CN107144866A - A kind of method and system based on digital compass collaboration satellite fix - Google Patents
A kind of method and system based on digital compass collaboration satellite fix Download PDFInfo
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- CN107144866A CN107144866A CN201710221324.1A CN201710221324A CN107144866A CN 107144866 A CN107144866 A CN 107144866A CN 201710221324 A CN201710221324 A CN 201710221324A CN 107144866 A CN107144866 A CN 107144866A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses a kind of method and system based on digital compass collaboration satellite fix, its method includes：Navigator obtains the instantaneous geocentric coordinates of satellite of four satellites using the ephemeris of satellite broadcasting, and the pseudorange observation equation in four satellites corresponding to each satellite is set up using the pseudo range observed quantity of satellite；Obtained based on digital compass and set up plane information constraint equation based on the flat orientation information under geodetic coordinates, and based on flat orientation information；Based on pseudorange observation equation and the current geodetic coordinates solving model of the information constrained equation formation navigator of plane, and the geocentric coordinates of navigator can be obtained by the transformational relation between geocentric coordinates and geodetic coordinates.In embodiments of the present invention, realized and positioned using digital compass combination satellite-signal, make positioning more accurate, cost is low simultaneously, facilitate civilian, considerably increase this method feasibility, while realizing the co-located function in satellite-signal difference or only 4 satellites.
Description
Technical field
The present invention relates to technical field of satellite navigation, and in particular to a kind of method that satellite fix is cooperateed with based on digital compass
And system.
Background technology
Existing global position system, satellite-signal is received by navigator, first with the ephemeris of satellite broadcasting, is calculated
Go out the accurate location coordinate of each satellite, set up ρ followed by the pseudo range observed quantity of satellite and set up pseudorange observation equation (1), because
There is clock correction for receiver, it is necessary to assign receiver clock-offsets as the receiver location coordinate (X, Y, Z) on unknown number and navigator
Solve together.
Wherein, wherein, (Xi、Yi、Zi) it is the instantaneous geocentric coordinates of satellite tried to achieve by satellite ephemeris, (X, Y, Z) connects to wait to ask
The geocentric coordinates of receipts machine, c is the light velocity, tr、The respectively error of receiver clock and satellite clock, Vion is ionosphere delay
Correction, Vtrop is tropospheric delay correction number.Here i values are general more than 5, and the pseudorange observation equation at least meets 5
The position coordinates of satellite, can just be realized.
Formed after solving model, solved based on Kalman filtering by the pseudorange observation mode for setting up more than 5, you can
The position and speed and time (Position Velocity and Time, PVT) solution of navigator fix are drawn, passes through residual error and middle mistake
Difference etc. carries out satellite fix quality analysis, when quality analysis is unqualified, is solved again based on the solving model again, Zhi Daozhi
Output positioning result after amount analysis is qualified.
Some regions can have some urban canyon areas at this stage, and navigation system or navigator can be caused to receive
Satellite can be less than 5, cause the failure of navigation, it is impossible to rapid solving or delay.Digital compass can be accurately user
In-plane information is provided.But digital compass is, merely as a kind of height, the reference in direction, not led with satellite
Model plane type combines.
The content of the invention
In order to solve the shortcoming of prior art, when facing the satellite fix of less than 5 for receiver, the present invention provides one
The method and system that satellite fix is cooperateed with based on digital compass are planted, the combination of digital compass and four satellites is utilized, it is possible to achieve
Satellite fix is effectively supplemented.
In order to realize the purpose of the present invention, the present invention provides a kind of method that satellite fix is cooperateed with based on digital compass, bag
Include following steps：
Navigator obtains the instantaneous geocentric coordinates of satellite of four satellites using the ephemeris of satellite broadcasting；
Based on the transformational relation between geocentric coordinates and geodetic coordinates, using the geodetic coordinates of navigator as target is solved, utilize
The pseudo range observed quantity of satellite sets up the pseudorange observation equation corresponding to each satellite in four satellites；
Obtained based on digital compass based on the flat orientation information under geodetic coordinates, and set up flat based on flat orientation information
The information constrained equation in face；
Based on pseudorange observation equation and the current geodetic coordinates solving model of the information constrained equation formation navigator of plane, obtain
The geodetic coordinates of navigator is taken, the geocentric coordinates of navigator is obtained by the transformational relation between geocentric coordinates and geodetic coordinates.
Methods described also includes：
Judge the quantity of navigator search of satellite, when judging the number of satellite of navigator search for four, start numeral
Compass is obtained based on the flat orientation information under geodetic coordinates.
Described obtained based on digital compass is also included based on the flat orientation information under geodetic coordinates：
Quality analysis is carried out to the flat orientation information, judges whether the quality analysis is up to standard, if the quality point
Analysis is not up to standard, then continues to obtain flat orientation information or stop setting up plane information constraint side based on the flat orientation information
Journey；After judging that the quality analysis is up to standard, plane information constraint equation is set up based on the flat orientation information.
Methods described also includes：
Judge the quantity of navigator search of satellite, when judging the number of satellite of navigator search for four, start MEMS
Pressure sensor is obtained based on the elevation information under geodetic coordinates.
Methods described also includes：
Elevation information and plane azimuth information are subjected to mass ratio pair, if flat orientation information is better than elevation information, base
Plane information constraint equation is set up in flat orientation information；If elevation information is better than flat orientation information, based on elevation information
Elevation information constraint equation is set up, is sat based on pseudorange observation equation and the current the earth of elevation information constraint equation formation navigator
Solving model is marked, the geodetic coordinates of navigator is obtained, and is navigated by the transformational relation between geocentric coordinates and geodetic coordinates
The geocentric coordinates of instrument；
Or after flat orientation progress quality analysis is not up to standard, elevation information constraint side is set up based on elevation information
Journey, based on pseudorange observation equation and the current geodetic coordinates solving model of elevation information constraint equation formation navigator, acquisition is led
The geodetic coordinates of boat instrument, and pass through the geocentric coordinates that the transformational relation between geocentric coordinates and geodetic coordinates obtains navigator.
The geodetic coordinates for obtaining navigator, navigator is obtained by the transformational relation between geocentric coordinates and geodetic coordinates
Geocentric coordinates include：
PVT of the navigator fix under earth coordinates is drawn by Kalman filtering based on the geodetic coordinates solving model
Solution, and pass through the geocentric coordinates of the transformational relation acquisition navigator between geocentric coordinates and geodetic coordinates；
Alignment quality analysis is carried out by residual error and middle error, the output positioning result after alignment quality analysis is qualified.
Accordingly, present invention also offers a kind of system that satellite fix is cooperateed with based on digital compass, including：
Ephemeris module, the instantaneous geocentric coordinates of satellite for obtaining four satellites；
Pseudorange observation module, for based on the transformational relation between geocentric coordinates and geodetic coordinates, with navigator geodetic coordinates
To solve target, the pseudorange observation equation in four satellites corresponding to each satellite is set up using the pseudo range observed quantity of satellite；
Digital compass module, for being obtained based on digital compass based on the flat orientation information under geodetic coordinates；
Plane information constraints module, for setting up plane information constraint equation based on flat orientation information；
Position-Solving module, for based on current big of pseudorange observation equation and plane information constrained equation formation navigator
Ground coordinate solving model, obtains the geodetic coordinates of navigator, and obtain by the transformational relation between geocentric coordinates and geodetic coordinates
The geocentric coordinates of navigator.
The system also includes：
Number of satellite judge module, the quantity for judging navigator search of satellite；
Trigger module, during for judging the number of satellite of navigator search in number of satellite judge module for four, triggering
Digital compass is obtained based on the flat orientation information under geodetic coordinates.
The system also includes：
Plane information quality analysis module, for carrying out quality analysis to the flat orientation information, judges the quality
Analyse whether it is up to standard, if the quality analysis is not up to standard, continue obtain flat orientation information or stop be based on the plane
Azimuth information sets up plane information constraint equation；After judging that the quality analysis is up to standard, based on the flat orientation information
Set up plane information constraint equation.
The Position-Solving module includes：
Kalman filtering unit, for being solved based on the geodetic coordinates solving model by Kalman filtering；
PVT solves unit, the PVT solutions for drawing navigator fix under earth coordinates is solved based on Kalman filtering, and pass through
Transformational relation between geocentric coordinates and geodetic coordinates obtains the PVT solutions under navigator geocentric coordinate system；
Alignment quality is analyzed, for carrying out alignment quality analysis by residual error and middle error；
Output unit is positioned, for the output positioning result after alignment quality analysis is qualified.
After scheme above, beneficial effects of the present invention include：
Digital compass is as inertial navigation of new generation progress mode, compared to cost for traditional inertial navigation device
Low, energy consumption is small, and miniaturization, this method realizes positioning using digital compass combination satellite-signal, makes positioning more accurate, while into
This is low, facilitates civilian, considerably increases this method feasibility, while realizing in satellite-signal difference or only 4 satellites
Co-located function.
Traditionally satellite fix and height are all to separate solution, and the country is seldom MEMS pressure sensor and satellite fix
Be coupled together solution, and foreign countries are equally that the two is seldom combined progress satellite fix solution.The present invention passes MEMS pressure
Sensor, digital compass and satellite navigation models coupling get up to be formed a kind of compact technical scheme, can solve urban canyons, tree
Woods etc. blocks the Position-Solving problem for comparing critical regions.
This method establishes MEMS, digital compass, GNSS integrated positioning pattern, is technical one unique thinking, root
According to different location conditions, construct the integrated GNSS satellite locating system based on MEMS pressure sensor, when satellite-signal not
Satellite fix solution is carried out there is provided cooperative work mode in the case of 4 satellites can only normally be received, when satellite-signal is normal
Shi Zhengchang is solved, and flexibility is strong, can adapt to different types of localization region.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the method flow diagram that satellite fix is cooperateed with based on digital compass in the embodiment of the present invention；
Fig. 2 is the method second flow chart that satellite fix is cooperateed with based on digital compass in the embodiment of the present invention；
Fig. 3 is the system structure diagram that satellite fix is cooperateed with based on digital compass in the embodiment of the present invention；
Fig. 4 is the Position-Solving modular structure schematic diagram in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Involved in the present invention cooperates with the method for satellite fix to be mainly achieved by the following procedure based on digital compass：Navigator profit
The instantaneous geocentric coordinates of satellite of four satellites is obtained with the ephemeris of satellite broadcasting；Based on the conversion between geocentric coordinates and geodetic coordinates
Relation, using the geodetic coordinates of navigator as target is solved, sets up in four satellites each using the pseudo range observed quantity of satellite and defends
Pseudorange observation equation corresponding to star；Obtained based on digital compass based on the flat orientation information under geodetic coordinates, and based on flat
Face azimuth information sets up plane information constraint equation；Worked as based on pseudorange observation equation and the information constrained equation formation navigator of plane
Preceding geodetic coordinates solving model, obtains the geodetic coordinates of navigator, passes through the transformational relation between geocentric coordinates and geodetic coordinates
Obtain the geocentric coordinates of navigator.
Specifically, Fig. 1 shows the square flow chart that satellite fix is cooperateed with based on digital compass in the embodiment of the present invention, bag
Include following steps：
S101, navigator receive satellite-signal；
In the case of full implementation, navigator can carry MEMS pressure sensor and carry out co-located, the co-located one
As be the number of satellite that navigator is searched out be 4 when just start startup.
S102, number of satellite judged based on satellite-signal；
S103, whether it is more than 4, if more than S107 is entered if 4, S104 and S104 is entered if equal to 4；
It should be noted that can realize that four cooperateing between satellite and MEMS pressure sensor are determined in the embodiment of the present invention
Bit function, it is only necessary to, can also if meeting four number of satellite it is achieved that in search procedure, there is the satellite of more than 4
Only need to take the signal of 4 number of satellite to realize co-located to be based on MEMS pressure sensor.Here in order to realize original feelings
Under condition, typically in the case where searching more than 4 satellites, realized referring still to original satellite fix, i.e., by setting up
Multiple satellites corresponding pseudorange observation equations realizes the output of final satellite navigation positioning result.
It should be noted that step S104 and step S105 can be carried out simultaneously, it is possible to have successively step, also may be used
Be under the conditions of four satellites trigger start.
S104, based on 4 number of satellite set up pseudorange observation equation；
When navigator searches 4 satellite numbers, first with the ephemeris of satellite broadcasting, i-th satellite is calculated
Accurate location coordinate (Xi, Yi, Zi)(i≤4)；Observational equation such as following formula (2) is set up followed by the pseudo range observed quantity ρ of satellite.
Because be present clock correction in receiver, thus asked together using receiver clock-offsets as unknown parameter and receiver location coordinate (X, Y, Z)
Solution.
Wherein, i≤4, (Xi、Yi、Zi) it is the instantaneous geocentric coordinates of satellite tried to achieve by satellite ephemeris, (X, Y, Z) connects to wait to ask
The geocentric coordinates of receipts machine, c is the light velocity, tr、The respectively error of receiver clock and satellite clock, Vion is ionosphere delay
Correction, Vtrop is tropospheric delay correction number.
Set up according to the linear transformation relation of geocentric coordinates and geodetic coordinates, it is assumed that ρ passes through troposphere, ionosphere
With satellite clock correction, geodetic coordinates (B0, L0, H0), four satellites are converted to using receiver approximate coordinate (X0, Y0, Z0)
Observational equation it is linearized after, following matrix equation can be obtained：
Wherein, A is pseudorange observation equation coefficient matrix, K1For constant matrices, it can be obtained by the linearisation of observational equation；δ
B, δ L, δ H are the corrections of the approximate geodetic coordinates of receiver (B0, L0, H0), obtain receiver location coordinate (B, L, H)=(B0+
δ B, L0+ δ L, H0+ δ H)；trFor receiver clock-offsets.
S105, based on digital compass obtain flat orientation information；
Flat orientation information, i.e. geodetic azimuth α are extracted with digital compass.
In specific implementation process, also relate to and quality analysis is carried out to flat orientation information, judge the flat orientation information
It is whether up to standard, if quality analysis is not up to standard, continues to obtain flat orientation information or stop setting up based on flat orientation information
Plane information constraint equation；Only after judging that quality analysis is up to standard, plane information is just set up based on the flat orientation information
Constraint equation, into S106.
S106, plane information constraint equation set up based on flat orientation information；
Plane information constraint side is set up using the relation between the earth the longitude and latitude B and L of geodetic azimuth α and coordinate to be solved
Journey (4) is as follows：
Wherein：D is the corresponding coefficient matrix of plane information constraining equation, K3For constant matrices, other variable relations
It is identical with (3).
It should be noted that current based on pseudorange observation equation (3) and elevation information constraint equation (4) formation navigator
Geodetic coordinates solving model (5), so as to realize that the geodetic coordinates of navigator is solved, i.e., can subsequently pass through Kalman filtering
It can show that navigator fix PVT is solved, that is, be directly entered S108 realizations.
S107, pseudorange observation equation is set up based on number of satellite；
It should be noted that when the number of satellite reaches more than 5, can at least set up 5 related pseudorange observation sides
Journey, therefore it can solve corresponding four unknown numbers, it is not necessary to co-located function is realized by means of digital compass.
S108, Kalman filtering are solved；
S109, PVT are resolved, and by geocentric coordinates and the transformational relation of geodetic coordinates, obtain the geocentric coordinates of navigator；
S110, navigator fix quality analysis, if quality analysis is unqualified, enter S103, enter if up-to-standard
To S111；
S111, output navigation results.
The principle process resolved is realized in step S108 conventional satellite positioning into S111, based on digital compass implementation process
In, it is primarily based on geodetic coordinates solving model and show that PVT of the navigator fix under earth coordinates is solved by Kalman filtering, and
The geocentric coordinates of navigator is obtained by the transformational relation between geocentric coordinates and geodetic coordinates；Determined by residual error and middle error
Position quality analysis, the output positioning result after alignment quality analysis is qualified.And traditional mode is based on multiple pseudorange observation sides
Journey directly tries to achieve geocentric coordinates, and the PVT for drawing navigator fix by Kalman filtering is solved；And entered by residual error and middle error
Row alignment quality is analyzed, the output positioning result after alignment quality analysis is qualified, is repeated no more here.
Specifically, Fig. 2 shows the method second that satellite fix is cooperateed with based on digital compass in the embodiment of the present invention
Cheng Tu, comprises the following steps：
Of the embodiment of the present invention is realized under the conditions of navigator only needs to four satellites, is getting four satellite datas
Afterwards, whole process is started；
S201, navigator obtain the instantaneous geocentric coordinates of satellite of four satellites using the ephemeris of satellite broadcasting；
S202, the pseudorange observation side in four satellites corresponding to each satellite is set up using the pseudo range observed quantity of satellite
Journey；
In specific implementation process, with reference to geocentric coordinates and the transformational relation of geodetic coordinates, using the geodetic coordinates of navigator as
Target is solved, the pseudorange observation equation in four satellites corresponding to each satellite is set up using the pseudo range observed quantity of satellite, its
Whole pseudorange observation equation and observational equation linearisation such as formula (2) and (3), are repeated no more here.
S203, based on MEMS pressure sensor obtain based on the elevation information under geodetic coordinates；
S204, digital compass are obtained based on the flat orientation information under geodetic coordinates；
It should be noted that under the conditions of four satellites, MEMS can be started and carry out co-located, digital sieve can also be started
Disk carrys out co-located.When it is 4 that navigator, which searches number of satellite, it can first start one and carry out co-located, such as first open
Dynamic MEMS pressure sensor obtains elevation information, can carry out quality analysis to elevation information, if quality analysis is not up to standard,
Start digital compass and obtain flat orientation information；Digital compass can also first be started to obtain flat orientation information, to plane side
Position information carries out quality analysis, if quality analysis is not up to standard, starts MEMS pressure sensor to obtain elevation information.By this
Quality analysis is planted, the data of selection wherein Functionality, quality and appealing design set up constraint equation.
Implementation process can be in Fig. 2, under four star positioning scenarios, start MEMS pressure sensor and digital compass
Data each are obtained, quality versus is then carried out with azimuth information using elevation information, that is, realizes S205 deterministic processes.
S205, judge elevation information whether be better than plane information, if elevation information be better than plane information if enter S206, if
Plane information then enters S207 better than elevation information；
S206, elevation information constraint equation is set up based on elevation information；
Step S206 is better than setting up in the case of plane information in elevation information, and the essence of GNSS satellite positioning is root
The space of receiver is asked for according to the locus of the distance between receiver and its satellite observed and institute's observation satellite
Position.Because the height that MEMS pressure sensor is measured is about one meter of resolving accuracy, and utilize the positioning side of pseudo range measurement
Method precision is similarly meter level or sub-meter grade, if using carrier phase measurement localization method, can reach the precision of Centimeter Level,
The technical program illustrates the principle of MEMS pressure sensor and pseudo range measurement co-located method.
Height is extracted using MEMS pressure sensor.MEMS pressure sensor in navigator, can according to atmospheric pressure with
The relation formula of height above sea level, calculates height above sea level, is solved for satellite fix and provides a high-precision elevation information.Atmospheric pressure
It can be expressed as with the universal relation formula of height above sea level：
P=P0* (1-Altitude/44330) ^5.255 (6)
Wherein P0 is standard atmospheric pressure, equal to 1013.25mbar；Altitude is the height above sea level in units of rice.P is
In the air pressure in units of mba r of a certain height, P can be read related by the digital altimeter in navigator such as smart mobile phone
Data.
After height H is obtained based on MEMS pressure sensor, elevation information constraint equation (7) is formed：
C*δH+K2=0 (it is corresponding power battle array be P2) (7)
It should be noted that C is the coefficient matrix of elevation information constraint equation, based on pseudorange observation equation (3) and elevation
Information constrained equation (7) forms the current geodetic coordinates solving model (8) of navigator, so as to realize that the earth of navigator is sat
Mark is solved, i.e., can subsequently show that navigator fix PVT is solved by Kalman filtering.
S207, plane information constraint equation set up based on flat orientation information；
When flat orientation information is better than elevation information, flat orientation information is extracted with digital compass, that is, bigly orientation
Angle α, plane information constraint side is set up using the relation between the parameter such as geodetic azimuth α and coordinate the earth longitude and latitude B, L to be solved
In journey, its implementation process such as step S106.
S208, the geocentric coordinates for solving DVB.
As can be seen here, for the process of four stars, the program can realize collaboration using MEMS pressure sensor, also may be used
To realize collaboration using digital compass.
In the case where elevation information data are more excellent, the geodetic coordinates set up using elevation information constraint equation solves mould
Type first solves the geodetic coordinates of navigator；In the case where plane information data are more excellent, using plane information constraint equation with
The geodetic coordinates solving model set up first solves the geodetic coordinates of navigator.
It can show that navigator fix PVT is solved by Kalman filtering, quality point is then carried out by residual error and middle error etc.
Analysis, based on during this, draws navigator fix under earth coordinates based on geodetic coordinates solving model by Kalman filtering
PVT solutions, and obtain by transformational relation between geocentric coordinates and geodetic coordinates the geocentric coordinates of navigator.When quality analysis not
Need to solve again with above-mentioned mathematical modeling again when qualified, the output positioning result after quality analysis is qualified.So
In the case where only observing 4 satellites, satellite fix solution can be equally completed with this method, urban canyons, the woods are solved
Etc. blocking the navigation predicament of comparing critical regions.
Accordingly, Fig. 3 is shown in the embodiment of the present invention cooperates with the system architecture of satellite fix to show based on digital compass
It is intended to, the system is normally in satellite navigation instrument or equipment with navigation feature, and the system includes：
Ephemeris module, the instantaneous geocentric coordinates of satellite for obtaining four satellites；
Pseudorange observation module, for based on the transformational relation between geocentric coordinates and geodetic coordinates, with navigator geodetic coordinates
To solve target, the pseudorange observation equation in four satellites corresponding to each satellite is set up using the pseudo range observed quantity of satellite；
Digital compass module, for being obtained based on digital compass based on the flat orientation information under geodetic coordinates；
Plane information constraints module, for setting up plane information constraint equation based on flat orientation information；
Position-Solving module, for based on current big of pseudorange observation equation and plane information constrained equation formation navigator
Ground coordinate solving model, leads to the geodetic coordinates for obtaining navigator, is obtained by the transformational relation between geocentric coordinates and geodetic coordinates
The geocentric coordinates of navigator.
Accordingly, the system also includes：
Number of satellite judge module, the quantity for judging navigator search of satellite；
Trigger module, during for judging the number of satellite of navigator search in number of satellite judge module for four, triggering
Digital compass is obtained based on the flat orientation information under geodetic coordinates.
Accordingly, the system also includes：
Plane information quality analysis module, for carrying out quality analysis to the elevation information, judges the quality analysis
It is whether up to standard, if the quality analysis is not up to standard, continue to obtain elevation information or stop elevation information constraints module to be based on
The elevation information sets up elevation information constraint equation；After judging that the quality analysis is up to standard, elevation information constraints module
Elevation information constraint equation is set up based on the elevation information.
Accordingly, Fig. 4 shows Position-Solving modular structure schematic diagram, and the Position-Solving module includes：
Kalman filtering unit, for being solved based on the geodetic coordinates solving model by Kalman filtering；
PVT solves unit, the PVT solutions drawn under navigator fix earth coordinates is solved based on Kalman filtering, and pass through ground
Transformational relation between heart coordinate and geodetic coordinates obtains the PVT solutions under navigator geocentric coordinate system；
Alignment quality analytic unit, for carrying out alignment quality analysis by residual error and middle error；
Output unit is positioned, for the output positioning result after alignment quality analysis is qualified.
Each module implementation process content of the above, content and method of its entire content with Fig. 1 into Fig. 3 is consistent, here no longer
Repeat.
After scheme above, beneficial effects of the present invention include：
Digital compass is as inertial navigation of new generation progress mode, compared to cost for traditional inertial navigation device
Low, energy consumption is small, and miniaturization, this method realizes positioning using digital compass combination satellite-signal, makes positioning more accurate, while into
This is low, facilitates civilian, considerably increases this method feasibility, while realizing in satellite-signal difference or only 4 satellites
Co-located function.
Traditionally satellite fix and height are all to separate solution, and the country is seldom MEMS pressure sensor and satellite fix
Be coupled together solution, and foreign countries are equally that the two is seldom combined progress satellite fix solution.The present invention passes MEMS pressure
Sensor, digital compass and satellite navigation models coupling get up to be formed a kind of compact technical scheme, can solve urban canyons, tree
Woods etc. blocks the Position-Solving problem for comparing critical regions.
This method establishes MEMS, digital compass, GNSS integrated positioning pattern, is technical one unique thinking, root
According to different location conditions, construct the integrated GNSS satellite locating system based on MEMS pressure sensor, when satellite-signal not
Satellite fix solution is carried out there is provided cooperative work mode in the case of 4 satellites can only normally be received, when satellite-signal is normal
Shi Zhengchang is solved, and flexibility is strong, can adapt to different types of localization region.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage
Medium can include：Read-only storage (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), FLASH, disk or CD etc..
The embodiment of the present invention is provided above cooperates with the method and system of satellite fix to carry out based on digital compass
It is discussed in detail, specific case used herein is set forth to the principle and embodiment of the present invention, above example
Illustrate the method and its core concept for being only intended to help to understand the present invention；Simultaneously for those of ordinary skill in the art, according to
According to the thought of the present invention, it will change in specific embodiments and applications, in summary, this specification content
It should not be construed as limiting the invention.
Claims (10)
1. a kind of method that satellite fix is cooperateed with based on digital compass, it is characterised in that comprise the following steps：
Navigator obtains the instantaneous geocentric coordinates of satellite of four satellites using the ephemeris of satellite broadcasting；
Based on the transformational relation between geocentric coordinates and geodetic coordinates, using the geodetic coordinates of navigator as target is solved, satellite is utilized
Pseudo range observed quantity set up pseudorange observation equation in four satellites corresponding to each satellite；
Obtained based on digital compass based on the flat orientation information under geodetic coordinates, and plane letter is set up based on flat orientation information
Cease constraint equation；
Based on pseudorange observation equation and the current geodetic coordinates solving model of the information constrained equation formation navigator of plane, acquisition is led
The geodetic coordinates of boat instrument, passes through the geocentric coordinates that the transformational relation between geocentric coordinates and geodetic coordinates obtains navigator.
2. the method as claimed in claim 1 that satellite fix is cooperateed with based on digital compass, it is characterised in that methods described is also wrapped
Include：
Judge the quantity of navigator search of satellite, when judging the number of satellite of navigator search for four, start digital compass
Obtain based on the flat orientation information under geodetic coordinates.
3. the method as claimed in claim 1 that satellite fix is cooperateed with based on digital compass, it is characterised in that described based on numeral
Compass is obtained also to be included based on the flat orientation information under geodetic coordinates：
Quality analysis is carried out to the flat orientation information, judges whether the quality analysis is up to standard, if the quality analysis is not
It is up to standard, then continue to obtain flat orientation information or stop setting up plane information constraint equation based on the flat orientation information；
After judging that the quality analysis is up to standard, plane information constraint equation is set up based on the flat orientation information.
4. the method that satellite fix is cooperateed with based on digital compass as described in any one of claims 1 to 3, it is characterised in that institute
Stating method also includes：
Judge the quantity of navigator search of satellite, when judging the number of satellite of navigator search for four, start MEMS pressure
Sensor is obtained based on the elevation information under geodetic coordinates.
5. the method as claimed in claim 4 that satellite fix is cooperateed with based on digital compass, it is characterised in that methods described is also wrapped
Include：
Elevation information and plane azimuth information are subjected to mass ratio pair, if flat orientation information is better than elevation information, based on flat
Face azimuth information sets up plane information constraint equation；If elevation information is better than flat orientation information, set up based on elevation information
Elevation information constraint equation, is asked based on pseudorange observation equation and the current geodetic coordinates of elevation information constraint equation formation navigator
Model is solved, the geodetic coordinates of navigator is obtained, and navigator is obtained by the transformational relation between geocentric coordinates and geodetic coordinates
Geocentric coordinates；
Or after flat orientation progress quality analysis is not up to standard, elevation information constraint equation, base are set up based on elevation information
In pseudorange observation equation and the current geodetic coordinates solving model of elevation information constraint equation formation navigator, navigator is obtained
Geodetic coordinates, and pass through the geocentric coordinates of the transformational relation acquisition navigator between geocentric coordinates and geodetic coordinates.
6. the method that digital compass as claimed in claim 5 cooperates with satellite fix, it is characterised in that the acquisition navigator
Geodetic coordinates, the geocentric coordinates for obtaining navigator by the transformational relation between geocentric coordinates and geodetic coordinates includes：
Show that PVT of the navigator fix under earth coordinates is solved by Kalman filtering based on the geodetic coordinates solving model,
And the geocentric coordinates of navigator is obtained by the transformational relation between geocentric coordinates and geodetic coordinates；
Alignment quality analysis is carried out by residual error and middle error, the output positioning result after alignment quality analysis is qualified.
7. a kind of system that satellite fix is cooperateed with based on digital compass, it is characterised in that including：
Ephemeris module, the instantaneous geocentric coordinates of satellite for obtaining four satellites；
Pseudorange observation module, for based on the transformational relation between geocentric coordinates and geodetic coordinates, using navigator geodetic coordinates to ask
Target is solved, the pseudorange observation equation in four satellites corresponding to each satellite is set up using the pseudo range observed quantity of satellite；
Digital compass module, for being obtained based on digital compass based on the flat orientation information under geodetic coordinates；
Plane information constraints module, for setting up plane information constraint equation based on flat orientation information；
Position-Solving module, for being sat based on pseudorange observation equation and the current the earth of the information constrained equation formation navigator of plane
Solving model is marked, the geodetic coordinates of navigator is obtained, and is navigated by the transformational relation between geocentric coordinates and geodetic coordinates
The geocentric coordinates of instrument.
8. the system as claimed in claim 7 that satellite fix is cooperateed with based on digital compass, it is characterised in that the system is also wrapped
Include：
Number of satellite judge module, the quantity for judging navigator search of satellite；
Trigger module, during for judging the number of satellite of navigator search in number of satellite judge module for four, triggering numeral
Compass is obtained based on the flat orientation information under geodetic coordinates.
9. the system as claimed in claim 7 that satellite fix is cooperateed with based on digital compass, it is characterised in that the system is also wrapped
Include：
Plane information quality analysis module, for carrying out quality analysis to the flat orientation information, judges the quality analysis
It is whether up to standard, if the quality analysis is not up to standard, continues to obtain flat orientation information or stop being based on the flat orientation
Information sets up plane information constraint equation；After judging that the quality analysis is up to standard, set up based on the flat orientation information
Plane information constraint equation.
10. the system that satellite fix is cooperateed with based on digital compass as described in any one of claim 7 to 9, it is characterised in that institute
Stating Position-Solving module includes：
Kalman filtering unit, for being solved based on the geodetic coordinates solving model by Kalman filtering；
PVT solves unit, the PVT solutions for drawing navigator fix under earth coordinates is solved based on Kalman filtering, and pass through the earth's core
Transformational relation between coordinate and geodetic coordinates obtains the PVT solutions under navigator geocentric coordinate system；
Alignment quality is analyzed, for carrying out alignment quality analysis by residual error and middle error；
Output unit is positioned, for the output positioning result after alignment quality analysis is qualified.
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