CN107807368B - Positioning method and positioning system based on satellite observed quantity - Google Patents

Positioning method and positioning system based on satellite observed quantity Download PDF

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CN107807368B
CN107807368B CN201610815056.1A CN201610815056A CN107807368B CN 107807368 B CN107807368 B CN 107807368B CN 201610815056 A CN201610815056 A CN 201610815056A CN 107807368 B CN107807368 B CN 107807368B
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threshold value
satellite
positioning
raim
multipath
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CN107807368A (en
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王勇松
徐坤
项冬
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Chihiro Location 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
    • G01S19/22—Multipath-related issues
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • 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

Abstract

The invention discloses a positioning method and a positioning system based on satellite observation. The method comprises the following steps: an observed quantity obtaining step of obtaining observed quantities of a plurality of satellites; an RAIM elimination step of eliminating abnormal observations in the observations of the plurality of satellites by RAIM; a multipath detection step of determining a multipath interference signal which cannot be eliminated by multipath detection; and a positioning step of positioning according to the observed quantity of the satellite after the RAIM eliminating step and the multipath detection step. The abnormal ephemeris data is detected and eliminated through a receiver integrity detection technology, and the multipath interference signals are detected through a signal processing technology, so that the abnormal component in the pseudo-range correction quantity is detected, the positioning accuracy is improved, and the efficiency is also improved.

Description

Positioning method and positioning system based on satellite observed quantity
Technical Field
The invention relates to the field of satellite positioning, in particular to a positioning method and a positioning system based on satellite observation quantity.
Background
The GNSS (global positioning satellite system) receiver resolves to obtain a three-dimensional position of the receiver and a clock error of the receiver by receiving four satellite signals. Due to the inaccuracy of the receiver clock, the actual measurement is the receiver-to-satellite pseudorange information. The measured pseudorange can be expressed by expression (1), and the pseudorange information mainly includes the true distance from the user to the satellite, the receiver clock error, the satellite clock error, the ionosphere delay, the troposphere delay, the multipath error, the white noise, and the like. Ionosphere delay errors, troposphere errors, multipath errors and the like mixed in the pseudo-range seriously affect the positioning accuracy of the receiver.
ρ＝r+c*(tu-ts)+I+T+
(1)
The advent of local differential systems offers the possibility of sub-meter positioning. From the components of the pseudoranges, it is known that ionospheric errors, tropospheric errors, satellite ephemeris errors and satellite clock errors are similar in amount for receivers that are not very far away. Expression (2) shows a method for calculating the pseudo-range difference correction amount by the reference station.
Figure BDA0001112409150000011
In the formula (2), the reaction mixture is,
Figure BDA0001112409150000012
true base station-satellite distance. Calculating the position of the known base station and the position of the satellite;
Figure BDA0001112409150000021
measuring pseudo range observed quantity of a satellite i by a base station;
Figure BDA0001112409150000022
the satellite clock error correction quantity can be obtained by calculation according to the clock error parameter;
Figure BDA0001112409150000023
local clock error of the base station receiver. The method can be obtained by solving methods such as least square and Kalman filtering.
The calculated pseudorange corrections are broadcast over a wireless network. And the user terminal receives and corrects the pseudo range by using the pseudo range correction quantity of the corresponding satellite, thereby improving the positioning precision.
And after receiving the pseudo-range correction, the terminal user receiver corrects the pseudo-range. The pseudo-range correction method is explained in expression (3). The corrected pseudo range is used for positioning solution, and ionosphere errors, troposphere errors and ephemeris error differences in the pseudo range are corrected in different time, so that the positioning resolving precision is improved. According to the random signal theory, white noise energy in the differentiated pseudo-range information is increased, that is, a position error caused by the white noise becomes large.
Figure BDA0001112409150000024
The premise that the expression (3) is available is a pseudo-range correction amount
Figure BDA0001112409150000025
And the satellite ephemeris error, the ionosphere error and the stratosphere error can be correctly reflected without abnormal conditions. If there is a large discrepancy, it cannot be used to correct the received pseudorange information.
Based on the above analysis, the pseudorange correction amount output by the differential reference station needs to have higher accuracy. In order to provide a service with higher reliability, exception handling and health monitoring of broadcast data are becoming more and more important.
Disclosure of Invention
The invention aims to provide a positioning method and a positioning system based on satellite observation, which detect and eliminate abnormal ephemeris data through a receiver integrity detection technology, detect a multipath interference signal through a signal processing technology, detect an abnormal component in a pseudo-range correction quantity, improve the positioning accuracy and improve the efficiency.
In order to solve the above technical problem, a first embodiment of the present invention discloses a positioning method based on satellite observations, which detects and excludes abnormal ephemeris data by RAIM (receiver autonomous integrity detection), and the method includes the following steps:
an observed quantity obtaining step of obtaining observed quantities of a plurality of satellites;
an RAIM elimination step of eliminating abnormal observations in the observations of the plurality of satellites by RAIM;
a multipath detection step of determining a multipath interference signal which cannot be eliminated by multipath detection; and
and a positioning step of positioning according to the observation quantity of the satellite after the RAIM eliminating step and the multipath detection step.
The second embodiment of the present invention also discloses a positioning system based on satellite observation, including:
an acquisition unit for obtaining observations of a plurality of satellites;
an RAIM eliminating unit used for eliminating abnormal observation quantity in the observation quantities of a plurality of satellites through RAIM;
the multipath detection unit is used for judging multipath interference signals which cannot be eliminated through multipath detection; and
and the positioning unit is used for positioning according to the observed quantity of the satellite after passing through the RAIM eliminating unit and the multipath detection unit.
Compared with the prior art, the implementation mode of the invention has the main differences and the effects that:
the abnormal ephemeris data is detected and eliminated through a receiver integrity detection technology, and the multipath interference signals are detected through a signal processing technology, so that the abnormal component in the pseudo-range correction quantity is detected, the positioning accuracy is improved, and the efficiency is also improved.
Furthermore, the RAIM elimination adopts a global residual error detection and distribution elimination mode, so that the stability is higher and the accuracy is higher.
Furthermore, the threshold value used for the multipath detection logic is adopted in the multipath detection, so that the detection accuracy is further improved.
Drawings
Fig. 1 is a schematic flowchart of a positioning method based on satellite observations according to a first embodiment of the present invention.
Fig. 2 is a schematic flow chart of the global residual error test in the first embodiment of the present invention.
Fig. 3 is a schematic flow chart of distribution elimination in the first embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a positioning system based on satellite observation according to a second embodiment of the present invention.
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
A first embodiment of the present invention relates to a positioning method based on satellite observations. Fig. 1 is a flow chart of the positioning method based on satellite observation.
Specifically, the positioning method based on the satellite observation amount detects and eliminates abnormal ephemeris data through a receiver integrity detection technology, and detects a multipath interference signal through a signal processing technology, thereby detecting an abnormal component in a pseudo-range correction amount. As shown in fig. 1, the positioning method based on satellite observation includes the following steps:
in step S101, observations of a plurality of satellites are obtained, the differential reference station receiver calculates a real-time position of the satellite using TOT (time of transmission) information obtained from the tracking channel, and pseudo-range information of each satellite is calculated by combining TOR (time of reception) of the receiver
Figure BDA0001112409150000051
And meanwhile, obtaining the accurate receiver-satellite distance according to the accurate information of the reference station and the satellite position. The satellite clock error can be calculated according to the satellite clock parameters. At the same time, the clock error Δ t of the reference station receiveruIt can be obtained by a weighted least squares method:
Figure BDA0001112409150000052
wherein G is a geometric factor matrix; w is a weight matrix which can be determined according to carrier-to-noise ratio, elevation angle and the like;
Figure BDA0001112409150000053
is the pseudorange residual vector. Equation (4) shows the residual error based on the pseudo-range
Figure BDA0001112409150000054
And solving a user three-dimensional position correction value and a clock correction value through weighted least squares.
Thereafter, the process proceeds to step S102, where the RAIM is used to eliminate abnormal observations from the observations of the plurality of satellites. Optionally, RAIM culling includes global residual checking and distribution culling. The global residual error test is firstly carried out, and when the position of the base station is solved by least square, the posterior residual error can be realized by an expression (5). The posterior residual r is an N-dimensional vector, and N is the number of observations used. In the absence of abnormal observations, each component of the residual vector r should be a normal distribution with a mean of 0. The variance of the distribution depends on the observation conditions such as the signal-to-noise ratio. Expression (6) is a length calculation formula of the weighted posterior residuals. The use of weights improves the observability of the a posteriori residuals.
Figure BDA0001112409150000055
Figure BDA0001112409150000056
In the formula (5), the reaction mixture is,
Figure BDA0001112409150000057
represents the user position correction value obtained by the least square method,
Figure BDA0001112409150000058
representing the corresponding pseudorange residual vectors,
Figure BDA0001112409150000059
represents the posterior residual, represents the weighted sum of squares of the posterior residual, and W represents the weight matrix in the least squares method. The comparison with the threshold can judge whether the observed quantity is abnormal.
And (3) performing global residual error detection according to the expression (6), and if the residual error is larger than a certain threshold, indicating that the observed quantity has an error and needing to remove the abnormal observed quantity. Optionally, different threshold values are used for different causes of the anomaly. The threshold selection principle is T1>T2Using a larger threshold T1The method is mainly used for eliminating the satellite ephemeris and the abnormal conditions of the satellite clock error. When the satellite ephemeris and clock error are abnormal, the pseudorange error usually exceeds the distance of 1 chip, and a larger threshold is required to be used for removing the abnormal condition.
Pure reflection (NLOS) signals do not cause asymmetry in the correlator output results but cause large errors in pseudorange. The NLOS signal can not be detected and removed through a multipath detector, and can only be removed through RAIM global residual error and distribution removal method.
For rejection of NLOS signals, a medium-sized threshold T is used2After multiple elimination, the residual error inspection quantity length is ensured to be less than the threshold T2。
Fig. 2 shows a flow chart of global residual detection and distribution elimination to eliminate large pseudorange errors. Removing pseudoranges until a posteriori residual satisfies
＜T2
(7)
In fig. 2, the satellite ephemeris, the satellite clock error and the NLOS are removed by the global residual error detection and the distribution removal method. But for direct signals of multipath interference, there is no way to use a larger threshold for rejection. For the direct signal of partial multipath interference, optionally, a smaller threshold is further adopted to make T3<T2Then, by adopting a distribution method, the observed quantities are removed one by one to calculate the posterior residual length until the observed quantities are smaller than a threshold value, and then the corresponding observed quantities and the corresponding pseudo-range correction quantity are removed. Fig. 3 shows a process for multipath interference signal rejection with a lower threshold. If it can not findIf one observed quantity enables the residual error after elimination to be smaller than the threshold, the interference of the multi-path signals on the multiple signals is shown or the abnormal condition existing in the current RAIM logic can not be eliminated.
Thereafter, the process proceeds to step S103, where a multipath interference signal that cannot be removed by multipath detection is determined. For multipath interference signals which cannot be eliminated by using RAIM, a multipath detector of a correlator is used for further detecting the multipath signals.
The correlator interval of the receiver tracking channel is 0.25 chips, i.e., the early code phase, the late code phase and the immediate code phase differ by 0.25 chips, the more early code phase, the more late code phase and the immediate code phase differ by 0.5 chips. The ratio between the early phase correlation result and the late phase correlation result is within a certain range of values when the receiver code tracking loop is tracking steadily. To improve the accuracy of detection, coherent integration and non-coherent integration are used to improve the detection probability. Expression (8) explains the generation method of the detection variable H, where C is a statistical standard value obtained without multipath signal interference. Optionally, a threshold T is setMPIf the detection variable H is greater than the threshold TMPThen, the channel is considered to be interfered by the multipath signals, and the corresponding pseudo-range correction quantity should be set to be invalid, so that the reliability of the broadcast pseudo-range correction quantity is improved.
Figure BDA0001112409150000071
In the formula, E0.25A correlator output result representing a leading code phase of 0.25 chips; e0.50Correlator output results representing a 0.50 chip advanced code phase; l is0.25A correlator output result representing a lag code phase of 0.25 chips; l is0.50A correlator output result representing a lag code phase of 0.50 chips; c represents a statistical standard value as a reference value.
Multipath detection logic: comparing the detected quantity with a threshold, and if H exceeds the threshold TMPThen the channel is considered as a multipath interference signal and needs to be removed. Upon determination of a multipath interference signalAnd if the pseudo-range correction is not valid, broadcasting to notify the terminal user.
Thereafter, the process proceeds to step S104, and positioning is performed based on the observed quantities of the satellites after the steps S102 and S103.
This flow ends thereafter.
Therefore, the abnormal ephemeris data is detected and eliminated through a receiver integrity detection technology, and the multipath interference signal is detected through a signal processing technology, so that the abnormal component in the pseudo-range correction quantity is detected, and the satellite positioning precision is greatly improved.
The method embodiments of the present invention may be implemented in software, hardware, firmware, etc. Whether the present invention is implemented as software, hardware, or firmware, the instruction code may be stored in any type of computer-accessible memory (e.g., permanent or modifiable, volatile or non-volatile, solid or non-solid, fixed or removable media, etc.). Also, the Memory may be, for example, Programmable Array Logic (PAL), Random Access Memory (RAM), Programmable Read Only Memory (PROM), Read-Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), a magnetic disk, an optical disk, a Digital Versatile Disk (DVD), or the like.
A second embodiment of the present invention relates to a positioning system based on satellite observations. Fig. 4 is a schematic structural diagram of the satellite observation based positioning system. The actual structure of the present invention can be adjusted as needed, and is not limited to the structure in fig. 4.
Specifically, the positioning system based on the satellite observation amount detects and eliminates abnormal ephemeris data through a receiver integrity detection technology, and detects a multipath interference signal through a signal processing technology, thereby detecting an abnormal component in a pseudo-range correction amount. As shown in fig. 4, the satellite observation-based positioning system 100 includes:
an acquisition unit 101 for obtaining observations of a plurality of satellites;
an RAIM culling unit 102 configured to cull an abnormal observation amount from the observation amounts of the plurality of satellites by RAIM;
a multipath detection unit 103 for determining a multipath interference signal which cannot be eliminated by multipath detection; and
and a positioning unit 104 for performing positioning based on the observed quantity of the satellite after passing through the RAIM culling unit 102 and the multipath detection unit 103.
The first embodiment is a method embodiment corresponding to the present embodiment, and the present embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that, each unit mentioned in each device embodiment of the present invention is a logical unit, and physically, one logical unit may be one physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units, and the physical implementation manner of these logical units itself is not the most important, and the combination of the functions implemented by these logical units is the key to solve the technical problem provided by the present invention. Furthermore, the above-mentioned embodiments of the apparatus of the present invention do not introduce elements that are less relevant for solving the technical problems of the present invention in order to highlight the innovative part of the present invention, which does not indicate that there are no other elements in the above-mentioned embodiments of the apparatus.
It is to be noted that in the claims and the description of the present patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (6)

1. A positioning method based on satellite observation quantity is characterized by comprising the following steps:
an observed quantity obtaining step of obtaining observed quantities of a plurality of satellites;
an RAIM elimination step of eliminating abnormal observations in the observations of the plurality of satellites by RAIM;
a multipath detection step of determining a multipath interference signal which cannot be eliminated through multipath detection; and
a positioning step of positioning according to the observed quantity of the satellite after the RAIM removing step and the multipath detection step;
the RAIM removing step comprises a global residual error detection step and a step-by-step removing step;
and setting a first threshold value for rejecting satellite ephemeris abnormity and satellite clock error abnormity and a second threshold value for rejecting NLOS signals in the global residual error detection and step-by-step rejection steps, wherein the first threshold value is larger than the second threshold value.
2. The positioning method of claim 1,
and a third threshold value for rejecting the multi-path interference is also set in the global residual error detection and step-by-step rejection step, and the third threshold value is smaller than the second threshold value.
3. The positioning method of claim 1,
a fourth threshold value for the multipath detection logic is set in the multipath detection step.
4. A positioning system based on satellite observations, comprising:
an acquisition unit for obtaining observations of a plurality of satellites;
an RAIM eliminating unit used for eliminating abnormal observation quantity in the observation quantities of a plurality of satellites through RAIM;
the multipath detection unit is used for judging multipath interference signals which cannot be eliminated through multipath detection; and
the positioning unit is used for positioning according to the observed quantity of the satellite after passing through the RAIM eliminating unit and the multipath detection unit;
the RAIM eliminating unit comprises a global residual error detecting and step-by-step eliminating unit;
and setting a first threshold value for rejecting satellite ephemeris abnormity and satellite clock error abnormity and a second threshold value for rejecting NLOS signals in the global residual error detection and step-by-step rejection unit, wherein the first threshold value is larger than the second threshold value.
5. The positioning system of claim 4,
and a third threshold value for rejecting the multi-path interference is also set in the global residual error detecting and step-by-step rejecting unit, and the third threshold value is smaller than the second threshold value.
6. The positioning system of claim 4,
a fourth threshold value for the multipath detection logic is set in the multipath detection unit.
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