CN107765269A - GNSS satellite selection methods based on robust least square - Google Patents
GNSS satellite selection methods based on robust least square Download PDFInfo
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- CN107765269A CN107765269A CN201710970672.9A CN201710970672A CN107765269A CN 107765269 A CN107765269 A CN 107765269A CN 201710970672 A CN201710970672 A CN 201710970672A CN 107765269 A CN107765269 A CN 107765269A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
Abstract
The invention discloses a kind of GNSS satellite selection methods based on robust least square, comprise the steps of：One：Build pseudo range measurement model；Two：The priori value of weight matrix is set, the pseudo range measurement model built using least square technology solution procedure one, obtains receiver location solution and clock correction；Three：Residual is calculated using receiver location solution and clock correction, updates weight matrix using robust equivalence weight coefficient；Four：According to the weight matrix of renewal, discriminatory analysis is carried out to every satellite weights：If the weights of certain satellite are equal to 0, the satellite is rejected in pseudo range measurement model, while the element of weight matrix corresponding to proposition, re-using least square calculates receiver location and clock correction solution is delivered to step 3 and is iterated analysis；All it is not equal to 0 if all of the weights of satellite, then exports usable satellite, select star EP (end of program).The present invention can adaptively adjust the weighted value of each observation satellite, reject the poor satellite of observation quality.
Description
Technical field
The invention belongs to technical field of satellite navigation, more particularly to a kind of for more constellation satellite navigation systems
Satellite selection method.
Background technology
GPS (GNSS, Global Navigation Satellite System) is that one kind utilizes people
The integrated system that the radio signal of earth satellite transmitting is navigated is made, the satellite of navigation Service can be provided in the world
Navigation system, global, round-the-clock, real-time three-dimensional navigation service can be provided the user.For other airmanships, it is based on
GNSS airmanship has low cost, high accuracy, without technical advantages such as drift, wide coverage, high real-times, and its application can
Aircraft for ground static and motion carrier, or space low speed, high-speed motion provides high accuracy positioning, constant speed and essence
Close time service service.
With GNSS in military and civil area using being increasingly extensive, various countries take to form autonomous controllable navigation
Business ability, one's own navigation system all is being developed, such as the GPS of America navigation system that technology is the most ripe, China
Beidou satellite navigation system (BDS), Russian GLONASS navigation system GLONASS, European Galileo navigation system
(Galileo), also all kinds of RNAV systems, such as Japanese QZSS, India's IRNSS systems etc., future can use aeronautical satellite
Number is up to more than 100.Because receiver channel and process resource are limited, receiver can not be led to all observation satellites
Boat information processing；And also variant, the poor measurement of the quality of data that by observing environment influenceed Observable satellite navigation data quality
Information can cause.Therefore it need to observe that satellite carries out selecting star to handle to all, reject the second-rate satellite of observation signal, choose most
Excellent aeronautical satellite combination, to improve navigation accuracy and computational efficiency.
However, currently used remain in following deficiency for GNSS selecting-star algorithms：
(1) locally optimal solution.Traditional GDOP selects star method to need first to give selection number of satellites, then carries out selecting at star again
Reason, optimal solution belongs to locally optimal solution to this method under prescribed conditions；
(2) efficiency is low, real-time is not high.Traditional GDOP methods set different numbers, comprising satellite it is total for satellite
Number permutation and combination, then scans for iteration according in given number of combinations, when observing that number of satellites increases, then increases greatly
Add the amount of calculation for selecting star, reduce computational efficiency and real-time.
The content of the invention
It is an object of the invention to provide a kind of GNSS satellite selection methods based on robust least square, the GNSS satellite selection methods
Using Robust filter technology, the poor aeronautical satellite of the observation quality of data is can recognize that, while be adaptively adjusted each defend
The weighted value of star observed quantity, and progressive alternate is carried out until weeding out the poor satellite of all observation qualities of data；The GNSS is selected
Star method can adaptively choose global optimum's combinations of satellites, and computational efficiency is high, real-time without the given number for selecting star
Property is higher；Can fast selecting globally optimal solution, improve the precision and reliability of navigation system.
The purpose of the present invention is achieved through the following technical solutions：
A kind of GNSS satellite selection methods based on robust least square, are comprised the steps of：
Step 1：Pseudo range measurement model is built in the n GNSS satellite that epoch t observes to receiver A；
Step 2：The pseudorange noise given first with receiver device, setting weight matrix P priori value, is recycled
The pseudo range measurement model that least square technology solution procedure one is built, obtains receiver location solution and clock correction；
Step 3：Residual is calculated using receiver location solution and clock correction, is updated and weighed using robust equivalence weight function
Value matrix P；
Step 4：The weight matrix updated according to step 3, discriminatory analysis is carried out to every satellite weights：
If the weights of certain satellite are equal to 0, the satellite is rejected in pseudo range measurement model, while proposes corresponding weigh
The element of value matrix, re-uses that least square calculates receiver location and clock correction solution is delivered to step 3 and is iterated point
Analysis；
All it is not equal to 0 if all of the weights of satellite, then exports usable satellite, select star EP (end of program).
Preferably, in step 1, the pseudorange observation equation for the receiver A the s GNSS satellite received is：
In formula,For pseudo range observed quantity；For the geometric distance of satellite to receiver,rA,rsRespectively
Receiver A position vector and the position vector of satellite s；C is the light velocity in vacuum；δtAFor receiver clock-offsets；δtsDefended for GNSS
Star clock correction；For ionosphere delay；For tropospheric delay；To meet varianceWhite noise；
To receiver A position rALinearized：
In formula,For the direction vector of satellite to receiver；Satellite position can be real by satellite broadcasting ephemeris
When resolve to obtain, receiver A positional information resolves to obtain by pseudorange One-Point Location；
The pseudo range measurement model such as formula (3) for the n GNSS satellite that then receiver A observes in epoch t：
In formula, measured value is：Design matrix is： For receiver location parameter r to be estimatedA
With receiver clock-offsets δ tA。
Preferably, in step 3, residualFor：
In formula,ForStandard deviation,I is to observe i-th satellite, i=1,2 ..., n.
Preferably, in step 3, robust equivalence weight functionFor：
Wherein：
Parameter γiiWith parameter γjjGiven by formula (8-1) (8-2) Robust filter function：
In formula, k0And k1For constant, k0Span be 2.0~3.0, k1Span be 4.5~8.5.
The present invention innovatively proposes a kind of GNSS satellite selection methods based on robust least square, and this method uses robust skill
Art, the weighted value of each observation satellite can be adaptively adjusted, reject the poor satellite of observation quality；This method does not choose satellite
Number limits, and can adaptively choose global optimum's combinations of satellites；This method is applied to single constellation, more constellation GNSS system satellites
Choose, computational efficiency is high, and real-time is higher, has high engineering application value.
Brief description of the drawings
Fig. 1 is the method for the invention flow chart.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below that
Conflict can is not formed between this to be mutually combined.
The specific implementation process of the present invention is described in further detail below in conjunction with accompanying drawing 1 and technical scheme.
Step 1：Build pseudo range measurement model
S GNSS satellites are received for receiver A, its pseudorange and carrier phase observational equation are respectively：
In formula,For pseudo range observed quantity, with rice (m) for unit；For the geometric distance of satellite to receiverrAFor receiver A position vector, rsFor the position vector of satellite s；C is the light velocity in vacuum；δtATo receive
Machine clock correction；δtsFor GNSS satellite clock correction；For ionosphere delay；For tropospheric delay；To meet varianceIt is white
Noise.
In receiver A position vector rAUnder linearized, receiver A positional information can pass through pseudorange One-Point Location
Resolving obtains；It is then rightResult is linearized in receiver AFor：
In formula,For the direction vector of satellite to receiver；Satellite position can be real by satellite broadcasting ephemeris
When resolve to obtain.
Assuming that in epoch t, receiver A observes n GNSS satellite altogether, then corresponding measurement model such as formula (3)：
In formula, measured value is：Design matrix is：V is measurement residual vector；To be to be estimated
Receiver location parameter rAAnd receiver clock-offsets.
The structure pseudo range measurement model framework chart part that the step corresponds in accompanying drawing 1.
Step 2：Initialized and positioned using least square
Pseudorange noise is set first with receiver device measurement parameter, gives weight matrix P priori value P0If observation
It is worth to be independent, then priori value P0For diagonal matrix.
It can first be provided using least square technology and calculate receiver location solution：
The solution that above-mentioned solution is receiver location and clock correction initializes, for first time iteration residual computations in step 3.
The structure pseudo range measurement model framework chart part that the step corresponds in accompanying drawing 1.
Step 3：Utilize robust equivalence weight function renewal weight matrix Pk
The initialization positioning solution and clock correction provided during for first time iteration using step 2, calculate residual, renewal
Weights；
When kth time iteration, the position solution and clock correction calculated using step 4 calculates residual；
Residual during kth time iterationFor：
In formula,ForStandard deviation,I is observes i-th satellite (i=1,2 ..., n).
In view of the metrical information of priori, robust equivalence weight function formula (7), renewal weight coefficient γ can be constructedij：
Parameter γiiWith parameter γjjGiven by formula (7-1) (7-2) Robust filter function：
In formula, k0And k1For its span of constant difference 2.0~3.0 and 4.5~8.5.What i and j was represented is in matrix
I-th row jth arranges.
Weight matrix after kth time iteration can be provided by the step, and give step 4 to carry out satellite selection.
The structure pseudo range measurement model framework chart part that the step corresponds in accompanying drawing 1.
Step 4：Reject the poor satellite of observation quality
The weight matrix updated according to step 3, discriminatory analysis is carried out to every satellite weights：
IfThen mark the satellite；And reject the satellite in measurement model, while propose corresponding weigh
Value matrix element, re-use least square and calculate receiver location and clock correction solution：
By above-mentioned resolving kth time positioning result, it is delivered to step 3 and carries out+1 iterative analysis of kth；
If all of satellite weightsUsable satellite is then exported, selects star EP (end of program).
The step, which corresponds in accompanying drawing 1, utilizes Robust filter renewal observed quantity weights output block diagram part.
Above-mentioned pseudorange noise variance, pseudorange One-Point Location, satellite position calculation, least square method, matrixing, standard deviation
A series of calculating of indexs such as calculate and processing formula belongs to the common knowledge of this area and ripe for those skilled in the art
Know, therefore will not be repeated here.
It is understood that for those of ordinary skills, can technique according to the invention scheme and its invention
Design is subject to equivalent substitution or change, and all these changes or replacement should all belong to the protection of appended claims of the invention
Scope.
Claims (4)
1. a kind of GNSS satellite selection methods based on robust least square, are comprised the steps of：
Step 1：Pseudo range measurement model is built in the n GNSS satellite that epoch t observes to receiver A；
Step 2：The pseudorange noise given first with receiver device, setting weight matrix P priori value, recycle minimum
Two multiply the pseudo range measurement model of the structure of technology solution procedure one, obtain receiver location solution and clock correction；
Step 3：Residual is calculated using receiver location solution and clock correction, updates weights square using robust equivalence weight function
Battle array P；
Step 4：The weight matrix updated according to step 3, discriminatory analysis is carried out to every satellite weights：
If the weights of certain satellite are equal to 0, the satellite is rejected in pseudo range measurement model, while weights square corresponding to proposition
The element of battle array, re-using least square calculates receiver location and clock correction solution is delivered to step 3 and is iterated analysis；
All it is not equal to 0 if all of the weights of satellite, then exports usable satellite, select star EP (end of program).
A kind of 2. GNSS satellite selection methods based on robust least square according to claim 1, it is characterised in that the step
In rapid one, the pseudorange observation equation for the receiver A the s GNSS satellite received is：
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Machine A position vector and the position vector of satellite s；C is the light velocity in vacuum；δtAFor receiver clock-offsets；δtsFor GNSS satellite clock
Difference；For ionosphere delay；For tropospheric delay；To meet varianceWhite noise；
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The pseudo range measurement model such as formula (3) for the n GNSS satellite that then receiver A observes in epoch t：
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A kind of 3. GNSS satellite selection methods based on robust least square according to claim 2, it is characterised in that the step
In rapid three, residualFor：
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A kind of 4. GNSS satellite selection methods based on robust least square according to claim 3, it is characterised in that the step
In rapid three, robust equivalence weight functionFor：
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Parameter γiiWith parameter γjjGiven by formula (8-1) (8-2) Robust filter function：
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| CN108873029A (en) * | 2018-06-07 | 2018-11-23 | 南京航空航天大学 | A method of realizing the modeling of navigation neceiver clock deviation |
| CN109283566A (en) * | 2018-10-17 | 2019-01-29 | 中国人民解放军国防科技大学 | GNSS robust velocity measurement method under colored noise |
| CN109521443A (en) * | 2018-12-29 | 2019-03-26 | 广东电网有限责任公司 | A method of detection ephemeris is abnormal |
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