CN108254774A - Single base station long range real-time location method based on GNSS multi-frequency signal - Google Patents
Single base station long range real-time location method based on GNSS multi-frequency signal Download PDFInfo
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- CN108254774A CN108254774A CN201810275428.5A CN201810275428A CN108254774A CN 108254774 A CN108254774 A CN 108254774A CN 201810275428 A CN201810275428 A CN 201810275428A CN 108254774 A CN108254774 A CN 108254774A
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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
Abstract
The present invention provides a kind of single base station long range real-time location method based on GNSS multi-frequency signal, including：Step 1, original non-combined observation is handled；Step 2, judge whether original fuzziness fixes, if so, directly carrying out least square resolving as false observed value using ambiguity information；If not, to carrying out least square solution calculation after original fuzziness constraint processing；Step 3, original fuzziness is converted；Step 4, fuzziness for the first time is carried out to transformed fuzziness to fix, if fixation is unsuccessful, enters step 8；If fixed successfully, first time update is carried out to parameter；Step 5, remaining narrow lane ambiguity is fixed, if fixation is unsuccessful, enters step 8；If fixed successfully, carrying out second to parameter updates；Step 6, original fuzziness is restored；Step 7, the positioning result of current epoch is exported；Step 8, it is resolved into next epoch, and ambiguity information is transmitted to next epoch.
Description
Technical field
The present invention relates to technical field of navigation and positioning, and in particular to a kind of single base station based on GNSS multi-frequency signal is over long distances
Real-time location method.
Background technology
RTK positioning (Real Time Kinematic, real-time dynamic positioning) technologies utilize rover station and the GNSS of reference station
(Global Navigation Satellite System, Global Navigation Satellite System) observation carries out difference, to rover station
Position resolved.Traditional RTK is influenced by distance between rover station and reference station, (is less than in relatively short distance
The positioning accuracy of Centimeter Level 15km) is can reach, as the increase positioning accuracy of distance is by ionosphere delay, tropospheric delay
It influences, positioning accuracy is deteriorated therewith.
Technology of network RTK is to receive GNSS data using the multiple continuous operation of the reference station in ground, is calculated by data processing
Ionosphere delay, tropospheric delay founding mathematical models, and calculate user position by the rough coordinates that user passes back
Differential corrections, differential corrections to user terminal and then obtain high-precision positioning result by transmission of network.Network RTK determines
Position precision is Centimeter Level, which relies on the more intensive continuous operation of the reference station in ground.
Whole world GNSS system Major Members have at present, Chinese BDS, the GPS in the U.S., and European Galileo is Russian
GLONASS etc., each GNSS system or plan to broadcast multiple-frequency signal to user.The BDS of China in 2012, lead by formal provide
It navigates positioning service, BDS is the satellite navigation system that the first full constellation in the whole world broadcasts three frequency signals, wherein B3 spacing waves interface control
File processed published in 2 months 2018, and frequency is respectively B1=1561.098MHz, B2=1207.14MHz, B3=
1268.52MHz.GPS only has few satellites to broadcast three frequency evidences at present, and frequency is respectively L1=1575.42MHz, L2=
1227.6MHz L3=1176.45MHz.Galileo also broadcasts the signal of multiple frequencies, wherein more common frequency is E1=
1575.42MHz E6=1278.75MHz, E5b=1207.14MHz.GLONASS systems broadcast the signal of two frequencies at present,
Three frequency signals are still in construction.Three frequency signals provide more data, significantly improve availability and the positioning of satellite
Reliability.Current three frequency carries out linear combination according to majority in observation, these combinations have different physical characteristics, some
The fuzziness of combination carrier phase observation observation is easy to fixed, and the carrier observations after fixing are observed as high-precision " pseudorange "
Value, may be directly applied in navigator fix.
To sum up, problem of the existing technology is as follows：
1) range that traditional list base station RTK only can be within coverage distance reference station 15km, with user to reference station it
Between the increase of distance its positioning accuracy be also deteriorated therewith.
2) network RTK depend on multiple ground reference stations, need to handle the data of all reference stations, operation and
Maintenance cost is larger.
Invention content
Currently invention addresses the application scenarios of long range, the tri- non-combined observations of frequency of GNSS based on single base station are into Mobile state
Positioning calculation extends the range of single base station service under the premise of centimetre class precision is ensured, solve tradition list base station RTK with
Network RTK.
The technical solution adopted by the present invention is as follows：
A kind of single base station long range real-time location method based on GNSS multi-frequency signal, includes the following steps：
Step 1, base station and rover station are handled original non-combined observation after receiving multi-frequency data；
Step 2, judge whether original fuzziness fixes, if so, directly by the use of ambiguity information as false observed value into
Row least square resolves；If not, to carrying out least square solution calculation after original fuzziness constraint processing；
Step 3, fuzziness combination coefficient is chosen to convert original fuzziness；
Step 4, fuzziness for the first time is carried out to transformed fuzziness to fix, if fixation is unsuccessful, enters step 8；Such as
Fruit is fixed successfully, and first time update is carried out to parameter；
Step 5, remaining narrow lane ambiguity is fixed, if fixation is unsuccessful, enters step 8；If it is fixed into
Work(carries out second to parameter and updates；
Step 6, original fuzziness is restored；
Step 7, the positioning result of current epoch is exported；
Step 8, it is resolved into next epoch, and ambiguity information is transmitted to next epoch.
Further, with P=[P in step 11 T, P2 T, P3 T]T,Represent each satellite to three respectively
Double difference pseudorange and double difference carrier phase observation data in frequency；
Assuming that pseudorange observation precision is equal on each frequency point isCarrier phase precision is equal to beThe three non-combined sights of frequency
The variance-covariance matrix of measured value is expressed as
Observational equation is expressed as y=Kx+ ò, and K=[A, B] is the design matrix of observational equation,Represent the corresponding matrix of parameter other than fuzziness, wherein e6It is the column vector that element is 1, under
Mark represents element number,Represent Kronecker product, H is and the relevant design matrix of location parameter, ι=diag (1, f1 2/f2 2,
f1 2/f3 2) for the relevant design matrix in ionosphere, InFor n rank unit matrixs, n is satellites in view logarithm；
Expression and the relevant design matrix of fuzziness, wherein 0nRepresent n rank null matrix, eight=diag (λ1, λ2, λ3), λiRepresent each frequency point
Wavelength；X=[aT, bT]TFor unknown parameter, a is to include the relevant parameter in position and ionosphere delay parameter,Represent fuzziness parameter, subscript represents corresponding frequency point, and ò is observation noise；
The observational equation of single epoch is expressed as：
Y=Aa+Bb+ ò (1).
Further, if the original fuzziness of a upper epoch each frequency is fixed in step 2, fuzziness is directly utilized
Information carries out least square resolving as false observed value, and the random noise of σ=0.001 week is added in fuzziness：
Further, if the original fuzziness of a upper epoch each frequency is unlocked, at original fuzziness
Reason, it is specific as follows：
The valuation of fuzziness parameter single epoch and variance-covariance matrix are under the constraint of least square：
Wherein
GNSS observes value information and will be on the increase over time, the fuzziness parameter in the case where cycle slip does not occur
To be fixed integer, and other parameter constantly changes with the time, with A (t), B (t) represents that t epoch observations are corresponding
Design matrix,It represents the variance-covariance matrix that fuzziness parameter adds up in initial epoch to t-1 epoch, utilizes
Least square constrains initial epoch to the t epoch fuzziness parameters solution that adds up：
Wherein,
QA(t)=(A (t)TQ(t)-1A(t))-1 (12)
When t-1 is initial epoch, have
Further, original fuzziness is converted in the step 3, be as follows：
Structural matrix R converts original fuzziness, and change type is as follows：
Matrix R all elements are necessary for integer and inverse matrix R-1All elements also for integer, [i j k] is obscured for GNSS
Combination coefficient is spent, wherein [i1 j1 k1]=[1 0 0], i.e.,Remaining two row coefficient is from GNSS fuzziness combination coefficient tables
It is arbitrary to choose；
The transformed fuzziness parameter fuzziness variance and covariance square different therefore original from original fuzziness parameter
Battle array also needs to be converted, and conversion method is as follows：
Above conversion is only to the progress of fuzziness parameter, the relevant parameter in position and the parameter of ionosphere delay and variance association side
Poor matrix is consistent；
Formula (16) is expressed as：
Wherein,Original narrow laneConstant, variance-covariance matrix is also constant, i.e.,
Further, fuzziness for the first time is carried out using the method that rounds up or LAMBDA methods in step 4 to fix.
Further, it if fuzziness fixation for the first time is unsuccessful, resolves and non-switched will obscure into next epoch
Spend informationNext epoch is transmitted to, new observation is handled according to formula (9)~(14).
Further, if fuzziness is fixed successfully for the first time, using obtaining integer value after fixed fuzzinessUtilize acquisition
Integer solution to parameterCarry out first time update, update method such as formula (19)~(22)：
It further, will in step 5Retained as known fuzziness parameter, to remaining narrow lane ambiguity
Be fixed, if fixation is unsuccessful, into next epoch resolving and by non-switched float ambiguities information It passes
It is delivered to next epoch；If fixed successfully, according to formula (20), (22), integer value is utilizedIt is rightSecond is carried out to update, the
Secondary update method such as formula (23)~(24)：
Further, it utilizesWithRestore the fuzziness on two original frequenciesWithCalculation method such as following formula：
After the non-combined fuzziness reduction of current epoch, the positioning result output of current epoch can be directly obtained into Centimeter Level
Positioning accuracy, and by the ambiguity information after the completion of resolvingNext epoch is passed to as known quantity.
The beneficial effects of the present invention are using GNSS multi-frequency signal, break away from the dependence to more reference stations, use single base station
The coverage area of single base station RTK is improved under the premise of RTK centimeter-level positioning precision is ensured.
Description of the drawings
Fig. 1 is positioning flow figure of the present invention.
Specific embodiment
Hereinafter, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.Fig. 1 is the present invention is based on GNSS multi-frequency letters
Number single base station long range real-time location method flow chart, it is specific as follows：
Base station and rover station are handled original non-combined observation after receiving multi-frequency data, with P=[P1 T,
P2 T, P3 T]T,Represent that each satellite observes the double difference pseudorange in three frequencies and double difference carrier phase respectively
Value, subscript T represent transposition.Assuming that pseudorange observation precision is equal on each frequency point isCarrier phase precision is equal to beThree
Frequently the variance-covariance matrix of non-combined observation is represented byObservational equation represents
For y=Kx+ ò, K=[A, B] is the design matrix of observational equation,Represent the ginseng other than fuzziness
The corresponding matrix of number, wherein e6It is the column vector that element is 1, subscript represents element number,Represent Kronecker product, H is and position
Put the relevant design matrix of parameter, ι=diag (1, f1 2/f2 2, f1 2/f3 2) for the relevant design matrix in ionosphere, InFor n ranks list
Bit matrix, n are satellites in view logarithm；Expression and the relevant design matrix of fuzziness, wherein 0nRepresent n ranks
Null matrix, Λ=diag (λ1, λ2, λ3), λiRepresent the wavelength of each frequency point；X=[aT, bT]TFor unknown parameter, a is comprising position
Relevant parameter and ionosphere delay parameter,Represent fuzziness parameter, subscript represents corresponding frequency point, and ò is
Observation noise.The observational equation of single epoch is expressed as：
Y=Aa+Bb+ ò (1)
If the original fuzziness parameter of a upper epoch each frequency is fixed, directly by the use of ambiguity information as false observed value
Least square constraint is carried out, and the random noise of σ=0.001 week is added in fuzziness
If original fuzziness is unlocked, need to be further processed.Parameter single epoch estimates under the constraint of least square
Value and variance-covariance matrix are
Wherein
GNSS observes value information and will be on the increase over time, the fuzziness parameter in the case where cycle slip does not occur
To be fixed integer, and other parameter constantly changes with the time, with A (t), B (t) represents that t epoch observations are corresponding
Design matrix,It represents the variance-covariance matrix that initial epoch adds up to t-1 epoch intrinsic parameters, utilizes minimum two
Multiplying constraint initial epoch to the t epoch parameters solution that adds up is
Wherein
QA(t)=(A (t)TQ(t)-1A(t))-1 (12)
Have when t-1 is initial epoch
Above formula (3)~(14) are the parameter floating-points resolved under least square constraint based on non-combined observation
Solution, calculation accuracy need fuzziness being fixed in decimetre to meter level, the positioning accuracy to obtain Centimeter Level.
Directly fuzziness is fixed more difficulty based on formula (9)~(14), the present invention is to original fuzziness parameter
It is converted, obtains one kind and be easy to the fixed method of fuzziness.Turned using the parameter value from initial epoch to t epoch
It changes, the mark of time t is hereafter omitted for convenience of expression.
Construction R matrixes first convert original fuzziness, and change type is as follows
1 GNSS fuzziness combination coefficients of table
To keep the integer characteristic of fuzziness after converting, matrix R all elements are necessary for integer and inverse matrix R-1It is all
Element is also integer.Transformed fuzziness parameter becomesThe positioning of high-precision Centimeter Level needs correct solid
Fixed original narrow lane ambiguity, takes [i1 j1 k1]=[1 0 0] retain an original ambiguity information, i.e.,Remaining
The coefficient of two rows can arbitrarily choose two rows from table 1.Its frequency of different GNSS systems is different, therefore different systems pair
The coefficient answered also is not quite similar.The frequency that [i j k] three coefficients correspond to each satellite system in table 1 is respectively：BDS corresponds to [B1
B2 B3], GPS corresponds to [L1 L2 L5], Galileo corresponds to [E1 E6 E5b]。
The transformed fuzziness parameter fuzziness variance and covariance square different therefore original from original fuzziness parameter
Battle array also needs to be converted, and conversion method is as follows
Above conversion is only to the progress of fuzziness parameter, the relevant parameter in position and the parameter of ionosphere delay and variance association side
Poor matrix is consistent.
Formula (16) is expressed as
WhereinAdd and described previously take [i1 j1 k1]=[1 0 0], original narrow laneIt is constant, variance association
Variance matrix is also constant, i.e.,Conversion through formula (15)~(17)The parameter of two fuzzinesses is contained, they have
Longer wavelengths of feature, thus turn after fuzziness be easy to fixed.
To transformed fuzzinessIt carries out fuzziness for the first time and fixes trial, transformed fuzziness can be directly using four houses
Five methods entered obtain integer solution, but GNSS observations are vulnerable to the influence of extraneous factor in real process, directly using four houses
Five methods entered may obtain the result of mistake.More strict method is to drop related quadratic method using least square
(LAMBDA methods), this method consider the variance and covariance information of fuzziness parameter, and it is the most reliable to resolve effect.Real process
In fuzziness parameter may be made not restrain due to the influence of observing environment, round up or LAMBDA methods still cannot fix
Fuzziness.
If above transformed fuzziness cannot fix, into next epoch resolving and by non-switched floating ambiguity
Spend informationNext epoch is transmitted to, new observation can be handled according to formula (9)~(14).If fuzziness success
It is fixed, using obtaining integer value after fixed fuzzinessUsing the integer solution of acquisition to parameterCarry out first time update, update
Method such as formula (19)~(22)
After first time updatesRetained as known parameter, remaining narrow lane ambiguityIt attempts to fix.If
Fixation is unsuccessful, then into the resolving of next epoch and by non-switched float ambiguities informationIt is transmitted to next go through
Member；If fixing successfully, integer value is utilized with reference to formula (20), the method for (22)It is rightIt carries out second to update, second of update
Method be
Transformed fuzzinessWith the narrow lane ambiguity of reservationIt resolves and finishes, the two values can be utilized to restore two
It is fuzzy on original frequencyWithCalculation method such as following formula
After the non-combined fuzziness reduction of current epoch, the positioning result output of current epoch can be directly obtained into Centimeter Level
Positioning accuracy, and by the ambiguity information after the completion of resolvingNext epoch is passed to as known quantity.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, and according to the present invention
Any simple modifications, equivalents, and modifications made to above example of technical spirit, belong to technical solution of the present invention
Protection domain.
Claims (10)
1. a kind of single base station long range real-time location method based on GNSS multi-frequency signal, which is characterized in that include the following steps：
Step 1, base station and rover station are handled original non-combined observation after receiving multi-frequency data；
Step 2, judge whether original fuzziness fixes, if so, directly being carried out most as false observed value using ambiguity information
Small two multiply resolving；If not, to carrying out least square solution calculation after original fuzziness constraint processing；
Step 3, fuzziness combination coefficient is chosen to convert original fuzziness；
Step 4, fuzziness for the first time is carried out to transformed fuzziness to fix, if fixation is unsuccessful, enters step 8；Gu if
Fixed success carries out first time update to parameter；
Step 5, remaining narrow lane ambiguity is fixed, if fixation is unsuccessful, enters step 8；It is right if fixed successfully
Parameter carries out second and updates；
Step 6, original fuzziness is restored；
Step 7, the positioning result of current epoch is exported；
Step 8, it is resolved into next epoch, and ambiguity information is transmitted to next epoch.
2. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as described in claim 1, feature
Be, in step 1 withRepresent each satellite to the double difference in three frequencies respectively
Pseudorange and double difference carrier phase observation data；
Assuming that pseudorange observation precision is equal on each frequency point isCarrier phase precision is equal to beThe three non-combined observations of frequency
Variance-covariance matrix is expressed as
Observational equation is expressed as y=Kx+ ò, and K=[A, B] is the design matrix of observational equation,Table
Show the corresponding matrix of parameter other than fuzziness, wherein e6It is the column vector that element is 1, subscript represents element number,Expression gram
Kronecker product, H be with the relevant design matrix of location parameter,For the relevant design in ionosphere
Matrix, InFor n rank unit matrixs, n is satellites in view logarithm；It represents and the relevant design square of fuzziness
Battle array, wherein 0nRepresent n rank null matrix, eight=diag (λ1, λ2, λ3), λiRepresent the wavelength of each frequency point；X=[aT, bT]TFor unknown ginseng
Number, a are to include the relevant parameter in position and ionosphere delay parameter,Represent fuzziness parameter, subscript represents
Corresponding frequency point, ò are observation noise；
The observational equation of single epoch is expressed as：
Y=Aa+Bb+ ò (1).
3. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as claimed in claim 2, feature
It is, if the original fuzziness of a upper epoch each frequency is fixed in step 2, is directly seen by the use of ambiguity information as puppet
Measured value carries out least square resolving, and the random noise of σ=0.001 week is added in fuzziness：
4. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as claimed in claim 3, feature
It is, if the original fuzziness of a upper epoch each frequency is unlocked, original fuzziness is handled, it is specific as follows：
The valuation of fuzziness parameter single epoch and variance-covariance matrix are under the constraint of least square：
Wherein
GNSS observes value information and will be on the increase over time, and in the case where cycle slip does not occur, fuzziness parameter will be
Fixed integer, and other parameter constantly changes with the time, with A (t), B (t) represents the corresponding design of t epoch observations
Matrix,It represents the variance-covariance matrix that fuzziness parameter adds up in initial epoch to t-1 epoch, utilizes minimum
Two, which multiply constraint initial epoch to the t epoch fuzziness parameters solution that adds up, is：
Wherein,
QA(t)=(A (t)TQ(t)-1A(t))-1 (12)
When t-1 is initial epoch, have
5. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as claimed in claim 4, feature
It is, original fuzziness is converted in the step 3, is as follows：
Structural matrix R converts original fuzziness, and change type is as follows：
Matrix R all elements are necessary for integer and inverse matrix R-1All elements also for integer, [i j k] is GNSS fuzziness groups
Collaboration number, wherein [i1 j1 k1]=[1 0 0], i.e.,Remaining two row coefficient is arbitrary from GNSS fuzziness combination coefficient tables
It chooses；
The transformed fuzziness parameter fuzziness variance-covariance matrix different therefore original from original fuzziness parameter is same
Sample is converted, and conversion method is as follows：
Above conversion is only to the progress of fuzziness parameter, the relevant parameter in position and the parameter of ionosphere delay and variance and covariance square
Battle array is consistent；
Formula (16) is expressed as：
Wherein,Original narrow laneConstant, variance-covariance matrix is also constant, i.e.,
6. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as claimed in claim 5, feature
It is, carrying out fuzziness for the first time using the method that rounds up or LAMBDA methods in step 4 fixes.
7. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as claimed in claim 6, feature
It is, if fuzziness is fixed unsuccessful for the first time, entering next epoch resolves and by non-switched ambiguity information
Next epoch is transmitted to, new observation is handled according to formula (9)~(14).
8. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as claimed in claim 7, feature
It is, if fuzziness is fixed successfully for the first time, using obtaining integer value after fixed fuzzinessUsing the integer solution of acquisition to ginseng
NumberCarry out first time update, update method such as formula (19)~(22)：
9. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as claimed in claim 8, feature
It is, it will in step 5Retained as known fuzziness parameter, to remaining narrow lane ambiguityIt is fixed, if
Fixation is unsuccessful, then into the resolving of next epoch and by non-switched float ambiguities informationIt is transmitted to next epoch；
If fixed successfully, according to formula (20), (22), integer value is utilizedIt is rightIt carries out second to update, second of update method is such as
Formula (23)~(24)：
10. a kind of single base station long range real-time location method based on GNSS multi-frequency signal as claimed in claim 9, feature
It is, utilizesWithRestore the fuzziness on two original frequenciesWithCalculation method such as following formula：
After the non-combined fuzziness reduction of current epoch, the positioning result output of current epoch can be directly obtained into determining for Centimeter Level
Position precision, and by the ambiguity information after the completion of resolvingNext epoch is passed to as known quantity.
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| CN109884678A (en) * | 2018-12-29 | 2019-06-14 | 北方信息控制研究院集团有限公司 | The method that real-time dynamic nova fuzziness is quickly fixed |
| CN110007328A (en) * | 2019-05-10 | 2019-07-12 | 国网浙江省电力有限公司信息通信分公司 | Non-combined RTK localization method based on four frequency observation of No. three satellites of Beidou |
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