CN107942362A - A kind of its computation of pseudoranges method under the conditions of no navigation message timestamp - Google Patents
A kind of its computation of pseudoranges method under the conditions of no navigation message timestamp Download PDFInfo
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- CN107942362A CN107942362A CN201711084779.XA CN201711084779A CN107942362A CN 107942362 A CN107942362 A CN 107942362A CN 201711084779 A CN201711084779 A CN 201711084779A CN 107942362 A CN107942362 A CN 107942362A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The invention discloses a kind of its computation of pseudoranges method under the conditions of no navigation message timestamp, its computation of pseudoranges in the case of solving the problems, such as no navigation message and causing, favourable guarantee is provided for the simplification design of navigation signal, compared with its computation of pseudoranges under text modulation, algorithm is succinctly efficient, and without carrying out bit synchronous, frame synchronization calculating can carry out the solution of pseudorange；The pseudorange observation cycle uses whole 100ms cycle regimens, and the local reception time only need to once be initialized calculating, be effectively saved its computation of pseudoranges resource；Code phase receiving time have modified the not homologous caused clock correction accumulating value of send-receive clock, effectively solve the problems, such as that negative clock correction causes pseudorange result to be negative.
Description
Technical field
The invention belongs to technical field of satellite navigation, and in particular to the pseudorange under the conditions of a kind of no navigation message timestamp
Computational methods.
Background technology
Satellite navigation system on the one hand can provide it is round-the-clock it is real-time position, time service service, military affairs, ocean, fishery with
And the field such as automobile navigation plays epochmaking effect；On the other hand due to the fragility and precision of navigation signal itself
Deficiency need to be strengthened and supplemented with more means, and ground strengthening system is a kind of effective manner.Here, ground increases
Strong system refers to can be with the ground broadcast base station networking of broadcast adjustable parameter navigation signal.It has two features：First, ground increases
Strong signal power is far above satellite navigation signals, in signal aspect enhanced navigation signal performance；Second, ground enhancing is region
Property enhancing, ground enhancing signal broadcast base station location fixes, and single coverage of standing is no more than 5km.Corresponding to ground strengthening system
The characteristics of, the New System navigation signal that ground enhancing signal uses has two features：First, to avoid high power signals far and near
Effect is disturbed, using time division signal system of bursting；Second, base station coordinates are fixed it is known that coverage is less than single ranging chip
Distance, therefore form is simplified using no navigation message.
Traditional satellite navigation signals distance measuring method, the either GPS in the U.S., the GLONASS of Russia, the gal in Europe
Profit is slightly or the Chinese Big Dipper is required to calculate the whole second of pseudorange, whole millisecond distance based on navigation message information.And it is new to burst
System navigation signal is modulated without navigation message, such as uses traditional its computation of pseudoranges method, can there are the range ambiguity of whole millisecond
Degree, its computation of pseudoranges method proposed by the present invention, based on single station coverage no more than 15 kilometers it is assumed that ranging can be eliminated
Fuzziness, draws correct pseudorange calculation.
The content of the invention
In view of this, the problem of being spent for navigation signal under the design that no text is modulated there are whole millisecond range ambiguity,
The present invention provides a kind of its computation of pseudoranges method of the New System navigation signal suitable for the modulation of no text.This method can be correct
Estimate signal transmission time, establish launch time and linear relation model during local, asked so as to effectively solve range ambiguity degree
Topic, exports correct pseudorange.
A kind of its computation of pseudoranges method under the conditions of no navigation message timestamp, includes the following steps：
Step 1: the reference channel of pseudorange observation is chosen, and the launch time of initialized reference passageAnd local reception time tr 0；
Step 2: fuzziness estimate qs of the estimation passage m in k-th of launch time whole ms for observing the momentm k：
Wherein,With
Represent the pseudorange of any one passage m and reference channel in the k code phase time observation information for observing the moment respectively；P is
The whole 0.1ms emission parameters constructed；
Estimate Step 3: calculating fuzzinesses of the passage m in the k+1 launch time whole ms for observing the moment based on equation below
Evaluation qm k+1：
Code_t'm k=Code_tm k+qm k×Codecycle
Code_t'm k+1=Code_tm k+1+qm k+1×Codecycle
Code_t'm k+1-Code_t'm k＜ 0.05
Wherein, Code_tm k+1With Code_tm kThe pseudorange for representing passage m observes the moment k observation moment with k+1
Code phase time observation information, Code_t'm kAnd Code_t'm k+1Represent that the pseudorange of passage m observes moment and k+1 at k respectively
The launch time at a observation moment；Code_cycle represents code cycle length 0.1ms；
By qm k+1Substitute into equation below：
Code_t'm k+1=Code_tm k+1+qm k+1×Codecycle；
Calculate the launch time at k+1 observation moment, deadline maintenance calculating；
Step 4: calculate pseudorange：
Wherein,For resolving clock correction accumulation and.
Preferably, in the step 1, when choosing the reference channel of pseudorange observation, if it is initial not carry out local zone time
Change, then using channel number as ranking index, travel through all navigation signal treatment channels, screening pseudo range observed quantity output is effective complete
For portion's passage as pseudorange set to be calculated, the conduct for choosing channel number minimum in set refers to passage.
Preferably, in the step 1, when choosing the reference channel of pseudorange observation, if it is initial to have carried out local zone time
Change, then using channel number as ranking index, travel through all navigation signal treatment channels, screening pseudo range observed quantity output is effective complete
Portion's passage is as pseudorange set to be calculated, and the estimation of launch time fuzziness has been completed in selection in gathering, and channel number is minimum
Conduct refer to passage.
Preferably, in the step 1, the launch time of reference channel is initialized as：
Wherein, Code_cycle represents code cycle length 0.1ms；P is the whole 0.1ms emission parameters constructed.
Preferably, in the step 1, local reception time tr 0It is initialized as：
Wherein,Represent launch time of the reference channel in the 0th epoch of observation；tTrans estimatesRepresent to pass
The defeated time.
Preferably, in the step 1, tTrans estimatesValue is 0.03ms.
The present invention has the advantages that：
The present invention solve the problems, such as no navigation message cause in the case of its computation of pseudoranges, be navigation signal simplify design
Favourable guarantee is provided, compared with its computation of pseudoranges under text modulation, algorithm is succinctly efficient, same without carrying out bit synchronous, frame
Step calculates the solution that can carry out pseudorange；The pseudorange observation cycle uses whole 100ms cycle regimens, and the local reception time only need to be into
Once initialization calculates row, is effectively saved its computation of pseudoranges resource；Code phase receiving time have modified that send-receive clock is not homologous to be drawn
The clock correction accumulating value risen, effectively solves the problems, such as that negative clock correction causes pseudorange result to be negative.
Brief description of the drawings
Fig. 1 is the present invention without its computation of pseudoranges flow under the conditions of navigation message timestamp；
Fig. 2 represents to scheme for conventional navigation signal transmission time without fuzziness；
Fig. 3 is no navigation message signals launch time fuzziness producing cause schematic diagram.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
In the method for the present invention, it is assumed that navigation signal form is bit rate 10.23M, and 1023 chip of code cycle (30km), accounts for
The empty navigational range code than 10%.First, in pseudo range observed quantity exports effective passage set, selection reference channel, and with
The whole millisecond of completion launch time estimates initialization on the basis of the code observed quantity information of reference channel and local zone time is initial
Change；Then, using the launch time of reference channel as reference, when other pseudo range observed quantities are exported with the first effectively transmitting of passage
Between carry out fuzziness estimation, to ensure that all passage pseudorange relations of current epoch meet distance restraint relation；For having completed
The passage of launch time fuzziness estimation, carries out time maintenance and calculates, to ensure that current channel changes for front and rear epoch pseudorange
Relation meets distance constraints；Finally, pseudorange is calculated using no fuzziness launch time and local reception time, drawn most
Terminate fruit.Specifically include：Chosen with reference to pseudorange and time initialization, launch time fuzziness are estimated, the time maintains, pseudorange meter
Calculate four parts.
The method of the present invention has two applicable constraintss：First, range difference between each base station of random time and receiving terminal
Less than 15km；Second, in time pseudo range observed quantity update cycle, any base station is less than 15km with receiving terminal distance change.
Specific method process is as shown in Figure 1：
Step 1: with reference to pseudorange selection and time initialization：
(1), chosen with reference to pseudorange and be divided into two kinds of situations progress：First, reference when not carrying out local zone time initialization is pseudo-
Away from selection；Second, local zone time initialization is carried out, reference pseudorange when reference channel pseudo-range information is invalid is chosen again.
Two-dimensional ensemble is defined, represents pseudorange set effectively to be calculated, 2 dimensions represent channel number information respectively, and
Code phase observation information, as shown in formula (1).
ρualid k={ (Chm k, Code_tm k) (0≤m ＜ Ch_total) (1)
Wherein, ρvalid kRepresent k-th of effective set of observation moment pseudo range observed quantity output, Chm kRepresent channel number,
Value range is 0~overall channel number, Code_tm kFor with Chm kCorresponding code phase information.Chosen with reference to pseudorange and be divided into two kinds of feelings
Condition carries out：First, reference pseudorange when not carrying out local zone time initialization is chosen；Second, local zone time initialization has been carried out,
Reference pseudorange when reference channel pseudo-range information is invalid is chosen again, introduces implementation process separately below.
Situation 1：It is as follows that scheme during local zone time initialization is not carried out：Using channel number as ranking index, all navigation are traveled through
Signal processing channel, the effective whole passages of screening pseudo range observed quantity (code phase integer part, code phase fractional part) output
As pseudorange set to be calculated, the conduct for choosing channel number minimum in set refers to passage.And with reference channel pseudorange observation
On the basis of information, whole millisecond time and local reception time are launched in initialization, i.e.,：
ChRef=min (Chm k) (0≤m ＜ Ch_total) (2)
In above formula (2), ChRefIt is the passage of channel number minimum in effective pseudorange set for the reference channel of selection.
Situation 2：Local zone time initialization is carried out, reference pseudorange when reference channel pseudo-range information is invalid is chosen again
Scheme is as follows：Using channel number as ranking index, all navigation signal treatment channels are traveled through, (code phase is whole for screening pseudo range observed quantity
Counting part, code phase fractional part) effectively whole passages as pseudorange set to be calculated, select complete in set for output
Estimate (method is referring to (2) in scheme) into launch time fuzziness, and the conduct of channel number minimum refers to passage, is specially：
At this time, represent k-th observe the moment by (1) in method determine reference channel ChRef, it is a at (k+n)
Observe moment ChRefThe pseudorange observation information of output is invalid, ChRefNot in effective pseudorange set at (k+n) observation moment, this
When ChRefAgain shown in choosing method such as following formula (3)~(4)：
ρtrans_ms k+n={ (Ch 'm k+n, Code_t 'm k+n) (0≤m ＜ Ch_total) (3)
Wherein, ρtrans_ms k+nRepresent at (k+n) a observation moment, to have completed the pseudorange that launch time fuzziness is estimated
Set, Code_t 'm k+nRepresent in Code_tm kOn constructed whole ms information without fuzziness launch time, also, ρtrans_ms k+n
It is ρvalid k+nSubset：
ChRef=min (Ch 'm k+n) (0≤m ＜ Ch_total) (4)
(2) time initializes, including whole millisecond time and initialization local reception time are launched in initialization.Fig. 2~figure
3 contrasts illustrate whole millisecond fuzziness Producing reason in the case of no navigation message.Conventional navigation signal modulation shown in Fig. 2 has
Navigation message, launch time is by TOW times (each subframe is incremented by 6s), the code week counting using TOW as initial time and code
Phase information constructs composition together.Therefore the time of reception can both obtain code phase, whole second that can equally distinguish transmitting and whole
The millisecond time.In Fig. 3, without navigation message mark whole moment second, therefore in time of reception tr, corresponding numerous possible hair
Penetrate time t01, t02... ..., t0n, the minimum interval between them is code cycle length 0.1ms.
Launch time is initialized, that is, fixed reference channel emission time whole 0.1ms is forced, shown in method such as formula (5)：
Wherein, Code_cycle represents that code cycle length 0.1ms, p are the whole 0.1ms emission parameters constructed.
Initialize local reception time, i.e., the transmission time, initial to the local reception time based on launch time and estimation
Change, and assume that the epoch for carrying out time initialization is 0, shown in method such as formula (6)：
Wherein, tr 0For the local reception time of initialization, tTrans estimatesValue here 0.03ms (equivalent to
Transmission range is approximately equal to 10km).
Step 2: launch time fuzziness is estimated：
Launch time, whole fuzziness estimation was less than 1/2 yard of cycle based on pseudorange to be calculated and with reference to the difference between pseudorange
The hypothesis application conditions of length (15km).At this time, launch time whole millisecond fuzziness scope is greatly reduced in diameter, and is only locked in 3 kinds
Possible value, the i.e. initialization equal to reference channel launch whole millisecond value, or the whole millisecond of initialization transmitting equal to reference channel
Positive and negative 1 millisecond value.Solve the code phase observation information of pseudorange to be calculated and the difference of reference channel pseudorange code phase observation information
Value, and according to range difference decision criteria, exact time of transmission is estimated from 3 kinds of possible transmitting whole millisecond time, specifically
For：
It is less than the hypothesis application of 1/2 yard of cycle length (15km) based on pseudorange to be calculated and with reference to the difference between pseudorange
Scene, launch time fuzziness method of estimation are as follows：
Wherein, qm kFor fuzziness parameter to be estimated, the 3rd equation is constraints in above formula, defines pseudorange to be calculated
Code phase is with reference to shown in code phase difference such as formula (8), substituting into (7) formula and solving, can obtain formula (9)：
Thus launch time fuzziness estimate q is obtainedm k。
Step 3: the time maintains：
Pseudorange observation information is updated using 100ms as the cycle to be obtained, and when observation information is effective for the first time, is carried out using step 2
Launch time fuzziness estimates that each observed quantity renewal epoch hereafter carries out time maintenance calculating.Based on 100ms intervals
In time, receiving terminal is with routine of the relative distance change in base station less than 15km it is assumed that this launch time and on the passage one
Observation launch time at moment difference is less than 0.1ms.This observation moment code phase information to be calculated is solved to see with the passage one
Moment code phase information difference is surveyed, difference judges that thresholding for 1/2 code length (0.05ms), divides difference to be less than -0.05ms, difference
More than 0.05ms, and difference is in three kinds of (- 0.05ms, 0.05ms) section situation, calculating launch time whole ms, deadline
Maintain, be embodied as：
Wherein, Code_tm k+1With Code_tm kRepresent same base station pseudorange and moment and k+1 observation moment are observed at k
Code phase time observation information, Code_t'm kAnd Code_t'm k+1Represent respectively same base station pseudorange k observe the moment with
The launch time at k+1 observation moment；qm k+1For the whole ms of transmitting at k+1 observation moment, it is calculated by formula (10), by
This calculates the launch time Code_t' at k+1 observation momentm k+1, deadline maintenance calculating.
Step 4: its computation of pseudoranges：
Pseudorange set to be calculated is traveled through, solves whole channel code phase reception times and the code phase sending time
Difference, obtains signal propagation time；The product of propagation time and the light velocity is its computation of pseudoranges using distance length as physical measurements
Value.Code phase receiving time is the local reception time and the sum of time migration accumulation, code phase caused by clock drift initialized
Sending time is calculating in (3) as a result, being specially：
Pseudorange using distance as dimension is equal to the product using the time as the transmission time and transmission speed, the i.e. light velocity of dimension.
Transmission time is equal to signal reception time and the difference of launch time, computational methods are as follows：
Wherein,For the receiving time of+1 epoch of observation of kth,For resolve clock correction accumulation and.By
In observation interval 100ms is the integral multiple of 0.1ms, therefore formula (11) can simplify becomes (12) formula：
Its computation of pseudoranges method represented with distance is as shown in formula (13) formula：
Since then, its computation of pseudoranges under no navigation message modulation is completed.
In conclusion the foregoing is merely a prefered embodiment of the invention, the protection model of the present invention is not intended to limit
Enclose.Within the spirit and principles of the invention, any modification, equivalent replacement, improvement and so on, should be included in this hair
Within bright protection domain.
Claims (6)
1. a kind of its computation of pseudoranges method under the conditions of no navigation message timestamp, it is characterised in that include the following steps：
Step 1: the reference channel of pseudorange observation is chosen, and the launch time of initialized reference passageWith
And local reception time tr 0；
Step 2: fuzziness estimate qs of the estimation passage m in k-th of launch time whole ms for observing the momentm k：
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Wherein, WithTable respectively
Show the pseudorange of any one passage m and reference channel in the k code phase time observation information for observing the moment；P be construct it is whole
0.1ms emission parameters；
Step 3: fuzziness estimate qs of the passage m in the k+1 launch time whole ms for observing the moment is calculated based on equation belowm k +1：
Code_t'm k=Code_tm k+qm k×Codecycle
Code_t'm k+1=Code_tm k+1+qm k+1×Codecycle
Code_t'm k+1-Code_t'm k＜ 0.05
Wherein, Code_tm k+1With Code_tm kThe pseudorange of passage m is represented in the k code phase for observing moment and k+1 observation moment
Position time observation information, Code_t'm kAnd Code_t'm k+1Represent that the pseudorange of passage m observes moment and k+1 sight at k respectively
Survey the launch time at moment；Code_cycle represents code cycle length 0.1ms；
By qm k+1Substitute into equation below：
Code_t'm k+1=Code_tm k+1+qm k+1×Codecycle；
Calculate the launch time at k+1 observation momentDeadline maintains to calculate；
Step 4: calculate pseudorange：
Wherein, For resolving clock correction accumulation and.
2. its computation of pseudoranges method under the conditions of a kind of no navigation message timestamp as claimed in claim 1, it is characterised in that institute
State in step 1, when choosing the reference channel of pseudorange observation, if not carrying out local zone time initialization, using channel number as sequence
Index, travels through all navigation signal treatment channels, the effective whole passages of screening pseudo range observed quantity output are as puppet to be calculated
Away from set, the conduct for choosing channel number minimum in set refers to passage.
3. its computation of pseudoranges method under the conditions of a kind of no navigation message timestamp as claimed in claim 1, it is characterised in that institute
State in step 1, when choosing the reference channel of pseudorange observation, if having carried out local zone time initialization, using channel number as sequence
Index, travels through all navigation signal treatment channels, the effective whole passages of screening pseudo range observed quantity output are as puppet to be calculated
Away from set, the estimation of launch time fuzziness is completed in selection set, and the conduct of channel number minimum refers to passage.
4. its computation of pseudoranges method under the conditions of a kind of no navigation message timestamp as claimed in claim 1, it is characterised in that institute
State in step 1, the launch time of reference channel is initialized as：
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5. its computation of pseudoranges method under the conditions of a kind of no navigation message timestamp as claimed in claim 1, it is characterised in that institute
State in step 1, local reception time tr 0It is initialized as：
Wherein,Represent launch time of the reference channel in the 0th epoch of observation；tTrans estimatesWhen representing transmission
Between.
6. its computation of pseudoranges method under the conditions of a kind of no navigation message timestamp as claimed in claim 5, it is characterised in that institute
State in step 1, tTrans estimatesValue is 0.03ms.
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| CN113093250A (en) * | 2021-06-04 | 2021-07-09 | 腾讯科技（深圳）有限公司 | Pseudo-range observation data restoration method, positioning information determination method and device |
| CN113093250B (en) * | 2021-06-04 | 2021-08-27 | 腾讯科技（深圳）有限公司 | Pseudo-range observation data restoration method, positioning information determination method and device |
| CN115037418A (en) * | 2022-06-24 | 2022-09-09 | 中国科学院空天信息创新研究院 | Navigation message frame structure design method for space-based pseudolite |
| CN115037418B (en) * | 2022-06-24 | 2024-06-11 | 中国科学院空天信息创新研究院 | Space-based pseudolite-oriented navigation text frame structure design method |
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