CN107167823B - A method of improving the GNSS base station quality of data - Google Patents

A method of improving the GNSS base station quality of data Download PDF

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Publication number
CN107167823B
CN107167823B CN201710345784.5A CN201710345784A CN107167823B CN 107167823 B CN107167823 B CN 107167823B CN 201710345784 A CN201710345784 A CN 201710345784A CN 107167823 B CN107167823 B CN 107167823B
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data
satellite
base station
value
quality
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CN107167823A (en
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陈东
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Qianxun Position Network Co Ltd
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Qianxun Position Network Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system

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

Abstract

The present invention relates to a kind of methods for improving the GNSS base station quality of data, the following steps are included: base station observes Data Quality Analysis, Data Quality Analysis result graphical representation, signal filtration zone is done based on graphics data analysis result to divide, the received useful space range of satellite data delimited, data are observed in output expectation.Accurate orientation angle and the elevation angle that data interference source is accurately positioned remain more moonscope information, divide the effective coverage of data receiver while shielding interference signal, accurately do environment intervention guidance to field maintenance person.

Description

A method of improving the GNSS base station quality of data
Technical field
The present invention relates to a kind of raising quality of data method more particularly to a kind of sides for improving the GNSS base station quality of data Method.
Background technique
Global Satellite Navigation System (Global Navigation Satellite System, be abbreviated as GNSS) is a kind of Aerospace Satellite radio distance-measuring positioning system, the satellite being evenly distributed in different orbital planes, by sending modulation wave signal, warp It crosses atmosphere to relay to receiver user, realizes positioning function for demodulation navigator fix signal.GPS wide area differential GPS GNSS and region GNSS ground increases the receiver that system uses, and is referred to as reference receiver.The reference receiver is designed according to user to be grown Phase is erected at field, according to set by user by elevation angle, sample frequency, round-the-clock long-term acquisition satellite data, and in real time Return control centre.
Each orbital plane is operated in since satellite is uniformly distributed, reference receiver is distributed in different longitude and latitude, and the two is constituted Different height angles of cut-off.Theoretically, receiver tracking low clearance cornerdown star, geometric dilution of precision is stronger, extra sight Measured value is more, and positioning accuracy is higher (elevation location precision influences obvious).But actually low clearance cornerdown star prolongs process propagation Chi Yue great, multipath effect is stronger, and introduces excessive noise signal, is unfavorable for the raising of measurement accuracy.Reference receiver It blocks and is generally from different orientation (depending on site environment), comprehensive, the whole method for improving elevation mask can be filtered effectively Because of noise signal caused by environment, but also shielded simultaneously to not blocking azimuthal signal, it is " excellent in this direction Matter " signal has carried out " mistake " rejecting, reduces satellite number, reduces satellite geometry dilution of precision, reduce redundant observation Value reduces measurement accuracy (elevation RMS value influences obvious).The good satellite-signal for also filtering out other orientation simultaneously, is defended Star tracking number is not up to most, and satellite geometry dilution of precision is not up to most strong, and excess observation is not up to most, measurement accuracy It is not up to theoretical best.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes a kind of method for improving the GNSS base station quality of data, comprising the following steps:
Base station observes Data Quality Analysis: the epoch based on single every satellite, resolving percentage of head rice time series, multipath Time series and cycle slip time series；Resolve the elevation angle, azimuth time series of every satellite；
Data Quality Analysis result graphical representation: drawing topocentric coordinate system figure, is based on the time series, will be described complete Whole rate, the multipath effect and the cycle slip information superposition are in the topocentric coordinate system；
It is analyzed based on graphics data and is divided as a result, doing signal filtration zone, delimit the received useful space of satellite data Range；
Data are observed in output expectation.
Topocentric coordinate system figure is drawn, is using the heart of standing as coordinate origin O, respectively to stand deflection and elevation angle respectively constitutes station Two elements of heart coordinate.
Technical solution of the present invention realize the utility model has the advantages that
The present invention is by the judgement to data filtering and accepts or rejects method, and the accurate orientation angle of data interference source can be accurately positioned And elevation angle remains more moonscope information while shielding interference signal；The effective coverage of data receiver is divided, The satellite-signal of screening mass difference accurately does environment intervention guidance to field maintenance person.
Detailed description of the invention
Fig. 1 is a kind of flow chart for the method for improving the GNSS base station quality of data of the present invention.
Fig. 2 is topocentric coordinate system figure of the invention.
Fig. 3 is the topocentric coordinate system figure after overlapped information of the present invention.
Fig. 4 is useful space range effect figure of the present invention.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is further explained, and the embodiment of the present invention is only to illustrate this hair The protection scope that bright technical solution is not intended to limit the present invention.
As shown in Figure 1, the present invention proposes a kind of method for improving the GNSS base station quality of data, comprising the following steps:
Base station observes Data Quality Analysis: the epoch based on single every satellite, resolving percentage of head rice time series, multipath Time series and cycle slip time series；Resolve the elevation angle, azimuth time series of every satellite；
Data Quality Analysis result graphical representation: drawing topocentric coordinate system figure, is based on the time series, will be described complete Whole rate, the multipath effect and the cycle slip information superposition are in the topocentric coordinate system；
It is analyzed based on graphics data and is divided as a result, doing signal filtration zone, delimit the received useful space of satellite data Range；
Data are observed in output expectation.
Topocentric coordinate system figure is drawn, is using the heart of standing as coordinate origin O, respectively to stand deflection and elevation angle respectively constitutes station Two elements of heart coordinate.
Below in conjunction with attached drawing, specific embodiment mode is further elaborated:
1, base station observes Data Quality Analysis
A) data integrity rate time series
For types value minimum in the data type of each satellite and maximum types value percentage.Under normal circumstances, receiver The observation Value Types such as carrier wave and pseudorange from different frequency, after the observation for traversing all epoch, Ke Yitong can be received Count the carrier wave and Pseudo-range Observations in each frequency of single satellite, in the ideal case, carrier wave and pseudorange observation in each frequency Value answer it is identical, but actually due to the design reasons such as navigation signal itself will lead to the signal on certain frequency points be easy tracking and have It is easily lost.Formula is as follows:
That is:
B) multipath time series
GNSS receiver receives the direct signal from satellite launch, while can also receive same signal received machine week It encloses the reflection of object and generates the reflected signal in multiple paths, the GNSS signal that actual amount measures will be directly received Signal and reflected signal superposition as a result, this phenomenon multipath effect.Using formula analysis, with BDS B1 and For B2:
For B1 frequency point:
For B2 frequency point:
Wherein, MP1, MP2 are respectively B1 and B2 frequency point multipath
P1, P2, B1, B2, F1, F2Respectively pseudorange, carrier observations and corresponding frequency.
C) cycle slip compares time series
In the carrier phase observation process of satellite positioning, due to satellite-signal losing lock caused by complete cycle count jump Become or interrupts.We can be to " bulk registration observation/accumulative generation cycle slip observation " this ratio (cycle slip in test process Than) tested, it is as follows using formula:
GF=[Cs(L1×λL1-L2×λL2)]
GF (i)-GF (i-1) > threshold (0.1 meter), slip=1；
D) deflection, elevation angle time series
Probability calculating coordinate based on navigation ephemeris and base station station.
2, Data Quality Analysis result graphical representation (topocentric coordinate system)
1) topocentric coordinate system figure is drawn, such as Fig. 2: using the heart of standing as coordinate origin O, respectively with deflection and the elevation angle difference of standing Constitute two elements of topocentric coordinates；
2) it is based on time series, by percentage of head rice, multipath effect and cycle slip information superposition in above-mentioned topocentric coordinate system, wherein Indicate data integrity rate with satellite trajectory, the chromatography of track indicate multipath effect value (L1 multipath effect recommendation < 0.5, L2 multipath effect recommendation < 0.65), on track × symbol indicates cycle slip number (the recommendation > 400 of cycle slip ratio).Example Effect picture such as Fig. 3.
3, signal filtration zone divides
1) according to code requirement, setting height angle of cut-off shields data receiver space on full azimuth, such as: 10 degree, i.e., 10 Satellite data below spending is invalid receiver machine section.
2) on the basis of the height angle of cut-off of setting, customized azimuth and elevation angle shield data receiver space, pick Except the second-rate section of data.The website off quality to data, it is graphical as a result, comprehensive according to above-mentioned Data Quality Analysis It closes data integrity rate (there is interruption in track in figure), multipath value too big (chromatography is deep, MP1 > 0.5MP2 > 0.65) and cycle slip are more Whether the area filter of (it is opposite that "×" meets mark), filtering post analysis data meet the requirements, and otherwise, reselect filtering area Domain, until meeting the requirements.
3) it is based on above 2 points, the final delimitation received useful space range of satellite data.
The received useful space range of satellite data, effect picture such as Fig. 4 delimited based on graphical vector display diagram.
4, data are observed in output expectation, complete operation.

Claims (1)

1. a kind of method for improving the GNSS base station quality of data, it is characterised in that the following steps are included:
Base station observes Data Quality Analysis: the epoch based on every satellite, resolves percentage of head rice time series, multipath time sequence Column and cycle slip time series；Resolve the elevation angle, azimuth time series of every satellite；
Data Quality Analysis result graphical representation:
1) topocentric coordinate system figure is drawn, using the heart of standing as coordinate origin O, respectively to stand deflection and elevation angle respectively constitutes station heart seat Two elements of target；
2) it is based on time series, by percentage of head rice, multipath effect and cycle slip information superposition in above-mentioned topocentric coordinate system, wherein with defending Star orbital trace description data integrity rate, the chromatography of track indicate multipath effect value, on track × symbol indicates that cycle slip number, L1 are more Value<0.65 of value<0.5, L2 multipath effect of path effects, value>400 of cycle slip ratio；
It is analyzed based on graphics data and is divided as a result, doing signal filtration zone: 1) set on full azimuth according to code requirement Height angle of cut-off shields data receiver space；2) on the basis of the height angle of cut-off of setting, customized azimuth and elevation angle screen Data receiver space is covered, the poor section of the quality of data is rejected；The website off quality to data, according to above-mentioned data matter Analyzed pattern is measured as a result, integrated data percentage of head rice, value > 0.5 of L1 multipath effect and value > 0.65 He of L2 multipath effect Whether the area filter more than cycle slip, filtering post analysis data meet the requirements, and otherwise, filtration zone are reselected, until conforming to It asks；
3) 1 divided based on the signal filtration zone) and 2), the final delimitation received useful space range of satellite data is defeated Data are observed in expectation out.
CN201710345784.5A 2017-05-16 2017-05-16 A method of improving the GNSS base station quality of data Active CN107167823B (en)

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CN110632624A (en) * 2018-06-25 2019-12-31 中移物联网有限公司 Method, device, equipment and storage medium for determining quality of observation quantity of satellite
CN108959208A (en) * 2018-06-29 2018-12-07 广东星舆科技有限公司 The method that the station Analysis for CO RS receives satellite data quality
CN111142127B (en) * 2018-11-02 2023-04-21 千寻位置网络有限公司 Cycle slip detection method and device thereof
CN112505068B (en) * 2020-11-03 2023-08-11 桂林理工大学 GNSS-IR-based earth surface soil humidity multi-star combination inversion method

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