CN108196273A - A kind of position location satellite selection method of integrated navigation system - Google Patents
A kind of position location satellite selection method of integrated navigation system Download PDFInfo
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- CN108196273A CN108196273A CN201711242961.3A CN201711242961A CN108196273A CN 108196273 A CN108196273 A CN 108196273A CN 201711242961 A CN201711242961 A CN 201711242961A CN 108196273 A CN108196273 A CN 108196273A
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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
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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
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
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Abstract
The invention belongs to integrated navigation system field, the position location satellite selection method of specially a kind of integrated navigation system.This method includes：Position location satellite initial population is formed by binary coding；Wherein, the position location satellite initial population includes multiple samples；The position location satellite initial population is obtained into offspring using genetic algorithm；The position location satellite initial population and the fitness function of offspring are calculated, judges whether the fitness function meets end condition；If satisfied, then determine that the sample of fitness function maximum selects star scheme for position location satellite；Remaining position location satellite, the position location satellite for selecting position location satellite and the remaining position location satellite composition integrated navigation system in star scheme are chosen according to minimum geometric dilution of precision method.Position location satellite selection can be rapidly completed in the present invention, exchange being greatly reduced for navigation operations amount for less minimum geometric dilution of precision loss, to reduce the load of receiver processor, reduce the difficulty and cost of hardware design.
Description
Technical field
The present invention relates to satellite navigation system field more particularly to a kind of position location satellite selecting partys of integrated navigation system
Method.
Background technology
Existing satellite navigation system development is more and more universal, has been widely used in cellular communication and automotive field.Satellite
Positioning precision of navigation system can be expressed as the product of geometric dilution of precision and user equivalent range error, geometric dilution of precision
Magnification level of the topological structure to user equivalent range error of position location satellite is reacted.Assuming that receiver observe it is all can
Satellite number is seen for n, selects star number mesh as m, then the principle of minimum geometric dilution of precision method is：It calculatesSecondary geometric dilution of precision, from
The middle position location satellite for choosing geometric dilution of precision minimum combines the position location satellite as integrated navigation system, in this way can
Enough find optimal position location satellite combination.
During realizing that the present invention quickly selects position location satellite, the prior art is chosen most using the method for traversal
There are the following problems for excellent position location satellite：Ergodic property of the existing minimum geometric dilution of precision method due to algorithm in itself, although energy
The position location satellite combination that regulation selects star number geometric dilution of precision minimum now is found out, but algorithm calculation amount itself is too big, is unfavorable for
Quick regioselective satellite.Though the existing position location satellite select permeability having for Positioning satellite navigation system, occur a series of be
Reduce calculation amount and the method that designs, but there are still visible position location satellite, calculation amount is still larger when more, the positioning finally chosen
The problems such as geometric dilution of precision loss that satellite number is more or regioselective satellite is brought is larger.
Invention content
The object of the present invention is to provide a kind of position location satellite selection method of integrated navigation system, by genetic algorithm come pair
Position location satellite carries out the calculating of population, and determines to select star scheme by fitness function, and position location satellite can be rapidly completed
Selection, is effectively reduced calculation amount.
According to an aspect of the present invention, the position location satellite selection method of a kind of integrated navigation system, including：
S1, tectonic location satellite initial population, and binary coding is carried out to the position location satellite initial population；Wherein,
The position location satellite initial population includes multiple samples；
The position location satellite initial population is obtained offspring by S2 using genetic algorithm；
S3 calculates the position location satellite initial population and the fitness function f (X) of offspring, judges the fitness function f
(X) whether meet end condition；If satisfied, then perform S4；
The sample of determining fitness function f (X) maximum when meeting end condition is selected star side by S4 for position location satellite
Case；
S5 chooses remaining position location satellite according to minimum geometric dilution of precision method, it is described select in star scheme position location satellite with
The remaining position location satellite forms the position location satellite of integrated navigation system.
Optionally, it is further included before the step S1：Star number mesh m, geometric dilution of precision threshold value GDOP are selected in configurationTWith face upward
Angular threshold；All position location satellites that receiver is selected to observe are deleted according to elevation angle thresholding, obtain a target group of stars.
Optionally, it is described that all position location satellites that receiver is selected to observe are deleted according to elevation angle thresholding, obtain target group of stars packet
It includes：In all position location satellites observed in receiver, the elevation angle is selected to be greater than or equal to the position location satellite of elevation angle thresholding, as mesh
Mark a group of stars.
Optionally, the tectonic location satellite initial population, and binary system volume is carried out to the position location satellite initial population
Code includes：
The equal multiple sample X of position location satellite number of individuals are chosen from a target group of starsk=[xn … xj … x1]；
Position location satellite individual in the sample is used into binary coding, if the position location satellite chosen is encoded to 1, non-choosing
In position location satellite be encoded to 0 so that position location satellite number summation is chosen in the sample
Multiple sample X after binary codingk=[xn … xj … x1] initial kind of position location satellite of composition
Group；
Wherein, xjPosition location satellite individual is represented, in the sample Xk=[xn … xj … x1] in position location satellite in order
Carry out layout, x1Represent No. 1 position location satellite, xjRepresent j position location satellites, xj=1 expression j position location satellites are selected into, xj=0
Represent that j position location satellites are not selected into.
Optionally, the genetic algorithm includes：Crossing operation and/or mutation operator；
Wherein, crossing operation includes：
According to crossover probability pcParents A and B are chosen from the position location satellite initial population；
Randomly generate Integer n 1 and the n2 between 2 1~m-1；
Corresponding positions in the gene and B of position location satellite being chosen to be chosen between position location satellite to the n-th 2 by the n-th 1 in the A
Gene swapping obtain offspring A1, position location satellite is chosen to choose to the n-th 2 gene and A between position location satellite by the n-th 1 in B
The gene swapping of middle corresponding positions obtains offspring B1；Wherein, each position location satellite be a gene, the gene table of the position location satellite
Up to choose position location satellite and non-selected position location satellite two categories；
Judging whether the offspring A1 and B1 meets chooses the gene of position location satellite to reach m-1；
If satisfied, then the offspring A1 and B1 is legal offspring；
If not satisfied, the offspring A1 and B1 is then handled as legal offspring by the mode of variation；Wherein, variation
Mode handle including：It obtains and the gene of position location satellite is chosen to reach the difference of m-1 in the offspring A1 or B1, it is random according to difference
Choose except exchange base because other genes, become to choose position location satellite or non-selected position location satellite by way of variation, make
Its satisfaction chooses the gene of position location satellite to reach m-1；
Wherein, mutation operator includes：
According to mutation probability pmA sample c being intended into row variation is randomly selected from the position location satellite initial populationp；
Randomly generate the integer g1 between a 1~n；
Judge the sample cpGene classification corresponding to g1 middle, if the gene is non-selected position location satellite, with
Machine generates the integer g2 (g1 ≠ g2) between a 1~n, and should ensure that the sample cpIn gene classification corresponding with g2 for choosing
Middle position location satellite, whereas if g1 corresponding gene classifications is choose position location satellite, then the random number generated g2 is corresponding
Gene classification should be non-selected position location satellite；Wherein, each position location satellite be a gene, the gene expression of the position location satellite
To choose position location satellite and non-selected position location satellite two categories；
By the sample cpMiddle g1 gene carries out classification exchange with g2 genes, obtains legal offspring cq。
Optionally, the fitness function：
Wherein, GDOPmaxAnd GDOPminGeometric dilution of precision maximum value in all samples of current population and several is represented respectively
What dilution of precision minimum value, ε are a nonnegative constants of (0,1), object function：
f0(X)=GDOP (X) (2)
Wherein, X is current sample, and object function is the geometric dilution of precision for calculating current sample.
Optionally, the end condition includes：Geometric dilution of precision minimum value GDOP in all samples of current populationmin
Less than the threshold value GDOPTOr the geometric dilution of precision minimum value GDOP in all samples of current populationminWith previous calculating
Geometric dilution of precision minimum value GDOPminIdentical or calculation times have reached setting value.
Optionally, the calculation times are the calculation times of the genetic algorithm or the calculating time of the fitness function
Number.
Optionally, it is further included after the step S4：If not satisfied, then by the position location satellite initial population and offspring
New position location satellite initial population is merged into, returns to step S2.
Optionally, it is described to be included according to the remaining position location satellite of minimum geometric dilution of precision method selection：
According to the sample of fitness function f (X) maximum, calculate sample and become each non-selected satellite individual classification
Choose the geometric dilution of precision of position location satellite；
It is remaining position location satellite that the minimum corresponding transformation individual of geometric dilution of precision, which is calculated,.
The present invention has the advantages that by using above-mentioned technical proposal：
The present invention to carry out position location satellite the calculating of population by using genetic algorithm, and by fitness function come really
Surely star scheme is selected, the selection of position location satellite can be rapidly completed；A target group of stars is determined by elevation angle thresholding, is effectively reduced
Calculation amount；Remaining position location satellite is determined by the sample of fitness function maximum and the geometric dilution of precision of calculating sample,
The selection of the position location satellite of integrated navigation system can be rapidly completed.
Description of the drawings
Fig. 1 is according to first embodiment of the invention method flow diagram；
Fig. 2 is according to second embodiment of the invention method flow diagram；
Fig. 3 is crossing operation method flow diagram according to an embodiment of the present invention；
Fig. 4 is mutation operator method flow diagram according to an embodiment of the present invention；
Fig. 5 is to choose remaining position location satellite side according to minimum geometric dilution of precision method according to another embodiment of the present invention
Method flow chart；
Fig. 6 is GDOP and GDOP when choosing 8 position location satellites according to a further embodiment of this inventionTGraph of relation；
Fig. 7 is GDOP and GDOP when choosing 9 position location satellites according to a further embodiment of this inventionTGraph of relation；
Fig. 8 is evolutionary generation curve graph when 8 satellites are chosen according to a further embodiment of this invention；
Fig. 9 is evolutionary generation curve graph when 9 satellites are chosen according to a further embodiment of this invention.
Specific embodiment
Understand to make the object, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, the description to known features and technology is omitted, to avoid this is unnecessarily obscured
The concept of invention.
In the prior art, the positioning accuracy of satellite navigation system, can be expressed as geometric dilution of precision and user is equivalent
The product of range error, i.e.,：
σp=GDOP σUERE (3)
Wherein, σpRepresent the standard deviation of positioning accuracy, GDOP represents the value of geometric dilution of precision, σUERERepresent user etc.
Imitate the standard deviation of range error.GDOP reflects amplification journey of the topological structure to user equivalent range error of position location satellite constellation
Degree.Without loss of generality, it is assumed that the equivalent distances error of each system is approximate consistent in integrated navigation system, then GDOP can characterize fixed
Requirement of the size namely user of position precision to positioning accuracy can pass through GDOP threshold values (GDOP Threshold, abbreviation
GDOPT) embody.
The geometric dilution of precision of navigation system is：
Wherein, H represents the calculation matrix of integrated navigation system：
In formula (5),WithRepresent the direction cosines of jth satellite, ns1
Represent the visible satellite number of satellite navigation system 1, n-ns1Represent the visible satellite number of satellite navigation system 2.In the prior art,
It is preferred that using 2 satellite navigation systems, convenient for calculating and improving navigation accuracy.
In the selection course to position location satellite, it is assumed that all visible position location satellite numbers that receiver observes are (visible for n
Position location satellite is the position location satellite that receiver can observe), the number for needing the position location satellite selected is m, then passes through meter
Minimum GDOP is calculated to determine to select star scheme, i.e., m position location satellite is selected from n visible position location satellite, each selects star scheme meter
A GDOP is calculated, minimum GDOP is corresponding, and to select star scheme be final to select star as a result, the principle of minimum GDOP methods is:Pass through calculatingSecondary GDOP, the combinations of satellites for therefrom choosing GDOP minimums select star result as final.The prior art is due to that can find out rule
Surely select star number now GDOP minimums position location satellite combination, select star the result is that selecting star optimal solution.
In existing integrated navigation system, minimum GDOP methods are since algorithm has ergodic property in itself, although can find out
It provides the position location satellite combination of GDOP minimums under the position location satellite number of selection, but algorithm calculation amount itself is too big, is unfavorable for fast
The determining position location satellite of speed, and the load of receiver processor is very big, and the difficulty and cost of hardware design are very high.Through there is needle
Star problem is selected to position location satellite integrated navigation system, a series of methods designed to reduce calculation amount occurs, but still deposits
It is more or select the GDOP of star braid in calculation amount is still larger when visible position location satellite is more, finally chooses position location satellite number
Lose the problems such as larger.
Embodiment one
As shown in Figure 1, a kind of position location satellite selection method of integrated navigation system of the embodiment of the present invention, including step such as
Under：
S1, tectonic location satellite initial population, and binary coding is carried out to the position location satellite initial population；Wherein,
The position location satellite initial population includes multiple samples；
The position location satellite initial population is obtained offspring by S2 using genetic algorithm；
S3 calculates the position location satellite initial population and the fitness function f (X) of offspring, judges the fitness function f
(X) whether meet end condition；If satisfied, then perform step S4.
The sample of determining fitness function f (X) maximum when meeting end condition is selected star side by S4 for position location satellite
Case；
S5 chooses remaining position location satellite according to minimum geometric dilution of precision method, it is described select in star scheme position location satellite with
The remaining position location satellite forms the position location satellite of integrated navigation system.
In the present embodiment, position location satellite is the satellite positioned to something, in navigation system.Binary coding
As position location satellite is encoded so that every position location satellite shows as the form of " 0 " or " 1 ".Position location satellite initial population
Including multiple samples, each sample is made of position location satellite.Fitness function is being carried out to position location satellite initial population and offspring
During calculating, fitness function calculating is carried out for each sample that position location satellite initial population and offspring are included.
As the preferred embodiment of the present invention, as shown in Fig. 2, further including step before the step S1：S001 matches
It puts and selects star number mesh m, geometric dilution of precision threshold value GDOPTWith elevation angle thresholding；S002 is deleted according to elevation angle thresholding and receiver is selected to observe
All position location satellites, obtain a target group of stars.
In the present embodiment, premised on the overall channel number of receiver, consider user's positioning accuracy request, failure inspection
Needs and receiver processor performance are surveyed to determine to select star number mesh m, selects the number that star number mesh is the position location satellite for needing selection
Mesh；Geometric dilution of precision threshold value GDOP is determined with user's positioning accuracy requestT, in order to meet position location satellite integrated navigation system
Availability, usual geometric dilution of precision threshold value GDOPTIt is taken as 6；The elevation angle in the thresholding of the elevation angle refers to receiver observation point
The line between position location satellite, with the angle between ground level tangent line residing for receiver observation point, elevation angle thresholding is according to receiver
Local environment determines.
It is described that all position location satellites that receiver is selected to observe are deleted according to elevation angle thresholding in the present embodiment, obtain target satellite
Group includes：In all position location satellites observed in receiver, the elevation angle is selected to be greater than or equal to the position location satellite of elevation angle thresholding, i.e.,
For a target group of stars.
In the present embodiment, the fitness function：
Wherein, GDOPmaxAnd GDOPminGeometric dilution of precision maximum value in all samples of current population and several is represented respectively
What dilution of precision minimum value, ε are a nonnegative constants of (0,1), object function：
f0(X)=GDOP (X) (2)
Wherein, X is current sample, and object function is the geometric dilution of precision for calculating current sample.
In the present embodiment, step is further included after the step S4：S6, if not satisfied, then will be at the beginning of the position location satellite
Beginning population and offspring are merged into new position location satellite initial population, return to step S2.
In the present embodiment, the end condition includes：Geometric dilution of precision minimum value in all samples of current population
GDOPminLess than threshold value GDOPTOr the geometric dilution of precision minimum value GDOP in all samples of current populationminWith previous meter
The geometric dilution of precision minimum value GDOP of calculationminIdentical or calculation times have reached setting value.Wherein, the calculation times are
The calculation times of the calculation times of the genetic algorithm or the fitness function.
The embodiment of the present invention passes through adaptation by carrying out the calculating of population to position location satellite by using genetic algorithm
Function is spent to determine to select star scheme, and the selection of position location satellite can be rapidly completed；A target group of stars is determined by elevation angle thresholding, is had
Effect reduces calculation amount.
Embodiment two
As described in Figure 3, position location satellite initial population is formed by binary coding described in the embodiment of the present invention and includes step
Suddenly：
S101 chooses the equal multiple sample X of position location satellite number of individuals from a target group of starsk=[xn … xj … x
]1；
Position location satellite individual in the sample is used binary coding by S102, if the position location satellite chosen is encoded to 1,
Non-selected position location satellite is encoded to 0 so that position location satellite number summation is chosen in the sample
S103, multiple sample X after binary codingk=[xn … xj … x1] composition position location satellite at the beginning of
Beginning population；
Wherein, xjPosition location satellite individual is represented, in the sample Xk=[xn … xj … x1] in position location satellite in order
Carry out layout, x1Represent No. 1 position location satellite, xjRepresent j position location satellites, xj=1 expression j position location satellites are selected into, xj=0
Represent that j position location satellites are not selected into.
In the present embodiment, individual sum is the sum of a target group of stars in the sample of selection, is selected in sample due to individual
Number and location it is different and different.
Embodiment three
As shown in Figure 3 and Figure 4, based on above-described embodiment, genetic algorithm described in the embodiment of the present invention includes：Crossing operation
And/or mutation operator.
Wherein, crossing operation includes step：
S201, according to crossover probability pcParents A and B are chosen from the position location satellite initial population；
S202 randomly generates Integer n 1 and n2 between 2 1~m-1；
The n-th 1 in the A are chosen position location satellite to choose the gene between position location satellite and phase in B to the n-th 2 by S203
The gene swapping of position is answered to obtain offspring A1, position location satellite is chosen to choose to the n-th 2 the base between position location satellite by the n-th 1 in B
Because the gene swapping with corresponding positions in A obtains offspring B1；Wherein, each position location satellite is a gene, the position location satellite
Gene expression is chooses position location satellite and non-selected position location satellite two categories；
S204 judges whether the offspring A1 and B1 meets and the gene of position location satellite is chosen to reach m-1；
S205, if satisfied, then the offspring A1 and B1 is legal offspring；
S206, if not satisfied, then handling the offspring A1 and B1 as legal offspring by the mode of variation；Wherein,
The mode of variation handle including：Obtaining in the offspring A1 or B1 chooses the gene of position location satellite to reach the difference of m-1, according to difference
Value randomly select except exchange base because other genes, become to choose position location satellite or non-selected positioning to defend by way of variation
Star makes its satisfaction that the gene of position location satellite be chosen to reach m-1；
Wherein, mutation operator includes：
S211, according to mutation probability pmA sample being intended into row variation is randomly selected from the position location satellite initial population
This cp；
S212 randomly generates the integer g1 between a 1~n；
S213 judges the sample cpGene classification corresponding to g1 middle, if the gene is non-selected position location satellite,
The integer g2 (g1 ≠ g2) between a 1~n is then randomly generated, and should ensure that the sample cpIn gene class corresponding with g2
Position location satellite Wei not be chosen, whereas if g1 corresponding gene classifications are to choose position location satellite, then the random number generated g2
Corresponding gene classification should be non-selected position location satellite；Wherein, each position location satellite be a gene, the base of the position location satellite
Because being expressed as choosing position location satellite and non-selected position location satellite two categories；
S214, by the sample cpMiddle g1 gene carries out classification exchange with g2 genes, obtains legal offspring cq。
In the present embodiment, crossing operation and/or mutation operator carry out multiple.In embodiments of the present invention, when heredity is calculated
When method includes crossing operation and mutation operator, crossing operation is first carried out, the legal offspring that crossing operation obtains is as mutation operator
Position location satellite initial population, then carry out mutation operator again, therefore in step s 5, the offspring include crossing operation obtain
Offspring and mutation operator obtain offspring.Preferably, crossing operation sample in all position location satellite initial populations all passes through
It is terminated after crossing operation, mutation operator sample in all position location satellite initial populations all terminates after mutation operator.
Example IV
As shown in figure 5, based on above-described embodiment, chosen described in the embodiment of the present invention according to minimum geometric dilution of precision method
Remaining position location satellite includes：
S501, according to the sample of fitness function f (X) maximum, calculating sample will each non-selected satellite individual class
Do not become to choose the geometric dilution of precision of position location satellite；
S502, it is remaining position location satellite that the minimum corresponding transformation individual of geometric dilution of precision, which is calculated,.
It is from the sample, one of them is unselected after the sample for having chosen fitness function maximum in the present embodiment
Position location satellite become choosing position location satellite, and calculate the geometric dilution of precision of the sample, successively to all unchecked fixed
Position satellite becomes choosing position location satellite respectively, and calculates the geometric dilution of precision of the sample after transformation, finally obtains the several of minimum
What dilution of precision, the corresponding unchecked position location satellite of minimum geometric dilution of precision is remaining position location satellite, minimum geometry essence
Sample after the corresponding transformation of the degree factor selects star scheme for final.
Embodiment five
The embodiment of the present invention illustrated by an emulation experiment, a kind of position location satellite selection method phase of integrated navigation system
Than in the validity of existing minimum GDOP methods.
According to the standard of RTCA D0-229D, elevation angle thresholding is selected as 5 °, with 27 bases of Crustal Movement Observation Network of China
Quasi- station is observation station, selects star scheme using proposed by the present invention, star problem is selected to imitate GPS/COMPASS combined systems
Very, simulation time is sampling interval 10s for 24 hours.GPS/COMPASS combined systems are emulated in duration in the flat of 27 observation stations
Equal visible satellite number is 18, in order to which analytical plan is in the performance for selecting star number mesh less, while is examined in view of the system failure
The needs of survey carry out simulation analysis to m values for 8,9 respectively.In order to analyze technical solution described in the embodiment of the present invention in difference
Performance under user's positioning accuracy request, respectively to GDOPTValue carries out simulation analysis for 2.5,3,4,6.
Under different threshold conditions, GDOP and GDOP after star are selected in TASH stations and XIAA stationsTRelationship such as Fig. 6 and Fig. 7 institutes
Show.Wherein GOSSM is the abbreviation of proposition method of the present invention, and UTC is simulation time.
Fig. 6 (a) and Fig. 6 (b) is GDOP and GDOP when 8 satellites are chosen at TASH stations and XIAA stations respectivelyTThe variation of relationship
Situation, table 1 are for statistical analysis to its.Fig. 7 (a) and Fig. 7 (b) is that TASH stations and XIAA stand after choosing 9 satellites respectively
GDOP and GDOPTThe situation of change of relationship, table 2 are for statistical analysis to its.Wherein, GDOPminRepresent GDOP minimum values,
GDOPmaxRepresent GDOP maximum values,Represent GDOP average values, GDOPvarRepresent GDOP variances, p (GDOP≤GDOPT) table
Show that GDOP is not more than GDOP after selecting starTProbability.
The statistical analysis of GDOP values when table 1 chooses 8 satellites
The statistical analysis of GDOP values when table 2 chooses 9 stars
From the relation curve of Fig. 6 and Fig. 7 and the statistical analysis of Tables 1 and 2, can obtain to draw a conclusion：
The GDOP mean values after star is selected to be satisfied by threshold requirement in each observation station.Meanwhile threshold value in the range of 2.5~4 when, GDOP
The probability that value meets threshold requirement is not less than 95.36%；And threshold value, in the range of 4~6, GDOP meets the probability of threshold requirement
Reach 100%, it was demonstrated that the validity and accuracy of the method for the embodiment of the present invention；Select the GDOP variations after star in each observation station
Value is all more stable, it was demonstrated that the feasibility and robustness of the method for the embodiment of the present invention.
TASH stand and the simulation result of XIAA stations evolutionary generation EA when selecting star as shown in Figure 8 and Figure 9.Wherein, evolutionary generation
EA represents the cycle-index of setting.
The curve of evolutionary generation EA, table 3 when Fig. 8 (a) and Fig. 8 (b) is TASH stations and XIAA stations 8 satellites of selection respectively
It is for statistical analysis to its.Fig. 9 (a) and Fig. 9 (b) is the song of evolutionary generation EA when 9 stars are chosen at TASH stations and XIAA stations
Line, table 4 are for statistical analysis to its.Wherein, EAminRepresent EA minimum values, EAmaxRepresent EA maximum values,Represent that EA is averaged
Value, EA0.95Represent p (GDOP≤GDOTP the minimum EA) >=0.95 met, p (EA≤3) represent the probability that EA is not more than 3.
The statistical analysis of EA values when table 3 chooses 8 satellites
The statistical analysis of EA values when table 4 chooses 9 satellites
The result curve and table 3 and table 4 of analysis chart 8 and Fig. 9, it can be deduced that draw a conclusion：Threshold value is in the range of 4~6
When, it is only necessary to 1 iteration can 100% probability completion select star；When threshold value is in the range of 3~4, iterations are no more than 2
Probability up to 95%, probability of the iterations no more than 3 is up to 98.22%；When threshold value is in the range of 2.5~3, iterations are not
Probability more than 3 is more than 82.26%.
In terms of navigation operations amount, XIAA selects at station the statistical result such as table 5 of the relative ratio of navigation operations amount before and after star.Its
In, min represents minimum value, and max represents maximum value, and mean represents average value.Relative ratio refers to selecting navigation operations before and after star
The relative ratio of amount；Relative ratio=(select the leading Provincial Shipping Volume of star-navigation operations amount after type selecting)/select navigation operations amount before star；Phase
Reduced value is to describe the influence of " selecting star " to navigation operations amount, that is, the influence of " selecting star " to processor load.
The statistical analysis of 5 navigation operations amount relative ratio of table
Analytical table 5, it can be deduced that draw a conclusion：
User selects least square method to position, under the premise of user's positioning accuracy request is met, when selecting 8 satellites
Floating addition operation it is opposite reduce that 62.5%, floating-point multiplication is opposite to reduce 63.2%, select floating addition fortune during 9 satellites
It calculates with respect to reduction 55.7% and the opposite reduction 56.3% of floating-point multiplication.
This only using ordinary least square method positioning navigation operations amount decrement, and in order to pursue high-precision
And use for the user of weighted least-squares method positioning, the decrement of navigation operations amount will be more considerable.
Compared with minimum GDOP methods, the star result of selecting of minimum GDOP methods is to select the optimal solution of star problem, in order to analyze this
The technological merit of relatively minimal GDOP methods is invented, GDOP is described belowTIn the case of=3, the two GDOP values and choosing after star is selected
The difference of star calculation amount.
The statistical result such as table 6 that TASH stands and XIAA stations use minimum GDOP methods to select GDOP after star.Wherein, min is represented most
Small value, max represent maximum value, and mean represents average value, and var represents variance.
6 minimum GDOP methods of table select the statistical analysis of GDOP after star
Comparison sheet 1, table 2 and table 6, it can be deduced that draw a conclusion：
When choosing 8 stars, TASH stands the GDOP values after star is selected using the method for the embodiment of the present invention than minimum GDOP methods
The GDOP values after star is selected averagely to increase 14.1%, and the GDOP values after star are selected in XIAA stations using the method for the embodiment of the present invention
The GDOP values after star is selected averagely to increase 13.0% than minimum GDOP methods；
When choosing 9 stars, TASH stands the GDOP values after star is selected using the method for the embodiment of the present invention than minimum GDOP methods
The GDOP values after star is selected averagely to increase 11.1%, and the GDOP values after star are selected in XIAA stations using the method for the embodiment of the present invention
The GDOP values after star is selected averagely to increase 9.9% than minimum GDOP methods.
In terms of star calculation amount is selected, the method for the embodiment of the present invention and minimum GDOP is respectively adopted in TASH stations and XIAA stations
Method selects the calculation amount statistical result such as table 7 of star.Wherein, NGDOPTo calculate the number of GDOP.
The statistical analysis of 7 selecting-star algorithm calculation amount of table
Analytical table 7, it can be deduced that draw a conclusion：
When choosing 8 stars, TASH stations select the calculation amount of star to be put down than minimum GDOP methods using the method for the embodiment of the present invention
99.73% is reduced, and XIAA stations averagely reduce 99.74%.
When choosing 9 stars, TASH stations select the calculation amount of star to be put down than minimum GDOP methods using the method for the embodiment of the present invention
99.7% is reduced, and XIAA stations averagely reduce 99.71%.
Relative to classical selecting-star algorithm minimum GDOP methods, satellite selection method proposed by the present invention can significantly be determined meeting user
Star ratio is selected to complete quick satellite selection with smaller under the premise of the required precision of position, there is good accuracy and robustness, realized
Being greatly decreased of navigation operations amounts.The load of receiver processor can be not only reduced using the method for the invention, is improved
The real-time of dynamic subscriber more reduces the difficulty and cost of receiver hardware design.
The present invention is directed to protect a kind of position location satellite selection method of integrated navigation system, come pair by using genetic algorithm
Position location satellite carries out the calculating of population, and determines to select star scheme by fitness function, and position location satellite can be rapidly completed
Selection；A target group of stars is determined by elevation angle thresholding, is effectively reduced calculation amount；By the sample of fitness function maximum and
The geometric dilution of precision of sample is calculated to determine remaining position location satellite, the position location satellite of integrated navigation system can be rapidly completed
Selection.
It should be understood that the above-mentioned specific embodiment of the present invention is used only for exemplary illustration or explains the present invention's
Principle, without being construed as limiting the invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into scope and boundary or this range and the equivalent form on boundary and repairing
Change example.
Claims (10)
1. a kind of position location satellite selection method of integrated navigation system, which is characterized in that including：
S1, tectonic location satellite initial population, and binary coding is carried out to the position location satellite initial population；Wherein, it is described
Position location satellite initial population includes multiple samples；
The position location satellite initial population is obtained offspring by S2 using genetic algorithm；
S3 calculates the position location satellite initial population and the fitness function f (X) of offspring, judges the fitness function f (X)
Whether end condition is met；If satisfied, then perform S4；
The sample of fitness function f (X) maximum when meeting end condition is selected star scheme by S4 for position location satellite；
S5 chooses remaining position location satellite according to minimum geometric dilution of precision method, it is described select in star scheme position location satellite with it is described
Remaining position location satellite forms the position location satellite of integrated navigation system.
2. it according to the method described in claim 1, wherein, is further included before the step S1：
Star number mesh m, geometric dilution of precision threshold value GDOP are selected in configurationTWith elevation angle thresholding；
All position location satellites that receiver is selected to observe are deleted according to elevation angle thresholding, obtain a target group of stars.
It is 3. described that all positioning that receiver is selected to observe are deleted according to elevation angle thresholding according to the method described in claim 2, wherein
Satellite obtains a target group of stars and includes：In all position location satellites observed in receiver, the elevation angle is selected to be greater than or equal to elevation angle door
The position location satellite of limit, as a target group of stars.
4. according to the method described in claim 2, wherein, the tectonic location satellite initial population, and to the position location satellite
Initial population carries out binary coding and includes：
The equal multiple sample X of position location satellite number of individuals are chosen from a target group of starsk=[xn … xj… x1]；
Position location satellite individual in the sample is used into binary coding, if the position location satellite chosen is encoded to 1, non-selected determines
Position satellite code is 0 so that position location satellite number summation is chosen in the sample
Multiple sample X after binary codingk=[xn … xj… x1] composition position location satellite initial population；
Wherein, xjPosition location satellite individual is represented, in the sample Xk=[xn … xj… x1] in position location satellite compiled in order
Row, x1Represent No. 1 position location satellite, xjRepresent j position location satellites, xj=1 expression j position location satellites are selected into, xj=0 represents No. j
Position location satellite is not selected into.
5. according to the method described in claim 2, wherein, the genetic algorithm includes：Crossing operation and/or mutation operator；
Wherein, crossing operation includes：
According to crossover probability pcParents A and B are chosen from the position location satellite initial population；
Randomly generate Integer n 1 and the n2 between 2 1~m-1；
The base of corresponding positions in the gene and B of position location satellite being chosen to be chosen between position location satellite to the n-th 2 by the n-th 1 in the A
Because exchange obtains offspring A1, position location satellite is chosen to choose the gene between position location satellite and phase in A to the n-th 2 by the n-th 1 in B
The gene swapping of position is answered to obtain offspring B1；Wherein, each position location satellite is a gene, and the gene expression of the position location satellite is
Choose position location satellite and non-selected position location satellite two categories；
Judging whether the offspring A1 and B1 meets chooses the gene of position location satellite to reach m-1；
If satisfied, then the offspring A1 and B1 is legal offspring；
If not satisfied, the offspring A1 and B1 is then handled as legal offspring by the mode of variation；Wherein, the mode of variation
Processing includes：Obtaining in the offspring A1 or B1 chooses the gene of position location satellite to reach the difference of m-1, is randomly selected according to difference
Except exchange base because other genes, become to choose position location satellite or non-selected position location satellite by way of variation, make it full
Foot chooses the gene of position location satellite to reach m-1；
Wherein, mutation operator includes：
According to mutation probability pmA sample c being intended into row variation is randomly selected from the position location satellite initial populationp；
Randomly generate the integer g1 between a 1~n；
Judge the sample cpGene classification corresponding to g1 middle if the gene is non-selected position location satellite, randomly generates
Integer g2 (g1 ≠ g2) between one 1~n, and should ensure that the sample cpIn gene classification corresponding with g2 to choose positioning
Satellite, whereas if g1 corresponding gene classifications are to choose position location satellite, then the corresponding gene class of the random number generated g2
It not should be non-selected position location satellite；Wherein, each position location satellite is a gene, and the gene expression of the position location satellite is chooses
Position location satellite and non-selected position location satellite two categories；
By the sample cpMiddle g1 gene carries out classification exchange with g2 genes, obtains legal offspring cq。
6. according to the method described in claim 1, wherein, the fitness function：
Wherein, GDOPmaxAnd GDOPminThe geometric dilution of precision maximum value and geometry essence in all samples of current population are represented respectively
Factor minimum value is spent, ε is a nonnegative constant of (0,1), object function：
f0(X)=GDOP (X) (2)
Wherein, X is current sample, and object function is the geometric dilution of precision for calculating current sample.
7. according to the method described in claim 1, wherein, the end condition includes：
Geometric dilution of precision minimum value GDOP in all samples of current populationminLess than the threshold value GDOPT,
Or the geometric dilution of precision minimum value GDOP in all samples of current populationminWith the geometric dilution of precision of previous calculating
Minimum value GDOPminIt is identical,
Or calculation times have reached setting value.
8. according to the method described in claim 7, wherein, the calculation times are the calculation times or described of the genetic algorithm
The calculation times of fitness function.
9. it according to the method described in claim 1, wherein, is further included after the step S4：
If not satisfied, the position location satellite initial population and offspring to be then merged into new position location satellite initial population, step is returned to
Rapid S2.
It is 10. described that remaining positioning is chosen according to minimum geometric dilution of precision method according to the method described in claim 1, wherein
Satellite includes：
According to the sample of fitness function f (X) maximum, calculate sample and become to choose by each non-selected satellite individual classification
The geometric dilution of precision of position location satellite；
It is remaining position location satellite that the minimum corresponding transformation individual of geometric dilution of precision, which is calculated,.
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