CN107942362B - Pseudo-range calculation method under condition of navigation message-free time stamp - Google Patents

Pseudo-range calculation method under condition of navigation message-free time stamp Download PDF

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CN107942362B
CN107942362B CN201711084779.XA CN201711084779A CN107942362B CN 107942362 B CN107942362 B CN 107942362B CN 201711084779 A CN201711084779 A CN 201711084779A CN 107942362 B CN107942362 B CN 107942362B
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徐颖
史雨薇
梁丹丹
袁杰
袁超
田向伟
刘文学
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Academy of Opto Electronics of CAS
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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 pseudo-range calculation method under the condition of no navigation message timestamp, which solves the pseudo-range calculation problem under the condition of no navigation message, provides favorable guarantee for the simplified design of navigation signals, has simple and efficient algorithm compared with the pseudo-range calculation under the condition of message modulation, and can solve the pseudo-range without bit synchronization and frame synchronization calculation; the pseudo-range observation period adopts the whole 100ms period scheme, and the local receiving time only needs to be initialized and calculated once, so that pseudo-range calculation resources are effectively saved; the code phase receiving time corrects a clock difference accumulation value caused by different sources of the receiving and transmitting clock, and effectively solves the problem that a pseudo-range result is negative due to negative clock difference.

Description

Pseudo-range calculation method under condition of navigation message-free time stamp
Technical Field
The invention belongs to the technical field of satellite navigation, and particularly relates to a pseudo-range calculation method under the condition of no navigation message timestamp.
Background
On one hand, the satellite navigation system can provide all-weather real-time positioning and time service, and plays an extremely important role in the fields of military affairs, oceans, fishery, vehicle navigation and the like; on the other hand, the vulnerability of the navigation signal and the lack of precision need to be enhanced and supplemented by multiple means, and the ground-based enhancement system is an effective mode. Here, the ground enhancement system refers to a ground-based broadcast base station network that can broadcast a navigation signal with adjustable parameters. It has two characteristics: firstly, the power of a ground-based enhanced signal is far higher than that of a satellite navigation signal, and the performance of the navigation signal is enhanced on a signal level; secondly, the foundation enhancement is regional enhancement, the position of a base station for broadcasting a foundation enhancement signal is fixed, and the coverage area of a single station is not more than 5 km. Corresponding to the characteristics of the foundation enhancement system, the new system navigation signal adopted by the foundation enhancement signal has two characteristics: firstly, in order to avoid near-far effect interference of high-power signals, a burst time division signal system is adopted; secondly, the coordinates of the base station are fixed and known, and the coverage range is smaller than the distance of a single ranging code piece, so that a simplified format without a navigation message is adopted.
In the conventional satellite navigation signal ranging method, the distances of the pseudoranges of the GPS in the United states, the GLONASS in Russia, the Galileo in Europe and the Beidou in China need to be calculated based on navigation message information in whole second and whole millisecond. The new system navigation signal of burst has no navigation message modulation, if the traditional pseudo range calculation method is adopted, the range-finding ambiguity of the whole millisecond exists, and the pseudo range calculation method provided by the invention can eliminate the range-finding ambiguity and obtain the correct pseudo range calculation value on the basis of the assumption that the single station coverage range does not exceed 15 kilometers.
Disclosure of Invention
In view of this, the present invention provides a pseudorange calculation method suitable for a new system navigation signal without electrical modulation, aiming at the problem that the navigation signal has the ambiguity of whole millisecond ranging without electrical modulation. The method can correctly estimate the signal transmitting time, and establish a linear relation model between the transmitting time and the local time, thereby effectively solving the problem of range ambiguity and outputting correct pseudo range.
A pseudo-range calculation method under the condition of no navigation message time stamp comprises the following steps:
step one, selecting a pseudo-range observed reference channel, and initializing the transmission time of the reference channel
Figure BDA0001459823380000022
And local reception time tr 0；
Step two, estimating ambiguity estimation value q of the whole ms of emission time of the channel m at the k observation momentm k：
Figure BDA0001459823380000021
Wherein the content of the first and second substances,
Figure BDA0001459823380000023
and
Figure BDA0001459823380000024
respectively representing code phase time observation information of pseudo-range of any one channel m and reference channel at k observation moments; p is the constructed whole 0.1ms emission parameter;
step three, calculating the ambiguity estimated value q of the whole ms of the emission time of the channel m at k +1 observation moments based on the following formulam 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+1And Code _ tm kCode phase time observation information, Code _ t ', of pseudo range representing channel m at k observation times and k +1 observation times'm kAnd Code _ t'm k+1Respectively representing the emission time of the pseudo range of the channel m at k observation moments and k +1 observation moments; code _ cycle represents Code period length 0.1 ms;
q is to bem k+1Substituting into the following equation:
Code_t'm k+1＝Code_tm k+1+qm k+1×Codecycle；
calculating the emission time of k +1 observation moments
Figure BDA0001459823380000033
Completing time maintenance calculation;
step four, calculating pseudo range:
Figure BDA0001459823380000034
wherein the content of the first and second substances,
Figure BDA0001459823380000031
the sum of the clock differences for the solution is accumulated.
Preferably, in the first step, when the reference channel of the pseudo-range observation is selected, if the local time initialization is not performed, the channel number is used as a sorting index, all navigation signal processing channels are traversed, all channels which are effective in pseudo-range observation measurement output are screened as a pseudo-range set to be calculated, and the channel number in the set which is the smallest is selected as the reference channel.
Preferably, in the first step, when a reference channel of the pseudo-range observation is selected, if local time initialization is performed, the channel number is used as a sorting index, all navigation signal processing channels are traversed, all channels which are effective in pseudo-range observation measurement output are screened as a pseudo-range set to be calculated, and the reference channel which is the minimum channel number and in which transmission time ambiguity estimation is completed in the set is selected.
Preferably, in the first step, the transmission time of the reference channel is initialized as follows:
Figure BDA0001459823380000032
wherein, Code _ cycle represents Code period length 0.1 ms; p is the constructed whole 0.1ms transmission parameter.
Preferably, in the step one, the time t is received locallyr 0The initialization is as follows:
Figure BDA0001459823380000041
wherein the content of the first and second substances,
Figure BDA0001459823380000042
representing the transmission time of the reference channel at the 0 th observation epoch; t is ttrans estimateRepresenting the transmission time.
Preferably, in the step one, ttrans estimateThe value is 0.03 ms.
The invention has the following beneficial effects:
the method solves the pseudo-range calculation problem under the condition of no navigation message, provides favorable guarantee for the simplified design of navigation signals, has simple and efficient algorithm compared with the pseudo-range calculation under the modulation of the message, and can solve the pseudo-range without performing bit synchronization and frame synchronization calculation; the pseudo-range observation period adopts a whole 100ms period scheme, and the local receiving time only needs to be initialized and calculated once, so that pseudo-range calculation resources are effectively saved; the code phase receiving time corrects a clock difference accumulation value caused by different sources of the receiving and transmitting clock, and effectively solves the problem that a pseudo-range result is negative due to negative clock difference.
Drawings
FIG. 1 is a pseudo-range calculation process under the condition of no navigation message timestamp in the present invention;
FIG. 2 is a diagram of conventional navigation signal transmission time without ambiguity;
FIG. 3 is a schematic diagram illustrating the reason for generating the ambiguity of the transmission time of the non-navigation message signal.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
In the method of the present invention, it is assumed that the format of the navigation signal is a navigation ranging code with a code rate of 10.23M, a code period of 1023 chips (30km) and a duty cycle of 10%. Firstly, selecting a reference channel from a channel set with effective pseudo-range observed quantity output, and finishing whole millisecond estimated initialization and local time initialization of emission time by taking code observed quantity information of the reference channel as a reference; then, taking the transmitting time of the reference channel as a reference, and carrying out ambiguity estimation on the transmitting time of the first effective channel output by other pseudo-range observed quantities so as to ensure that the pseudo-range relations of all channels of the current epoch meet the distance constraint relation; for the channel which finishes the estimation of the time ambiguity of transmission, time maintenance calculation is carried out to ensure that the pseudo-range change relation of the current channel to the previous and the next epoch meets the distance constraint condition; and finally, calculating a pseudo range by using the ambiguity-free transmitting time and the local receiving time to obtain a final result. The method specifically comprises the following steps: the method comprises four parts of reference pseudo-range selection, time initialization, transmission time ambiguity estimation, time maintenance and pseudo-range calculation.
The method of the invention has two applicable constraints: firstly, the distance difference between each base station and a receiving terminal at any time is less than 15 km; secondly, the distance between any base station and the receiving terminal changes by less than 15km within the pseudo-range observed quantity updating period time.
The specific method process is shown in figure 1:
step one, reference pseudo-range selection and time initialization:
(1) and reference pseudo-range selection is carried out under two conditions: firstly, selecting a reference pseudo range when local time initialization is not carried out; secondly, local time initialization is carried out, and the reference pseudorange is reselected when the reference channel pseudorange information is invalid.
And defining a two-dimensional set to represent an effective pseudo range set to be calculated, wherein 2 dimensions respectively represent channel number information and code phase observation information, as shown in a formula (1).
ρualid k＝{(Chm k，Code_tm k)}(0≤m＜Ch_total) (1)
Where ρ isvalid kSet representing valid outputs of pseudorange observations at the kth observation time, Chm kRepresenting the channel number, the value range is 0-total channel number, Code _ tm kIs with Chm kCorresponding code phase information. The reference pseudo range selection is carried out in two cases: firstly, selecting a reference pseudo range when local time initialization is not carried out; secondly, local time initialization is performed, and reference pseudoranges are reselected when reference channel pseudorange information is invalid, and implementation processes are respectively described below.
Case 1: the scheme when the local time initialization is not performed is as follows: and traversing all navigation signal processing channels by taking the channel number as a sorting index, screening pseudo-range observed quantities (a code phase integer part and a code phase decimal part), outputting all effective channels as a pseudo-range set to be calculated, and selecting the channel number with the minimum number in the set as a reference channel. And initializing the whole millisecond transmitting time and the local receiving time by taking the pseudo-range observation information of the reference channel as a reference, namely:
ChRef＝min(Chm k)(0≤m＜Ch_total) (2)
in the above formula (2), ChRefThe reference channel selected is the channel with the smallest channel number in the valid pseudorange set.
Case 2: the reselection scheme of the reference pseudorange when the local time initialization is carried out and the reference channel pseudorange information is invalid is as follows: traversing all navigation signal processing channels by taking the channel number as a sorting index, screening pseudorange observed quantities (a code phase integer part and a code phase decimal part), outputting all effective channels as a pseudorange set to be calculated, selecting a set with finished transmission time ambiguity estimation (in a scheme (2)), and taking the channel number with the minimum as a reference channel, wherein the method specifically comprises the following steps:
at this time, it is indicated that the reference channel Ch has been determined in the method in (1) at the k-th observation timeRefAt the (k + n) -th observation time ChRefInvalid pseudo range observation information output, ChRefNot in the set of valid pseudoranges for the (k + n) observation time, ChRefThe reselection method is shown in the following formulas (3) to (4):
ρtrans_ms k+n＝{(Ch′m k+n，Code_t′m k+n)}(0≤m＜Ch_total) (3)
where ρ istrans_ms k+nA set of pseudoranges, Code _ t ', representing completed transmit time ambiguity estimates at the (k + n) th observation time instant'm k+nIs shown at Code _ tm kThe unambiguous transmitting time of the whole ms information is constructed, and rhotrans_ms k+nIs ρvalid k+nSubset of (a):
ChRef＝min(Ch′m k+n)(0≤m＜Ch_total) (4)
(2) time initialization, including initializing the transmit whole millisecond time and initializing the local receive time. Fig. 2 to 3 show the cause of the generation of the whole millisecond ambiguity in the case of no navigation message by comparison. The conventional navigation signal shown in fig. 2 is modulated with a navigation message, and the transmission time is constructed by the TOW time (each subframe is incremented by 6s), the code cycle count using the TOW as the starting time, and the code phase information. The receive time can therefore acquire both the code phase and also distinguish between the whole second and the whole millisecond of transmission. In fig. 3, the navigation message is not marked for the entire second, and therefore, at the reception time trCorresponding to an infinite number of possible transmission times t01，t02，……， t0nThe minimum interval between them is 0.1ms of the code period length.
Initializing the transmission time, i.e. forcing the fixed reference channel transmission time to be a whole 0.1ms, as shown in equation (5):
Figure BDA0001459823380000071
wherein, Code _ cycle represents Code period length 0.1ms, and p is the whole 0.1ms transmission parameter constructed.
Initializing the local reception time, that is, initializing the local reception time based on the transmission time and the estimated transmission time, and assuming that the epoch for time initialization is 0, the method is as shown in equation (6):
Figure BDA0001459823380000072
wherein, tr 0Local reception time for initialization, ttrans estimateThe value here is 0.03ms (equivalent to
Transmission distance equal to about 10 km).
Step two, estimation of the ambiguity of the emission time:
the transmit time integer ambiguity estimation is based on the assumed application condition that the difference between the pseudorange to be computed and the reference pseudorange is less than 1/2 code period length (15 km). At this time, the ambiguity range of the whole millisecond of the transmission time is greatly reduced, and only 3 possible values are locked, namely the value is equal to the whole millisecond of the initial transmission of the reference channel, or the value is equal to plus or minus 1 millisecond of the whole millisecond of the initial transmission of the reference channel. Solving the difference value between the code phase observation information of the pseudo range to be calculated and the code phase observation information of the pseudo range of the reference channel, and estimating accurate transmission time from 3 possible transmission whole millisecond time according to the distance difference judgment criterion, wherein the method specifically comprises the following steps:
based on the assumed application scenario that the difference between the pseudorange to be computed and the reference pseudorange is less than 1/2 code period length (15km), the transmit time ambiguity estimation method is as follows:
Figure BDA0001459823380000081
wherein q ism kFor ambiguity parameters to be estimated, the 3 rd equation in the above equation is a constraint condition, the difference value between the pseudo-range code phase to be calculated and the reference code phase is defined as shown in the formula (8), and the difference value is substituted into the formula (7) and solved to obtain the formula (9):
Figure BDA0001459823380000082
Figure RE-GDA0001554249570000083
from this, an estimated value q of the time-of-transmission ambiguity is obtainedm k。
Step three, time maintenance:
and (3) updating and acquiring pseudo-range observation information in a period of 100ms, when the observation information is effective for the first time, estimating the ambiguity of the emission time by using the step two, and then updating an epoch for each observation quantity to perform time maintenance calculation. Based on the conventional assumption that the relative distance change between the receiving terminal and the base station is less than 15km within 100ms interval time, the difference between the transmitting time and the transmitting time at the last observation moment of the channel is less than 0.1 ms. Solving a difference value between the code phase information of the observation time to be calculated and the code phase information of the observation time on the channel, wherein the difference value judgment threshold is 1/2 code length (0.05ms), the difference value is less than-0.05 ms, the difference value is greater than 0.05ms, and the difference value is in three conditions of (0.05ms ), calculating the whole ms of the transmitting time, and finishing the time maintenance, which is specifically represented as:
Figure BDA0001459823380000091
wherein, Code _ tm k+1And Code _ tm kCode _ t 'representing Code phase time observation information of the pseudo range of the same base station at k observation times and k +1 observation times'm kAnd Code _ t'm k+1Respectively representing the transmitting time of the same base station pseudo-range at k observation moments and k +1 observation moments; q. q.sm k+1The emission time Code _ t 'of k +1 observation times is calculated from the equation (10) for the emission integer ms of k +1 observation times'm k+1The time maintenance calculation is completed.
Step four, pseudo-range calculation:
traversing a pseudo range set to be calculated, and solving the difference value between the receiving time of all channel code phases and the sending time of the code phases to obtain signal propagation time; the product of the travel time and the speed of light is the pseudorange calculation using the range length as a physical measure. The code phase receiving time is the sum of initialized local receiving time and accumulated time offset caused by clock drift, and the code phase sending time is a calculation result in (3), specifically:
the pseudorange, in terms of range, is equal to the product of the time of transmission, in terms of time, and the speed of transmission, i.e., the speed of light. The transmission time is equal to the difference between the signal receiving time and the signal transmitting time, and the calculation method is as follows:
Figure BDA0001459823380000092
wherein the content of the first and second substances,
Figure BDA0001459823380000093
for the reception time of the (k + 1) th observation epoch,
Figure BDA0001459823380000094
to solve the clock difference cumulative sum. Since the observation time interval 100ms is an integral multiple of 0.1ms, equation (11) can be simplified to equation (12):
Figure BDA0001459823380000101
the pseudo-range calculation method expressed by the distance is expressed by equation (13):
Figure BDA0001459823380000102
therefore, pseudo range calculation under navigation-free message modulation is completed.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A pseudo-range calculation method under the condition of no navigation message time stamp is characterized by comprising the following steps:
step one, selecting a pseudo-range observed reference channel, and initializing the transmission time of the reference channel
Figure FDA0002991989470000011
And local reception time tr 0；
Step two, estimating ambiguity estimation value q of the whole ms of emission time of the channel m at the k observation momentm k：
Figure FDA0002991989470000012
Wherein the content of the first and second substances,
Figure FDA0002991989470000013
Figure FDA0002991989470000014
and
Figure FDA0002991989470000015
respectively representing code phase time observation information of pseudo-range of any one channel m and reference channel at k observation moments; p is the constructed whole 0.1ms emission parameter;
step three, calculating the ambiguity estimated value q of the whole ms of the emission time of the channel m at k +1 observation moments based on the following formulam k +1：
Figure FDA0002991989470000016
Figure FDA0002991989470000017
Figure FDA00029919894700000110
Wherein, Code _ tm k+1And Code _ tm kCode phase time observations of pseudoranges representing channel m at k observation times and k +1 observation times,
Figure FDA0002991989470000018
and
Figure FDA0002991989470000019
respectively representing the emission time of the pseudo range of the channel m at k observation moments and k +1 observation moments; code _ cycle represents Code period length 0.1 ms;
q is to bem k+1Substituting into the following equation:
Figure FDA0002991989470000021
calculating the emission time of k +1 observation moments
Figure FDA0002991989470000022
Completing time maintenance calculation;
step four, calculating pseudo range:
Figure FDA0002991989470000023
wherein the content of the first and second substances,
Figure FDA0002991989470000024
Figure FDA0002991989470000025
the sum of the clock differences for the solution is accumulated.
2. The pseudo-range calculation method under the condition of the navigation message-free timestamp as claimed in claim 1, wherein in the first step, when a reference channel of pseudo-range observation is selected, if local time initialization is not performed, the channel numbers are used as sorting indexes, all navigation signal processing channels are traversed, pseudo-range observation quantities are screened, all effective channels are output to be used as a pseudo-range set to be calculated, and the channel number in the set is the smallest to be used as the reference channel.
3. The pseudo-range calculation method under the condition of the time stamp without the navigation message according to claim 1, wherein in the first step, when a reference channel of pseudo-range observation is selected, if local time initialization is performed, the channel number is used as a sorting index, all navigation signal processing channels are traversed, pseudo-range observation quantity is screened, all effective channels are output to be used as a pseudo-range set to be calculated, and the channel with the minimum channel number and the transmission time ambiguity estimation completed in the set are selected to be used as the reference channel.
4. The method for calculating pseudoranges under the condition of no navigation message timestamp as claimed in claim 1, wherein, in the first step, the transmission time of the reference channel is initialized to be:
Figure FDA0002991989470000026
wherein, Code _ cycle represents Code period length 0.1 ms; p is the constructed whole 0.1ms transmission parameter.
5. The method according to claim 1, wherein in step one, the local reception time t is tr 0The initialization is as follows:
Figure FDA0002991989470000031
wherein the content of the first and second substances,
Figure FDA0002991989470000032
representing the transmission time of the reference channel at the 0 th observation epoch;
Figure FDA0002991989470000033
indicating the time of transmission.
6. The method according to claim 5, wherein in the first step,
Figure FDA0002991989470000034
the value is 0.03 ms.
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