the pseudorange residue. The least square method is to carry out the residue of the pseudorange before positioning of each satellitePost-positioning pseudorange residuals in a squared sum senseThese pre-and post-position pseudorange residuals provide some information to some extent about pseudorange measurements and the quality of the position fix. The residual absolute value is compared with a predetermined threshold value, so that erroneous measured values are detected and excluded.
As shown in FIG. 3, the relationship between the elevation angle α and the direction angle θ is the derived relationship (7)
α＝tan-1[tanα0·sinθ](7)
The above equation is a relationship between the elevation angle α and the direction angle θ, wherein the minimum elevation angle α0The unknown quantity is required and is deduced by a pseudo-range residual method of the satellite, the relation between the altitude angle α and the direction angle theta is determined, the range of the visible satellite is determined, and a proper satellite is selected from the determined range to carry out pseudo-range positioning calculationSixthly, all the satellites are used for GNSS pseudo range positioning calculation, and the calculation result is output as a final positioning result; and if the number of the visible satellites is more than six, selecting six satellites from the visible satellites for GNSS pseudo range positioning solution.
FIG. 1 is a flow chart of the present invention, first initializing α0Calculates an elevation angle α of each satellite and an azimuth angle theta relative to the road direction according to the estimated vehicle position, substitutes the azimuth angle theta of the satellite into the formula (7) to calculate a corresponding lowest elevation angle α (theta), then calculates a difference delta α between the elevation angle of each satellite and the corresponding elevation angle on the curve to be α - α (theta), sorts the differences from large to small, and sequentially and circularly calculates a pseudo range residual resp of the satelliteiThen comparing the satellite pseudo range residue with a threshold value, when the satellite residual is smaller than the threshold value, the satellite is a visible satellite and is reserved, when the satellite pseudo range residue is larger than the threshold value, the circulation is terminated, the satellite pseudo range residue is not compared, and the altitude angle and the direction angle of the satellite are substituted into the equation (7) to obtain α0And will α0Adding a smaller degree to adjust α0(i.e., α)mlAnd αmr) Finally determining the range of the visible satellites, optimizing satellite selection and calculating the accurate positioning of the vehicle at the current moment. The method is repeated for the next time to locate.
Fig. 2 is a schematic diagram of a visible satellite and a non-line-of-sight satellite, a receiver 5 on a vehicle can directly receive a signal of the visible satellite 2, a direct signal (a dotted line in the figure) of the non-line-of-sight satellite 1 is blocked by a left wall surface 3, and only a reflected (multipath) signal passing through a wall surface 4 can be received by the receiver 5, so that the positioning accuracy of the vehicle is reduced due to the non-line-of-sight multipath signal.
FIG. 3-a is a schematic illustration of the maximum elevation angle in the critical point, α0Is the maximum altitude angle in the critical points, h is the height of the building on the right, l is the distance from the vehicle to the building on the right, fig. 3-b is a schematic diagram of the altitude angle and the heading angle of the vehicle to any critical point of the building, α isThe altitude of the vehicle to any critical point of the building, θ is the azimuth of the satellite with respect to the road direction.
Fig. 4 is a diagram of the satellite azimuth angle and the lowest elevation angle, the left half of the diagram is a diagram of the satellite elevation angle and the azimuth angle on the left side of the vehicle, and the right half of the diagram is a diagram of the satellite elevation angle and the azimuth angle on the left side of the vehicle. The satellites above the curve are visible satellites, and the satellites below the curve are shielded satellites, which generate signals which are multipath signals and cannot be used for accurate positioning.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (1)
1. A positioning method for restraining urban canyon multipath satellite signals is characterized in that: predicting a current location of the vehicle; acquiring the positions of all satellites; firstly, the non-line-of-sight satellite is removed according to the following steps:
step 1, according to the positioning information output by the navigation module, the direction of the road is obtained from a map of a navigation system, and the altitude angle of each satellite and the azimuth angle relative to the direction of the road are calculated according to the estimated current position of the vehicle.
And 2, estimating the maximum shielding angle according to the road direction angle and the position of the vehicle, and providing a shielding curve corresponding to the direction angle.
Step 3, calculating the corresponding lowest elevation according to the azimuth angles of the satellites, solving the difference between the elevation angle of each satellite and the corresponding elevation angle on the curve, and sequencing the difference values from large to small;
step 4, comparing satellite residual errors, and selecting satellites without shielding as positioning satellites
And 5, adjusting the maximum blocking angle according to the selected satellite, and calculating the position and the speed of the vehicle at the current moment.
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| CN109946730A (en) * | 2019-03-06 | 2019-06-28 | 东南大学 | Ultra-wideband-based high-reliability fusion positioning method for vehicles under cooperation of vehicle and road |
| CN110346825A (en) * | 2019-06-26 | 2019-10-18 | 中国第一汽车股份有限公司 | Vehicle positioning method, device, vehicle and storage medium |
| CN110926474A (en) * | 2019-11-28 | 2020-03-27 | 南京航空航天大学 | Satellite/vision/laser combined urban canyon environment UAV positioning and navigation method |
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