CN107132551A - Multisystem GNSS integrated positioning selecting-star algorithms - Google Patents
Multisystem GNSS integrated positioning selecting-star algorithms Download PDFInfo
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- CN107132551A CN107132551A CN201710439301.8A CN201710439301A CN107132551A CN 107132551 A CN107132551 A CN 107132551A CN 201710439301 A CN201710439301 A CN 201710439301A CN 107132551 A CN107132551 A CN 107132551A
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
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Abstract
Multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention, comprise the following steps：S1：Star is selected based on carrier-to-noise ratio and the progress of DOP values；S2：Star is selected based on elevation angle and the progress of DOP values；S3：Carry out selecting star based on stellar map plan range；S4：Algorithm optimization constellation structures are constituted based on Delaunay triangulation network.Preliminary screening is carried out to observation satellite by observation quality and spatial distribution, depth optimization is carried out to satellite constellation structure using Delaunay triangulation network constructive method plus from plane stellar map, the screening to high-quality observation satellite and the optimization of satellite constellation geometry can be effectively realized, and then improves the precision and stability of satellite navigation positioning.
Description
Technical field
The present invention relates to technical field of satellite navigation, in particular it relates to a kind of multisystem GNSS integrated positioning selecting-star algorithms.
Background technology
At present, GPS (GNSS) is mainly big comprising GPS, GLONASS, COMPASS and GALILEO etc. four
Satellite system.With GNSS continue to develop with it is perfect, user's visible satellite number is on the increase.Relative to single system satellite navigation
For system, multisystem satellite navigation advantage in terms of positioning precision, integrity, availability becomes apparent, and will turn into from now on
The inexorable trend of development.
However, visible satellite number is dramatically increased in multisystem satellite navigation, also to receiver design and realize band
Challenge is carried out.The increase of visible satellite number will cause being obviously improved for receiver computation complexity, to the performance of application processor
It is required that becoming higher, the cost and power consumption of receiver are had a strong impact on；Moreover, in high accuracy positioning resolving, ambiguity search's dimension
Degree increases with the increase of the satellite number used in resolving, and used satellite number is more, and search time is then longer；More
Seriously, unsound observation satellite is also resolved to navigator fix and had a negative impact.Therefore, in actual positioning calculation
In, it is impossible to calculated also without using all visible satellites, therefore there is certain redundancy or even mistake from one
Observation satellite concentrate it is quick, rational filter out a high-quality observation satellite subset and carry out positioning calculation, received to improving
Had great significance in terms of the positioning precision of machine and the cost of reduction receiver.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.Therefore, the present invention
One purpose is to propose a kind of multisystem GNSS integrated positionings choosing for the precision and stability that can improve satellite navigation positioning
Star algorithm.
Multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention, comprise the following steps：
S1：Star is selected based on carrier-to-noise ratio and the progress of DOP values；
S2：Star is selected based on elevation angle and the progress of DOP values；
S3：Carry out selecting star based on stellar map plan range；
S4：Algorithm optimization constellation structures are constituted based on Delaunay triangulation network.
According to one embodiment of present invention, step S1 also comprises the following steps：
A1：Based on experience value, elevation mask and cut-off carrier-to-noise ratio are set, the sieve of the first run is carried out to original observation satellite
Choosing；
A2：The selection result is ranked up based on carrier-to-noise ratio, four maximum satellites of carrier-to-noise ratio is chosen and creates initial satellite
List；
A3：Calculate the DOP values of present satellites list；
A4：Judge whether DOP values meet the condition less than cut-off DOP1 values；
A5：If meeting condition, satellite list 1, which is built, to be completed；
A6：If being unsatisfactory for condition, other alternate satellites are judged whether；
A7：If in the presence of other alternate satellites, addition carrier-to-noise ratio best candidate satellite jumps to step A3 to satellite list；
A8：If in the absence of other alternate satellites, satellite list 1 is completed.
According to one embodiment of present invention, step S1 also comprises the following steps：
A1：Based on experience value, elevation mask and cut-off carrier-to-noise ratio are set, the sieve of the first run is carried out to original observation satellite
Choosing, obtains satellite list 1；
A2：The selection result is ranked up based on carrier-to-noise ratio, wherein four maximum satellites of carrier-to-noise ratio is chosen and creates satellite
The initial satellite list of list 1；
A3：Calculate the DOP values of satellite list 1；
A4：Judge whether the DOP values of satellite list 1 meet the condition less than cut-off DOP1 values；
A5：If meeting condition, satellite list 1, which is built, to be completed；
A6：If being unsatisfactory for condition, other alternate satellites are judged whether；
A7：If in the presence of other alternate satellites, choosing the optimal satellite of carrier-to-noise ratio in alternate satellite, added to satellite list 1,
Jump to step A3；
A8：If in the absence of other alternate satellites, satellite list 1 is completed.
According to one embodiment of present invention, step S2 also comprises the following steps：
B1：The satellite in satellite list 1 is ranked up based on elevation angle；
B2：Choose the initial satellite list that four maximum satellites of elevation angle create satellite list 2；
B3：Calculate the DOP values of satellite list 2；
B4：Judge whether the DOP values of satellite list 2 meet the condition less than cut-off DOP2 values；
B5：If meeting condition, satellite list 2, which is built, to be completed；
B6：If being unsatisfactory for condition, judge to whether there is other alternate satellites in satellite list 1；
B7：If there are other alternate satellites in satellite list 1, the wherein maximum alternate satellite of elevation angle is chosen, is added to
Satellite list 2, jumps to step B3；
B8：If in the absence of other alternate satellites, satellite list 2 is completed.
According to one embodiment of present invention, step S3 also comprises the following steps：
C1：Plane where all satellites in satellite list 2 are projected into receiver；
C2：Calculation Plane star spacing, and star spacing is based on to observation satellite to being ranked up；
C3：Judge whether most starlet spacing meets the condition more than star spacing cutoff；
C4：If meeting condition, satellite list 3, which is built, to be completed；
C5：If being unsatisfactory for condition, judge whether the satellite number in satellite list 3 is more than the desired satellites of step C3
Quantity；
C6：If the satellite number in satellite list 3 is more than the desired number of satellite of step C3, choose in satellite list 3
The minimum satellite pair of star spacing, two satellites of the satellite centering and other intersatellite spacings are calculated respectively from and being ranked up；
C7：The minimum satellite centering of the above-mentioned star spacing satellite minimum with other satellite distances is deleted, satellite list is updated
3, jump to step C2；
C8：If the satellite number in satellite list 3 is less than the desired number of satellite of step C3, satellite list 3 is built
Complete.
According to one embodiment of present invention, step S4 also comprises the following steps：
D1：To the satellite classification in satellite list 3, it is divided into border star and the class of scatterplot star two, and selects border star as defending
The initial satellite list of star list 4；
D2：Convex bag is set up based on border star, an insertion headed by the maximum scatterplot satellite of elevation angle in satellite list 3 is chosen
Satellite list 4；
D3：To the scatterplot star and border star in satellite list 4 two-by-two between set up network of triangle, adjacent triangle is entered respectively
The processing of row circumscribed circle；
D4：Judge to whether there is other scatterplot stars in adjacent triangle circumscribed circle common portion Satellite list 3；
D5：If other scatterplot stars are not present in satellite list 3, satellite list 4, which is built, to be completed；
D6：If there are other scatterplot stars in satellite list 3, judge whether the satellite number in satellite list 4 is more than step
The desired number of satellite of D4；
D7：If the satellite number in satellite list 4 is no more than the desired number of satellite of step D4, the structure of satellite list 4
Build completion；If the satellite number in satellite list 4 is greater than the desired number of satellite of step D4, circumscribed circle common portion is judged
Whether middle scatterplot star number mesh is more than 1；
D8：If scatterplot star number mesh is not more than 1 in circumscribed circle common portion, retains the wherein maximum satellite of elevation angle, delete
Other satellites；Again using four satellites of adjacent triangle as border star, public scatterplot star jumps to step as insertion satellite
D2；
D9：If scatterplot star number mesh is more than 1 in circumscribed circle common portion, using four satellites of adjacent triangle as border star,
Public scatterplot star jumps to step D2 as insertion satellite.
Multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention, pass through observation quality and spatial distribution pair
Observation satellite carries out preliminary screening, adds from plane stellar map using Delaunay triangulation network constructive method to satellite constellation knot
Structure carries out depth optimization, can effectively realize the screening to high-quality observation satellite and the optimization of satellite constellation geometry,
And then improve the precision and stability of satellite navigation positioning.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the flow chart of multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention；
Fig. 2 is the step S1 of multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention flow chart；
Fig. 3 is the step S2 of multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention flow chart；
Fig. 4 is the step S3 of multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention flow chart；
Fig. 5 is the step S4 of multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention flow chart；
The star that picks that Fig. 6 is the step S3 of multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention is illustrated
Figure；
The star that picks that Fig. 7 is the step S4 of multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention is illustrated
Figure.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention are specifically described below in conjunction with the accompanying drawings.
As shown in figure 1, multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention, comprise the following steps：
S1：Star is selected based on carrier-to-noise ratio and the progress of DOP values；
S2：Star is selected based on elevation angle and the progress of DOP values；
S3：Carry out selecting star based on stellar map plan range；
S4：Algorithm optimization constellation structures are constituted based on Delaunay triangulation network.
Multisystem GNSS integrated positioning selecting-star algorithms according to embodiments of the present invention, pass through observation quality and spatial distribution pair
Observation satellite carries out preliminary screening, adds from plane stellar map using Delaunay triangulation network constructive method to satellite constellation knot
Structure carries out depth optimization, can effectively realize the screening to high-quality observation satellite and the optimization of satellite constellation geometry,
And then improve the precision and stability of satellite navigation positioning.
In traditional single system GPS location, selecting-star algorithm is typically (several using carrier-to-noise ratio, elevation angle, azimuth and GDOP
What dilution of precision) the multiple combinations strategy such as value, for example：Star is selected based on observation satellite elevation angle and DOP values, based on carrier-to-noise ratio and
DOP(Dilution of Precision：Dilution of precision) value selects star, selects magnitude based on elevation angle and azimuth partition domain.Such
Selecting-star algorithm can carry out screening substantially to observation satellite, but satellite geometry structure can not reach most in positioning calculation
It is excellent, when such satellite selection method carries out selecting star to Beidou satellite system, it is impossible to GEO preferable to observation quality
(Geosynchronous Orbit：Geostationary orbit) satellite progress Effective selection.Therefore, the multisystem of the embodiment of the present invention
The method of improving satellite screening and constellation structures optimization of the GNSS integrated positionings selecting-star algorithm based on spatial distribution and network structure,
The screening to observation satellite and the optimization of constellation geometry can be effectively realized, and then satellite navigation positioning can be improved
Precision and stability.
In the multisystem GNSS integrated positioning selecting-star algorithms of the embodiment of the present invention, elevation mask is set based on empirical value
Fixed, the satellite less than elevation mask is not involved in selecting star, is not involved in resolving；End carrier-to-noise ratio：Based on empirical value setting, less than cut
Only the satellite of carrier-to-noise ratio is not involved in selecting star, is not involved in resolving；End DOP1 values：For GDOP values, based on empirical value setting, load is used as
Make an uproar than the stop valve for selecting star；End DOP2 values：For GDOP values, the stop valve of star is selected as elevation angle, less than cut-off DOP1 values；Star
Spacing cutoff：Satellite group projects to plane where receiver, the minimum value of inter-satellite plan range.
As shown in Fig. 2 according to one embodiment of present invention, step S1 also comprises the following steps：
A1：Based on experience value, elevation mask and cut-off carrier-to-noise ratio are set, the sieve of the first run is carried out to original observation satellite
Choosing, obtains satellite list 1；
A2：The selection result is ranked up based on carrier-to-noise ratio, wherein four maximum satellites of carrier-to-noise ratio is chosen and creates satellite
The initial satellite list of list 1；
A3：Calculate the DOP values of satellite list 1；
A4：Judge whether the DOP values of satellite list 1 meet the condition less than cut-off DOP1 values；
A5：If meeting condition, satellite list 1, which is built, to be completed；
A6：If being unsatisfactory for condition, other alternate satellites are judged whether；
A7：If in the presence of other alternate satellites, choosing the optimal satellite of carrier-to-noise ratio in alternate satellite, added to satellite list 1,
Jump to step A3；
A8：If in the absence of other alternate satellites, satellite list 1 is completed.
As shown in figure 3, according to one embodiment of present invention, step S2 also comprises the following steps：
B1：The satellite in satellite list 1 is ranked up based on elevation angle；
B2：Choose the initial satellite list that four maximum satellites of elevation angle create satellite list 2；
B3：Calculate the DOP values of satellite list 2；
B4：Judge whether the DOP values of satellite list 2 meet the condition less than cut-off DOP2 values；
B5：If meeting condition, satellite list 2, which is built, to be completed；
B6：If being unsatisfactory for condition, judge to whether there is other alternate satellites in satellite list 1；
B7：If there are other alternate satellites in satellite list 1, the wherein maximum alternate satellite of elevation angle is chosen, is added to
Satellite list 2, jumps to step B3；
B8：If in the absence of other alternate satellites, satellite list 2 is completed.
As shown in figure 4, according to one embodiment of present invention, step S3 also comprises the following steps：
C1：Plane where all satellites in satellite list 2 are projected into receiver；
C2：Calculation Plane star spacing, and star spacing is based on to observation satellite to being ranked up；
C3：Judge whether most starlet spacing meets the condition more than star spacing cutoff；
C4：If meeting condition, satellite list 3, which is built, to be completed；
C5：If being unsatisfactory for condition, judge whether the satellite number in satellite list 3 is more than the desired satellites of step C3
Quantity；
C6：If the satellite number in satellite list 3 is more than the desired number of satellite of step C3, choose in satellite list 3
The minimum satellite pair of star spacing, two satellites of the satellite centering and other intersatellite spacings are calculated respectively from and being ranked up；
C7：The minimum satellite centering of the above-mentioned star spacing satellite minimum with other satellite distances is deleted, satellite list is updated
3, jump to step C2；
C8：If the satellite number in satellite list 3 is less than the desired number of satellite of step C3, satellite list 3 is built
Complete.
The step S1 and step S2 of the embodiment of the present invention are mainly the sieve that satellite is carried out in terms of observation quality and elevation angle
Choosing.Step S3 carries out selecting star primarily directed to the azimuth of observation satellite, is arranged for the satellite after step S1 and step S2 processing
Table, plane where observation satellite is projected into receiver by elevation angle and azimuth, calculates each satellite in receiver plane
Distance value in coordinate system, and be ranked up.As shown in fig. 6, (1) chooses the minimum satellite of plan range to pq processing；
(2) by calculating two satellites of pq respectively to the plan range of other remaining satellites, it will arrive other satellite distance value is less and defend
Star is rejected；(3) and then carry out intersatellite spacing to the satellite list newly produced from minimum value to judge, if ineligible, repeat
Above-mentioned steps (1) (2), untill inter-satellite plan range meets condition.
As shown in figure 5, according to one embodiment of present invention, step S4 also comprises the following steps：
D1：To the satellite classification in satellite list 3, it is divided into border star and the class of scatterplot star two, and selects border star as defending
The initial satellite list of star list 4；
D2：Convex bag is set up based on border star, an insertion headed by the maximum scatterplot satellite of elevation angle in satellite list 3 is chosen
Satellite list 4；
D3：To the scatterplot star and border star in satellite list 4 two-by-two between set up network of triangle, adjacent triangle is entered respectively
The processing of row circumscribed circle；
D4：Judge to whether there is other scatterplot stars in adjacent triangle circumscribed circle common portion Satellite list 3；
D5：If other scatterplot stars are not present in satellite list 3, satellite list 4, which is built, to be completed；
D6：If there are other scatterplot stars in satellite list 3, judge whether the satellite number in satellite list 4 is more than step
The desired number of satellite of D4；
D7：If the satellite number in satellite list 4 is no more than the desired number of satellite of step D4, the structure of satellite list 4
Build completion；If the satellite number in satellite list 4 is greater than the desired number of satellite of step D4, circumscribed circle common portion is judged
Whether middle scatterplot star number mesh is more than 1；
D8：If scatterplot star number mesh is not more than 1 in circumscribed circle common portion, retains the wherein maximum satellite of elevation angle, delete
Other satellites；Again using four satellites of adjacent triangle as border star, public scatterplot star jumps to step as insertion satellite
D2；
D9：If scatterplot star number mesh is more than 1 in circumscribed circle common portion, using four satellites of adjacent triangle as border star,
Public scatterplot star jumps to step D2 as insertion satellite.
In the multisystem GNSS integrated positioning selecting-star algorithms of the embodiment of the present invention, Delaunay triangulation network, which constitutes algorithm, is pair
Discrete point in two dimensional surface connects into a certain size triangle.Mainly there are four distinctive properties：(1) ensure closest
Point is triangle, i.e. the length of side sum of triangle is tried one's best minimum, and the circumscribed circle of each Delaunay triangles does not include it
His any point.(2) minimax angle property：In the triangulation network that can be formed by a concentration, Delaunay triangulation network intermediate cam
The Minimum Internal Angle of shape tries one's best maximum, i.e. triangle as far as possible close to equilateral triangle, that is to say, that Delaunay triangulation network is " most to connect
It is bordering on the triangulation network of regularization ".(3) Delaunay is unique.(4) external boundary of the triangulation network constitutes the convex polygon of point set
" shell ".Above-mentioned property based on Delaunay triangulation network, the satellite group to projecting to receiver plane after screening is carried out simple
Triangulation network developing algorithm, i.e., to the scatterplot satellite in adjacent triangulation network circumscribed circle public domain, only take wherein elevation angle compared with
Big satellite, remaining satellite is deleted, and is not processed, and then relatively simple Delaunay triangulation network is built to satellite group.Specifically
Step is as follows：
(1) satellite on plane stellar map is classified, is divided into border star and scatterplot star.As shown in fig. 7, ABD is border
Star, Cpq is scatterplot star；Border star is the outermost end satellite of a satellite group of stars, can set up convex bag, comprising other all satellites,
Inside convex bag is scatterplot star.
(2) convex bag is set up based on border star, takes elevation angle maximum satellite in scatterplot star to insert satellite as first；As schemed
Shown in 7, border star ABD is taken to set up two-dimentional convex closure, an insertion satellite headed by taking the maximum satellite C of elevation angle most.
(3) to setting up network of triangle between border star and insertion star, circumscribed circle processing then is carried out to adjacent triangle；Such as
Shown in Fig. 7, network of triangle is set up using border star and insertion star, adjacent triangle ABD, ACD is taken, it is external to carry out triangle to it
Circle processing, you can obtain the public domain ACCA of circumscribed circle composition.
(4) common portion constituted to adjacent triangle circumscribed circle, judges whether other scatterplot stars are in the common portion；
As shown in fig. 7, the public domain ACCA constituted for circumscribed circle, it is known that, two scatterplot satellites of pq are in public domain.
(5) the scatterplot star in common portion is handled：1. the scatterplot star number mesh in common portion is 0, then not
Process；2. the scatterplot star number mesh in common portion is 1, then using the satellite as insertion satellite, composition adjacent triangle
Four satellites repeat above-mentioned Optimization Steps as border star；3. the scatterplot star number mesh in common portion is more than 1, then choosing should
Scatterplot star Satellite elevation angle maximum satellite in part rejects other scatterplot stars, to constitute adjacent triangle as insertion satellite
Four satellites as border star, repeat above-mentioned Optimization Steps, the region that adjacent triangle is constituted further optimized.In detail
Carefully implement as shown in fig. 7, to the scatterplot satellite pq in public domain, it is known that number is more than 1, and then deletes elevation of satellite
Less scatterplot star q, the scatterplot star p for taking elevation angle larger inserts satellite the most, takes satellite ABCD to be set up newly as border star
Network of triangle, repeats the above steps, until other scatterplot stars are not present in the circumscribed circle public domain of adjacent triangle.
Step S1, step S2 and the step S3 of the embodiment of the present invention have carried out selecting star plan from observation quality, spatial distribution
Slightly, while plane where satellite group also is projected into receiver, carries out picking star processing by plane star spacing.Pass through step again
S4, i.e., constitute algorithm using Delaunay triangulation network and satellite constellation structure distribution further optimized, can make satellite
Constellation is optimal.
The multisystem GNSS integrated positioning selecting-star algorithms of the embodiment of the present invention, select on star policy grounds existing, that is, walk
Rapid S1 is based on carrier-to-noise ratio and DOP values select star strategy and step S2 to select star strategy based on elevation angle and DOP values, has carried out further
Star and constellation structures optimisation strategy are selected, mainly by the receiver place plane for projecting satellite group, is carried out by star spacing
Screening to satellite, is then based on simplified Delaunay triangulation network and constitutes algorithm to enter planetary to the satellite group of two dimensional surface several
What structure optimization, so as to preferably realize the screening and the optimization of constellation geometry to satellite.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (5)
1. a kind of multisystem GNSS integrated positioning selecting-star algorithms, it is characterised in that comprise the following steps：
S1：Star is selected based on carrier-to-noise ratio and the progress of DOP values；
S2：Star is selected based on elevation angle and the progress of DOP values；
S3：Carry out selecting star based on stellar map plan range；
S4：Algorithm optimization constellation structures are constituted based on Delaunay triangulation network.
2. multisystem GNSS integrated positioning selecting-star algorithms according to claim 1, it is characterised in that step S1 is also included such as
Lower step：
A1：Based on experience value, elevation mask and cut-off carrier-to-noise ratio are set, the screening of the first run is carried out to original observation satellite, is obtained
To satellite list 1；
A2：The selection result is ranked up based on carrier-to-noise ratio, wherein four maximum satellites of carrier-to-noise ratio is chosen and creates satellite list 1
Initial satellite list；
A3：Calculate the DOP values of satellite list 1；
A4：Judge whether the DOP values of satellite list 1 meet the condition less than cut-off DOP1 values；
A5：If meeting condition, satellite list 1, which is built, to be completed；
A6：If being unsatisfactory for condition, other alternate satellites are judged whether；
A7：If in the presence of other alternate satellites, choosing the optimal satellite of carrier-to-noise ratio in alternate satellite, added to satellite list 1, redirecting
To step A3；
A8：If in the absence of other alternate satellites, satellite list 1 is completed.
3. multisystem GNSS integrated positioning selecting-star algorithms according to claim 2, it is characterised in that step S2 is also included such as
Lower step：
B1：The satellite in satellite list 1 is ranked up based on elevation angle；
B2：Choose the initial satellite list that four maximum satellites of elevation angle create satellite list 2；
B3：Calculate the DOP values of satellite list 2；
B4：Judge whether the DOP values of satellite list 2 meet the condition less than cut-off DOP2 values；
B5：If meeting condition, satellite list 2, which is built, to be completed；
B6：If being unsatisfactory for condition, judge to whether there is other alternate satellites in satellite list 1；
B7：If there are other alternate satellites in satellite list 1, the wherein maximum alternate satellite of elevation angle is chosen, added to satellite
List 2, jumps to step B3；
B8：If in the absence of other alternate satellites, satellite list 2 is completed.
4. multisystem GNSS integrated positioning selecting-star algorithms according to any one of claim 1 to 3, it is characterised in that step
Rapid S3 also comprises the following steps：
C1：Plane where all satellites in satellite list 2 are projected into receiver；
C2：Calculation Plane star spacing, and star spacing is based on to observation satellite to being ranked up；
C3：Judge whether most starlet spacing meets the condition more than star spacing cutoff；
C4：If meeting condition, satellite list 3, which is built, to be completed；
C5：If being unsatisfactory for condition, judge whether the satellite number in satellite list 3 is more than the desired satellite numbers of step C3
Amount；
C6：If the satellite number in satellite list 3 is more than the desired number of satellite of step C3, the star in satellite list 3 is chosen
The minimum satellite pair of spacing, calculates two satellites of the satellite centering and other intersatellite spacings from and being ranked up respectively；
C7：The minimum satellite centering of the above-mentioned star spacing satellite minimum with other satellite distances is deleted, satellite list 3 is updated, jumps
Go to step C2；
C8：If the satellite number in satellite list 3 is less than the desired number of satellite of step C3, satellite list 3, which is built, to be completed.
5. multisystem GNSS integrated positioning selecting-star algorithms according to any one of claim 1 to 4, it is characterised in that step
Rapid S4 also comprises the following steps：
D1：To the satellite classification in satellite list 3, it is divided into border star and the class of scatterplot star two, and select border star to be arranged as satellite
The initial satellite list of table 4；
D2：Convex bag is set up based on border star, an insertion satellite headed by the maximum scatterplot satellite of elevation angle is chosen in satellite list 3
List 4；
D3：To the scatterplot star and border star in satellite list 4 two-by-two between set up network of triangle, adjacent triangle is carried out respectively outer
Connect round processing；
D4：Judge to whether there is other scatterplot stars in adjacent triangle circumscribed circle common portion Satellite list 3；
D5：If other scatterplot stars are not present in satellite list 3, satellite list 4, which is built, to be completed；
D6：If there are other scatterplot stars in satellite list 3, judge whether the satellite number in satellite list 4 is more than step D4 institutes
Desired number of satellite；
D7：If the satellite number in satellite list 4 is no more than the desired number of satellite of step D4, satellite list 4 has been built
Into；If the satellite number in satellite list 4 is greater than the desired number of satellite of step D4, judge to dissipate in circumscribed circle common portion
Whether point star number mesh is more than 1；
D8：If scatterplot star number mesh is not more than 1 in circumscribed circle common portion, retains the wherein maximum satellite of elevation angle, delete other
Satellite；Again using four satellites of adjacent triangle as border star, public scatterplot star jumps to step D2 as insertion satellite；
D9：If scatterplot star number mesh is public using four satellites of adjacent triangle as border star more than 1 in circumscribed circle common portion
Scatterplot star jumps to step D2 as insertion satellite.
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