CN107490796A - A kind of method and device of single station difference GNSS positioning - Google Patents

A kind of method and device of single station difference GNSS positioning Download PDF

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Publication number
CN107490796A
CN107490796A CN201710580680.2A CN201710580680A CN107490796A CN 107490796 A CN107490796 A CN 107490796A CN 201710580680 A CN201710580680 A CN 201710580680A CN 107490796 A CN107490796 A CN 107490796A
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systematic error
remaining systematic
remaining
single station
prc
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CN107490796B (en
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翁多杰
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Shenzhen Space-Time Navigation Technology Co Ltd
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Shenzhen Space-Time Navigation Technology 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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  • 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 is applied to technical field of satellite navigation, there is provided a kind of method and device of single station difference GNSS positioning, including：Single station difference GNSS differential correctional is obtained first；Then obtaining initial position co-ordinates and satellite fix parameter sets, satellite fix parameter sets includes carrier phase difference technical parameter；Remaining systematic error is determined further according to initial position co-ordinates and satellite fix parameter sets；Amendment differential correctional is finally calculated according to differential correctional and remaining systematic error；Due to calculating remaining systematic error according to satellite fix parameter sets and differential correctional is corrected, therefore improve the positioning precision of low-cost receiver.

Description

A kind of method and device of single station difference GNSS positioning
Technical field
The invention belongs to technical field of satellite, more particularly to a kind of method and device of single station difference GNSS positioning.
Background technology
GNSS (Global Navigation Satellite System, GLONASS) is obtained in the world To broad development, current main GPS (Global Positioning System, global positioning system), Russia sieve for including the U.S. The systems such as this GLONASS (GLONASS satellite navigation system), the Big Dipper of China and European Union Galileo.GNSS passes through measurement User terminal to multi-satellite distance, so that it is determined that customer location.
Single base station difference GNSS technologies are calculated pseudo- using the accurately known reference station in a position for each satellite observation User terminal is supplied to away from correction, and by obtained differential correctional, user terminal by differential correctional by acting on sight On measured value, so as to weaken the influence of a variety of errors.GNSS errors have very strong spatial coherence, and differential correctional is in shorter base (such as 15km) action effect is obvious on line, and the measured user terminal of matter even can realize sub_meter position.Due to list Base station difference GNSS technologies are the Differential positionings carried out based on pseudorange, have the advantages that easily realization, significant effect, therefore complete Ball is used widely, such as the field such as navigation, traffic and measurement.
Single base station difference GNSS positioning weakens influence of a variety of errors to positioning using differential technique, but portion of residual system System error is remained in observation.Influence degree and distance dependent of these system residual errors to positioning.When user is whole When the distance of end and reference station is shorter, system residual application condition is small.As the distance of user terminal and reference station is elongated, both The spatial coherence of error can weaken, and remaining systematic error can increase, and single base station difference GNSS positioning precisions can be deteriorated therewith. Middle latitude area, when baseline length reaches 50km, single base station GNSS positioning precisions can be reduced to 5 meters.In lower latitude, due to electricity Absciss layer delay is spatially varying bigger.In lower latitude, when baseline length is 15km, single base station GNSS position errors are still More than 2 meters, when baseline length is 50km, single architecture precision is even more to ensure.Therefore, by remaining systematic error Influence, single base station GNSS positioning precisions and service range are also very limited.
The High-precision carrier phase parameter that prior art another kind high-accuracy position system measures according to receiver can be realized The positioning of Centimeter Level, but the receiver that user is equipped with offer High-precision carrier phase parameter is usually required, therefore the localization method Cost is prohibitively expensive.
In summary, prior art can not improve the positioning precision of low-cost receiver.
The content of the invention
In view of this, it is existing to solve the embodiments of the invention provide a kind of method and device of single station difference GNSS positioning There is the problem of positioning precision that low-cost receiver can not be improved in technology.
The first aspect of the embodiment of the present invention provides a kind of method of single station difference GNSS positioning, including：
Obtain single station difference GNSS differential correctional；
Obtaining initial position co-ordinates and satellite fix parameter sets, the satellite fix parameter sets includes carrier phase difference Divide technical parameter；
Remaining systematic error is determined according to the initial position co-ordinates and the satellite fix parameter sets；
Amendment differential correctional is calculated according to the differential correctional and the remaining systematic error.
The second aspect of the embodiment of the present invention provides a kind of device of single station difference GNSS positioning, including：
Differential correctional acquisition module, for obtaining single station difference GNSS differential correctional；
Satellite fix parameter sets acquisition module, it is described for obtaining initial position co-ordinates and satellite fix parameter sets Satellite fix parameter sets include carrier phase difference technical parameter；
Remaining systematic error determining module, for true according to the initial position co-ordinates and the satellite fix parameter sets Fixed remaining systematic error；
Differential correctional computing module is corrected, for calculating and repairing according to the differential correctional and the remaining systematic error Positive differential correctional.
The third aspect of the embodiment of the present invention, which provides a kind of device of single station difference GNSS positioning, includes memory, processing Device and the computer program that can be run in the memory and on the processor is stored in, described in the computing device The step of method of above-mentioned single station difference GNSS positioning is realized during computer program.
The fourth aspect of the embodiment of the present invention provides a kind of computer-readable recording medium, the computer-readable storage Media storage has computer program, and the computer program realizes the side of above-mentioned single station difference GNSS positioning when being executed by processor The step of method.
Existing beneficial effect is the embodiment of the present invention compared with prior art：Single station difference GNSS pseudorange is obtained first Correction；Then obtaining initial position co-ordinates and satellite fix parameter sets, satellite fix parameter sets includes carrier phase difference Divide technical parameter；Remaining systematic error is determined further according to initial position co-ordinates and satellite fix parameter sets；Finally according to pseudorange Correction and remaining systematic error calculate amendment differential correctional；Due to calculating remaining system according to satellite fix parameter sets Error is simultaneously corrected to differential correctional, therefore improves the positioning precision of low-cost receiver.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description be only the present invention some Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these Accompanying drawing obtains other accompanying drawings.
Fig. 1 is a kind of a kind of implementation process signal of the method for single station difference GNSS positioning provided in an embodiment of the present invention Figure；
Fig. 2 is a kind of another implementation process signal of the method for single station difference GNSS positioning provided in an embodiment of the present invention Figure；
Fig. 3 is a kind of a kind of schematic diagram of the device of single station difference GNSS positioning provided in an embodiment of the present invention；
Fig. 4 is a kind of another schematic diagram of the device of single station difference GNSS positioning provided in an embodiment of the present invention；
Fig. 5 is a kind of device remnants systematic error determining modules of single station difference GNSS positioning provided in an embodiment of the present invention A schematic diagram；
Fig. 6 is a kind of another schematic diagram of the device of single station difference GNSS positioning provided in an embodiment of the present invention.
Embodiment
In describing below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc Body details, thoroughly to understand the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity Road and the detailed description of method, in case unnecessary details hinders description of the invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
It is that the embodiment of the present invention provides a kind of a kind of schematic flow diagram of the method for single station difference GNSS positioning referring to Fig. 1, The method of list station difference GNSS positioning can be completed by terminal, can also be completed by server, as illustrated, method may include Following steps：
In a step 101, single station difference GNSS differential correctional is obtained.
Detect that each reference station corresponds to the differential correctional of each satellite, server or terminal pass through data link Obtain the differential correctional.
Wherein, reference station is point known to the coordinate of setting, by using the GPS being arranged on the known point GPS measurement and positioning errors are determined, to improve the measurement and positioning precision of other GPSs within the specific limits.Server or Terminal has been the entity of the method for cost sheet station difference GNSS positioning.
Pseudorange is the calculating for launching and receiving the time difference by satellite-signal, calculates the distance of satellite and receiver, due to There is the time difference in satellite clock and receiver clock, therefore the distance calculated not is really to be worth, therefore referred to as pseudorange.Can be with GPS by putting position known to the coordinate of setting determines GPS measurement and positioning errors, and the position error is referred to as puppet Away from correction.
In a step 102, initial position co-ordinates and satellite fix parameter sets are obtained, satellite fix parameter sets include carrying Wave phase differential technique parameter.
Above-mentioned carrier phase difference technical parameter refers to network carriers phase difference technical parameter, i.e., is provided by multiple reference stations Carrier phase difference technical parameter.
Wherein, carrier phase difference technical parameter covers the real-time parameter that different carrier phase difference technologies are provided, and carries Wave phase differential technique includes referring to phantom station technology, major-minor station technology and region correction method.Initial position co-ordinates are mainly Refer to the position coordinates that user terminal is obtained using pseudorange progress One-Point Location.
In step 103, remaining systematic error is determined according to initial position co-ordinates and satellite fix parameter sets.
When satellite fix parameter sets are carrier phase difference technical parameter, step 103 can include step A1 and step Rapid B1.In addition, satellite fix parameter sets can also include real-time ionospheric parameter and satellite orbit parameter, remaining system now System error determines that method is no longer enumerated herein.
A1. it is residual according to carrier phase difference technical parameter and initial position co-ordinates the first remaining systematic error of acquisition and second Remaining systematic error；Wherein, the first remaining systematic error is caused by satellite orbit parameter error and troposphere, and the second remaining system is missed Difference is caused by ionosphere delay.
Carrier phase difference technical parameter includes multiple carrier-phase measurements that multiple reference stations provide, and step A1 can be with Including step A1-1 and step A1-2.
A1-1. according to multiple carrier-phase measurement founding mathematical models.
Step A1-1 is specially：Obtained and the multiple first remaining systematic errors and multiple according to multiple carrier-phase measurements Second remaining systematic error, the first remaining system is established according to the multiple first remaining systematic errors and multiple reference station position coordinateses Error change trend model, the second remaining system is established according to the multiple second remaining systematic errors and multiple reference station position coordinateses Error change trend model；
Obtained according to multiple carrier-phase measurements and missed with the multiple first remaining systematic errors and multiple second remaining systems Difference is specially further：Multiple ambiguity of carrier phase are determined according to multiple carrier-phase measurements, then utilize determination Multiple ambiguity of carrier phase calculate the multiple first remaining systematic errors and multiple the of multiple carrier-phase measurements Two remaining systematic errors.
First remaining systematic error change is established according to the multiple first remaining systematic errors and multiple reference station position coordinateses Trend model, the second remaining systematic error is established according to the multiple second remaining systematic errors and multiple reference station position coordinateses and changed Trend model is specially further：Multiple first remaining systematic errors and multiple reference station position coordinateses are fitted to obtain The relation function of first remaining systematic error and position coordinates, the multiple second remaining systematic errors and multiple reference station locations are sat Mark is fitted to obtain the relation function of the second remaining systematic error and position coordinates.
A1-2. interpolation is carried out according to mathematical modeling and initial position co-ordinates to obtain the first remaining systematic error and second residual Remaining systematic error.
Step A1-2 is specially：Interpolation is carried out according to the first remaining systematic error variation tendency model and initial position co-ordinates To obtain the first remaining systematic error, interpolation is carried out according to the second remaining systematic error variation tendency model and initial position co-ordinates To obtain the second remaining systematic error.
First remaining systematic error initial value can be first set, then changed by alternative manner according to the first remaining systematic error Trend model (relation function of the first remaining systematic error and position coordinates) asks for position coordinates, when position coordinates and initial bit When putting the difference of coordinate and being less than threshold value, then judge to get the satisfactory first remaining systematic error.It is also possible to first set Second remaining systematic error initial value, then according to the second remaining systematic error variation tendency model, (second is remaining by alternative manner The relation function of systematic error and position coordinates) position coordinates is asked for, when the difference of position coordinates and initial position co-ordinates is less than During threshold value, then judge to get the satisfactory second remaining systematic error.
B1. remaining systematic error is calculated according to the first remaining systematic error and the second remaining systematic error.
When carrier phase difference technical parameter is that method parameter is corrected in region, step B1 is specially：
Remaining systematic error is calculated according to following formula：
Wherein, Δ PRC is remaining systematic error, Δ ρ0For the first remaining systematic error, Δ ρIMissed for the second remaining system Difference, f1For GPS L1 frequency (f1=1575.42MHz), f is the tranmitting frequency of satellites in view.
At step 104, amendment differential correctional is calculated according to differential correctional and remaining systematic error.
Step 104 is specially：Amendment differential correctional is calculated according to following formula：
PRC=PRC '+Δ PRC
Wherein, Δ PRC is remaining systematic error, and PRC is amendment differential correctional, and PRC ' is differential correctional.
As shown in Fig. 2 step 105 can also be included after step 104.
In step 105, final position coordinate is obtained according to initial position co-ordinates and amendment differential correctional.
When differential correctional is position (coordinate) correction, then by the sum of position (coordinate) correction and initial position co-ordinates As final position coordinate.When differential correctional is distance correction, then receiver is recalculated with defending according to distance correction The distance between star, and final position coordinate is determined according to above-mentioned distance.
The embodiment of the present invention according to carrier phase difference technical parameter and initial position co-ordinates by obtaining the first remaining system Error of uniting and the second remaining systematic error, remaining system is obtained further according to the first remaining systematic error and the second remaining systematic error Error, last remaining systematic features differential correctional, therefore improve the positioning precision of low-cost receiver.
In order to realize the method for above-mentioned single station difference GNSS positioning, the embodiment of the present invention additionally provides a kind of single station difference The device of GNSS positioning, referring to Fig. 3, Fig. 4 is a kind of the another of the device of single station difference GNSS positioning provided in an embodiment of the present invention One schematic block diagram.Each module that a kind of device 30 of single station difference GNSS positioning in this example includes is used to perform Fig. 1 pairs Each step in the embodiment answered, referring specifically to embodiment corresponding to Fig. 1 and Fig. 1, do not repeat herein.A kind of single station difference The device 30 of GNSS positioning includes differential correctional acquisition module 310, satellite fix parameter sets acquisition module 320, remaining system System error determination module 330 and amendment differential correctional computing module 340.
Differential correctional acquisition module 310, for obtaining single station difference GNSS differential correctional.
Satellite fix parameter sets acquisition module 320, for obtaining initial position co-ordinates and satellite fix parameter sets, is defended The set of star positional parameter includes carrier phase difference technical parameter.
Remaining systematic error determining module 330, it is residual for being determined according to initial position co-ordinates and satellite fix parameter sets Remaining systematic error.
Differential correctional computing module 340 is corrected, it is pseudo- for calculating amendment according to differential correctional and remaining systematic error Away from correction.
In another embodiment, each module that a kind of device 30 of single station difference GNSS positioning includes is used to perform Fig. 2 Each step in corresponding embodiment, referring specifically to embodiment corresponding to Fig. 2 and Fig. 2, do not repeat herein.
Also referring to Fig. 4, Fig. 5, wherein, Fig. 4 is a kind of single station difference GNSS positioning provided in an embodiment of the present invention Another schematic block diagram of device, Fig. 5 are a kind of device remnants systems of single station difference GNSS positioning provided in an embodiment of the present invention The schematic block diagram of error determination module one.
The present embodiment and the difference of a upper embodiment be, a kind of device 30 of single station difference GNSS positioning in this example Also include final position coordinate obtaining module 350.Wherein, remaining systematic error determining module 330 obtains including remaining systematic error Modulus block 331 and remaining systematic error computing module 332.
Final position coordinate obtaining module 350, it is final for being obtained according to initial position co-ordinates and amendment differential correctional Position coordinates.
Remaining systematic error acquisition module 331, for being obtained according to carrier phase difference technical parameter and initial position co-ordinates Take the first remaining systematic error and the second remaining systematic error；Wherein, the first remaining systematic error is by satellite orbit parameter error Cause with troposphere, the second remaining systematic error is caused by ionosphere delay.
Remaining systematic error computing module 332, based on according to the first remaining systematic error and the second remaining systematic error Calculate remaining systematic error.
Carrier phase difference technical parameter includes multiple carrier-phase measurements that multiple reference stations provide, and remaining system is missed Poor acquisition module 331 includes Mathematical Models unit 331-1 and remaining systematic error acquiring unit 331-2.
Mathematical Models unit 331-1, for according to multiple carrier-phase measurement founding mathematical models.
Remaining systematic error acquiring unit 331-2, for carrying out interpolation according to mathematical modeling and initial position co-ordinates to obtain Take the first remaining systematic error and the second remaining systematic error.
When carrier phase difference technical parameter is that method parameter is corrected in region, remaining systematic error computing module 332 is specific For：
Remaining systematic error is calculated according to following formula：
Wherein, Δ PRC is remaining systematic error, Δ ρ0For the first remaining systematic error, Δ ρIMissed for the second remaining system Difference, f1For GPS L1 frequency, f is the tranmitting frequency of satellite.
A kind of device 30 of single station difference GNSS positioning can be understood as a kind of terminal, and the terminal obtains including differential correctional Modulus block 310, satellite fix parameter sets acquisition module 320, remaining systematic error determining module 330 and amendment differential correctional Computing module 340.Meanwhile a kind of device 30 of single station difference GNSS positioning can be understood as a kind of server, the server Including differential correctional acquisition module 310, satellite fix parameter sets acquisition module 320, remaining systematic error determining module 330 With amendment differential correctional computing module 340.
Fig. 6 is a kind of schematic diagram of the device for single station difference GNSS positioning that one embodiment of the invention provides.Such as Fig. 6 institutes Show, a kind of device 6 of single station difference GNSS positioning includes：Processor 60, memory 61 and it is stored in the memory 61 In and the computer program 62 that can be run on the processor 60, such as the program of high single station difference GNSS precision.The place Reason device 60 realizes the step in the embodiment of the method for above-mentioned each high single station difference GNSS precision when performing the computer program 62 Suddenly, such as the step 101 shown in Fig. 1 is to 104.Or the processor 60 realize when performing the computer program 62 it is above-mentioned The function of each module/unit in each device embodiment, such as the function of module 331 to 332 shown in Fig. 5.
Exemplary, the computer program 62 can be divided into one or more module/units, it is one or Multiple module/units are stored in the memory 61, and are performed by the processor 60, to complete the present invention.Described one Individual or multiple module/units can be the series of computation machine programmed instruction section that can complete specific function, and the instruction segment is used for Implementation procedure of the computer program 62 in the device 6 of high single station difference GNSS precision is described.For example, the calculating Machine program 62 can be divided into differential correctional acquisition module, satellite fix parameter sets acquisition module, remaining systematic error Determining module and amendment differential correctional computing module (module in virtual bench), each module concrete function are as follows：
Differential correctional acquisition module 310, for obtaining single station difference GNSS differential correctional.
Satellite fix parameter sets acquisition module 320, for obtaining initial position co-ordinates and satellite fix parameter sets, institute Stating satellite fix parameter sets includes carrier phase difference technical parameter.
Remaining systematic error determining module 330, for according to the initial position co-ordinates and the satellite fix parameter set Close and determine remaining systematic error.
Differential correctional computing module 340 is corrected, based on according to the differential correctional and the remaining systematic error Calculate amendment differential correctional.
The device 6 of single station difference GNSS positioning can be desktop PC, notebook, palm PC and high in the clouds clothes The computing devices such as business device.The device of single station difference GNSS positioning may include, but be not limited only to, processor 60, memory 61. It will be understood by those skilled in the art that Fig. 6 is only the example of the device 6 of single station difference GNSS positioning, do not form to single station The restriction of the device of difference GNSS positioning, can be included than illustrating more or less parts, either combine some parts or Different parts, for example, single station difference GNSS positioning device can also include input-output equipment, network access equipment, Bus etc..
Alleged processor 60 can be CPU (Central Processing Unit, CPU), can also be Other general processors, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field- Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic, Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor Deng.
The memory 61 can be the internal storage unit of the device 6 of single station difference GNSS positioning, such as single station The hard disk or internal memory of the device 6 of difference GNSS positioning.The memory 61 can also be the dress of single station difference GNSS positioning Put the plug-in type hard disk being equipped with 6 External memory equipment, such as the device 6 of single station difference GNSS positioning, intelligent storage Block (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc.. Further, the memory 61 can also both include the device 6 of single difference GNSS positioning of standing internal storage unit or Including External memory equipment.The memory 61 is used to store the computer program and the list stands what difference GNSS was positioned Other programs and data needed for device/terminal device.The memory 61 can be also used for temporarily storing exported or The data that person will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work( Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used To be that unit is individually physically present, can also two or more units it is integrated in a unit, it is above-mentioned integrated Unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.In addition, each function list Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Said system The specific work process of middle unit, module, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in detail or remembers in some embodiment The part of load, it may refer to the associated description of other embodiments.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein Member and algorithm steps, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually Performed with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional and technical personnel Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, can be with Realize by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute The division of module or unit is stated, only a kind of division of logic function, there can be other dividing mode when actually realizing, such as Multiple units or component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.Separately A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be by some interfaces, device Or INDIRECT COUPLING or the communication connection of unit, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated module/unit realized in the form of SFU software functional unit and as independent production marketing or In use, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-mentioned implementation All or part of flow in example method, by computer program the hardware of correlation can also be instructed to complete, described meter Calculation machine program can be stored in a computer-readable recording medium, and the computer program can be achieved when being executed by processor The step of stating each embodiment of the method..Wherein, the computer program includes computer program code, the computer program Code can be source code form, object identification code form, executable file or some intermediate forms etc..Computer-readable Jie Matter can include：Can carry any entity or device of the computer program code, recording medium, USB flash disk, mobile hard disk, Magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It is it should be noted that described The content that computer-readable medium includes can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice Subtract, such as in some jurisdictions, electric carrier signal and electricity are not included according to legislation and patent practice, computer-readable medium Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality Example is applied the present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed Or replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme, all should Within protection scope of the present invention.

Claims (10)

  1. A kind of 1. method of single station difference GNSS positioning, it is characterised in that including：
    Obtain single station difference GNSS differential correctional；
    Obtaining initial position co-ordinates and satellite fix parameter sets, the satellite fix parameter sets includes carrier phase difference skill Art parameter；
    Remaining systematic error is determined according to the initial position co-ordinates and the satellite fix parameter sets；
    Amendment differential correctional is calculated according to the differential correctional and the remaining systematic error.
  2. 2. the method for single station difference GNSS positioning as claimed in claim 1, it is characterised in that described according to the initial position Coordinate and the satellite fix parameter sets determine that remaining systematic error includes：
    First remaining systematic error and second is obtained according to the carrier phase difference technical parameter and the initial position co-ordinates Remaining systematic error；Wherein, the described first remaining systematic error is caused by satellite orbit parameter error and troposphere, and described second Remaining systematic error is caused by ionosphere delay；
    Remaining systematic error is calculated according to the described first remaining systematic error and the second remaining systematic error.
  3. 3. the method for single station difference GNSS positioning as claimed in claim 2, it is characterised in that the carrier phase difference technology Parameter includes multiple carrier-phase measurements that multiple reference stations provide, it is described according to the carrier phase difference technical parameter and The initial position co-ordinates, which obtain the first remaining systematic error and the second remaining systematic error, to be included：
    According to the multiple carrier-phase measurement founding mathematical models；
    Interpolation is carried out according to the mathematical modeling and the initial position co-ordinates to obtain the first remaining systematic error and second residual Remaining systematic error.
  4. 4. the method for single station difference GNSS positioning as claimed in claim 2, it is characterised in that when the carrier phase difference skill It is described according to the described first remaining systematic error and the second remaining systematic error meter when art parameter is that method parameter is corrected in region Calculating remaining systematic error is specially：
    Remaining systematic error is calculated according to following formula：
    <mrow> <mi>&amp;Delta;</mi> <mi>P</mi> <mi>R</mi> <mi>C</mi> <mo>=</mo> <mo>-</mo> <mrow> <mo>(</mo> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mn>0</mn> </msub> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mfrac> <msub> <mi>f</mi> <mn>1</mn> </msub> <mi>f</mi> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mi>I</mi> </msub> <mo>)</mo> </mrow> </mrow>
    Wherein, Δ PRC is the remaining systematic error, Δ ρ0For the described first remaining systematic error, Δ ρIIt is remaining for described second Systematic error, f1For GPS L1 frequency, f is the tranmitting frequency of satellites in view.
  5. 5. the method for single station difference GNSS positioning as claimed in claim 1, it is characterised in that described to be corrected according to the pseudorange Number and the remaining systematic error calculate amendment differential correctional：
    Amendment differential correctional is calculated according to following formula：
    PRC=PRC '+Δ PRC
    Wherein, Δ PRC is the remaining systematic error, and PRC is the amendment differential correctional, and PRC ' corrects for the pseudorange Number.
  6. A kind of 6. device of single station difference GNSS positioning, it is characterised in that including：
    Differential correctional acquisition module, for obtaining single station difference GNSS differential correctional；
    Satellite fix parameter sets acquisition module, for obtaining initial position co-ordinates and satellite fix parameter sets, the satellite Positional parameter set includes carrier phase difference technical parameter；
    Remaining systematic error determining module, it is residual for being determined according to the initial position co-ordinates and the satellite fix parameter sets Remaining systematic error；
    Differential correctional computing module is corrected, it is pseudo- for calculating amendment according to the differential correctional and the remaining systematic error Away from correction.
  7. 7. the device of single station difference GNSS positioning as claimed in claim 6, it is characterised in that the remaining systematic error determines Module includes：
    Remaining systematic error acquisition module, for being obtained according to the carrier phase difference technical parameter and the initial position co-ordinates Take the first remaining systematic error and the second remaining systematic error；Wherein, the described first remaining systematic error is by satellite orbit parameter Error and troposphere cause, and the second remaining systematic error is caused by ionosphere delay；
    Remaining systematic error computing module, based on according to the described first remaining systematic error and the second remaining systematic error Calculate remaining systematic error；
    The carrier phase difference technical parameter includes multiple carrier-phase measurements that multiple reference stations provide, the remaining system System error acquisition module includes：
    Mathematical Models unit, for according to the multiple carrier-phase measurement founding mathematical models；
    Remaining systematic error acquiring unit, for carrying out interpolation according to the mathematical modeling and the initial position co-ordinates to obtain First remaining systematic error and the second remaining systematic error；
    When the carrier phase difference technical parameter is that method parameter is corrected in region, the remaining systematic error computing module is specific For：
    Remaining systematic error is calculated according to following formula：
    <mrow> <mi>&amp;Delta;</mi> <mi>P</mi> <mi>R</mi> <mi>C</mi> <mo>=</mo> <mo>-</mo> <mrow> <mo>(</mo> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mn>0</mn> </msub> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mfrac> <msub> <mi>f</mi> <mn>1</mn> </msub> <mi>f</mi> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> <msub> <mi>&amp;Delta;&amp;rho;</mi> <mi>I</mi> </msub> <mo>)</mo> </mrow> </mrow>
    Wherein, Δ PRC is the remaining systematic error, Δ ρ0For the described first remaining systematic error, Δ ρIIt is remaining for described second Systematic error, f1For GPS L1 frequency, f is the tranmitting frequency of satellites in view.
  8. 8. the device of single station difference GNSS positioning as claimed in claim 6, it is characterised in that the amendment differential correctional meter Module is calculated to be specifically used for：
    Amendment differential correctional is calculated according to following formula：
    PRC=PRC '+Δ PRC
    Wherein, Δ PRC is the remaining systematic error, and PRC is the amendment differential correctional, and PRC ' corrects for the pseudorange Number.
  9. 9. a kind of device of single station difference GNSS positioning includes memory, processor and is stored in the memory and can be The computer program run on the processor, it is characterised in that realized such as during computer program described in the computing device The step of any one of claim 1 to 5 methods described.
  10. 10. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, and its feature exists In when the computer program is executed by processor the step of realization such as any one of claim 1 to 5 methods described.
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