CN108490470A - Unmanned plane localization method and system - Google Patents
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- CN108490470A CN108490470A CN201810238978.XA CN201810238978A CN108490470A CN 108490470 A CN108490470 A CN 108490470A CN 201810238978 A CN201810238978 A CN 201810238978A CN 108490470 A CN108490470 A CN 108490470A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000004807 localization Effects 0.000 title claims abstract description 20
- 238000004364 calculation method Methods 0.000 claims abstract description 15
- 238000003672 processing method Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 239000005433 ionosphere Substances 0.000 claims description 4
- 230000008030 elimination Effects 0.000 claims description 3
- 238000003379 elimination reaction Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000013507 mapping Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
This application discloses unmanned plane localization method and systems.The unmanned plane localization method includes：The observation data of unmanned plane are pre-processed；Difference Calculation is carried out to obtain observational equation and error equation to the observation data of the unmanned plane, and the observational equation and the error equation are filtered to obtain integer ambiguity；The integer ambiguity is resolved in two threads respectively using two kinds of integer ambiguity processing methods, and integer ambiguity generation is returned in the error equation, to obtain two groups of Primary Location results；And two groups of Primary Location results are merged according to two groups of Primary Location results and positioning result type and are accurately positioned result with obtain the unmanned plane.The difference that the application can be applied to small-sized fixed-wing unmanned plane resolves high accuracy positioning, can efficiently solve in the prior art the problems such as positioning accuracy is low, vertical error is big, resolving efficiency is low.
Description
Technical field
The application embodiment is related to air vehicle technique field, more particularly to a kind of based on global navigational satellite positioning system
The unmanned plane localization method and system of (Global Navigation Satellite Systems, GNSS) differential position.
Background technology
With the rapid development of electronic technology, small-sized fixed-wing unmanned plane is being surveyed and drawn, is taking photo by plane, monitoring, investigating at present
It is widely used in equal fields, and is carried in flexibility all in remote control, cruise duration, flight quality, load
There is larger advantage.
High-accuracy position system is a crucial part of small-sized fixed-wing unmanned plane, such as GNSS, has the whole world
Property, round-the-clock and continuous precision three-dimensional stationkeeping ability.The small-sized fixed-wing unmanned plane in Surveying and Mapping Industry is applied to need more high-precision
The positioning result of degree is exempted to realize as control, this just needs to set up base station progress Differential positioning, can be only achieved centimeter-level positioning essence
Degree.Using differential position primarily to eliminating following three categories error：(1) error related with satellite；(2) it and propagates
The related error of approach；(3) error related with receiver.
However, small-sized fixed-wing unmanned plane can not select volume due to being limited by factors such as load, volume, weight
The preferable choke coil antenna of quality, and in deviation from voyage route due to need to tilt larger angle and can cause it is frequent up and down
Star, thus have the problems such as fuzziness fixed error, vertical error are larger, resolving efficiency is low, greatly reduce determining for flight path
Position precision.
Invention content
In view of frequent upper and lower caused by the steering angle of inclination of small-sized fixed-wing unmanned plane is big in the prior art
Star, which affects, resolves the technical problems such as fixed rate and calculation accuracy, a kind of unmanned plane localization method of the application offer and system.
Technical solution is as follows used by the application solves above-mentioned technical problem：
One or more embodiment of the application discloses a kind of unmanned plane localization method, including：
The observation data of unmanned plane are pre-processed；
Difference Calculation is carried out to obtain observational equation and error equation, and to the observation to the observation data of the unmanned plane
Equation and the error equation are filtered to obtain integer ambiguity；
The integer ambiguity is resolved in two threads respectively using two kinds of integer ambiguity processing methods, and by the complete cycle
In fuzziness generation, returns in the error equation, to obtain two groups of Primary Location results；And
Two groups of Primary Location results are merged to obtain according to two groups of Primary Location results and positioning result type
It is accurately positioned result to the unmanned plane.
In one or more embodiment of the application, difference is carried out to the observation data of the unmanned plane in the method
It calculates to obtain observational equation and error equation, and the observational equation and the error equation is filtered to obtain integral circumference ambiguity
Degree specifically includes：
The observation data of the unmanned plane are subjected to Difference Calculation to obtain the observational equation and the error equation；
The float-solution of the integer ambiguity is obtained using two-way Kalman filtering；And
The fixed solution of the integer ambiguity is obtained using Lambda methods.
In one or more embodiment of the application, the unknown number in the method in the error equation include baseline to
Amount and dual differential integer ambiguity, ionosphere delay in the error equation are obtained using Crow cloth model of having a rest, the error side
Tropospheric delay in journey is obtained using Sa Sitamoning models.
In one or more embodiment of the application, distinguished using two kinds of integer ambiguity processing methods in the method
The integer ambiguity is resolved in two threads, and integer ambiguity generation is returned in the error equation, it is preliminary to obtain two groups
Positioning result specifically includes：
So that a thread is resolved the integer ambiguity again, another thread is made to be no more than limit in resolution error and does not go out
Integer ambiguity that previous epoch is directly used in the case of existing cycle slip, to obtain two groups of Primary Location results.
In one or more embodiment of the application, the pretreatment includes that elevation angle is screened, rough error picks in the method
Remove, integrity checking and Detection of Cycle-slip at least one.
One or more embodiment of the application also discloses a kind of unmanned plane positioning system, unmanned plane positioning system
System includes processor and memory, and unmanned plane positioning unit is stored in the memory, which is characterized in that unmanned plane positioning is single
Member realizes above-mentioned unmanned plane localization method.
This application provides a kind of unmanned plane localization method and systems, can be applied to the Difference Solution of small-sized fixed-wing unmanned plane
Calculate high accuracy positioning, it is only necessary to which the GNSS original observed datas of small-sized fixed-wing unmanned plane (and base station) can calculate small-sized
The method of high accuracy positioning track when fixed-wing unmanned plane during flying, data prediction and calculation result fusion therein can be effective
Ground solves the problems, such as that fixed rate is low and elevation jump point is more since difference caused by observation quality of data difference and flight attitude resolves
The problem of, to efficiently solve in the prior art, positioning accuracy is low, vertical error is big, resolves the problems such as efficiency is low.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, removes
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the flow chart of the embodiment of the application unmanned plane localization method；
Fig. 2 is the structure diagram of the embodiment of the application unmanned plane positioning system.
Specific implementation mode
It is with reference to the accompanying drawings and embodiments, right in order to make the object, technical solution and advantage of the application be more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the application, not
For limiting the application.
Unless otherwise defined, technical and scientific term all used in this specification is led with the technology for belonging to the application
The normally understood meaning of technical staff in domain is identical.Term in this specification used in the description of the present application is to be
The purpose of description specific embodiment is not intended to limitation the application.Term "and/or" used in this specification includes
Any and all combinations of one or more relevant Listed Items.
In addition, as long as technical characteristic involved in each embodiment of the application disclosed below is each other not
Conflict is constituted to can be combined with each other.
The application is described in further details below by way of the drawings and specific embodiments.
For the ease of understanding the application, with reference to the accompanying drawings and detailed description, the application is carried out in more detail
It is bright.Unless otherwise defined, technical and scientific term all used in this specification and belong to the technical field of the application
The normally understood meaning of technical staff is identical.Term in this specification used in the description of the present application is intended merely to retouch
The purpose for stating specific embodiment is not intended to limitation the application.
Fig. 1 is the flow chart of the embodiment of the application unmanned plane localization method.As shown in Figure 1, the embodiment of the present application provides
A kind of unmanned plane localization method, including：
Step S10 (observation data prediction)：Observation to unmanned plane 100 (see Fig. 2, such as small-sized fixed-wing unmanned plane)
Data D (not shown) carries out pretreatment P (not shown).
Due to will appear error related with satellite, mistake related with route of transmission in the flight course of unmanned plane 100
The error of the types such as difference, error related with receiver, and small-sized fixed-wing unmanned plane can go out during replacing course line
Now flight angle of inclination it is excessive and caused by frequent star up and down, be likely to result in that satellite rough error is larger, carrier phase observation data
The problems such as cycle slip and ephemeris mistake, it is therefore desirable to carry out the operation of pretreatment P to eliminate these errors.
In one embodiment of the application, from unmanned plane 100 (and base station) obtain original observation data D (such as
Pseudorange observation data, carrier phase observe data), then carrying out data prediction P, (including for example elevation angle screening, rough error pick
Remove, integrity checking and Detection of Cycle-slip), to ensure the subsequent quality of data for resolving link.
In addition, in one embodiment of the application, according to the flight condition of unmanned plane 100 to Satellite Observations D (examples
Such as the elevation mask, snr threshold, frequency of use of satellite) carry out data prediction P, wherein data prediction P include with
Lower step (sequence of step is changeable, also can additions and deletions step)：
Elevation angle is screened：The satellite elevation mask that observation data D is selected according to the flight condition of unmanned plane 100, by this
The observation data D of elevation angle satellite below is directly rejected；
Detection of Cycle-slip：(using TurboEdit methods) carries out the Detection of Cycle-slip of satellite, and obtained all hop-informations is direct
It is added in subsequent integer ambiguity calculating；
Integrity checking：(completeness monitoring method for using satellite) carries out the integrity inspection of the observation data D of satellite；
And
Elimination of rough difference：By rough error in the observation data D of satellite is larger and ephemeris (data of description satellite transit track) is deposited
It is directly rejected in the observation data D of the satellite of problem.
It, can before carrying out pretreatment P to the observation data D of unmanned plane 100 furthermore in one embodiment of the application
First the original observed data D of unmanned plane 100 (and base station) is converted to pseudorange observation data, carried by (passing through conversion software)
Wave phase observes data and/or almanac data, may also include RTK (Real-time kinematic, in real time dynamically) pattern in addition
Setting.
Step S20 (Difference Calculation)：Difference Calculation is carried out to obtain observational equation Eo to the observation data D of unmanned plane 100
(not shown) and error equation Ee (not shown), and observational equation Eo and error equation Ee are filtered to obtain integral circumference ambiguity
Spend F (not shown).
In one embodiment of the application, the original observation number of pretreated unmanned plane 100 (and base station) will be passed through
According to D respectively by pseudorange observation data to unmanned plane 100 (and base station) carry out One-Point Location, then carry out dual differential calculate with
Observational equation Eo and error equation Ee are obtained, the float-solution and profit of integer ambiguity F are then obtained using two-way Kalman filtering
The fixed solution of integer ambiguity F is obtained with Lambda methods (integer ambiguity F is fixed, so as to).Wherein, error equation
Dual differential integer ambiguity F and basic lineal vector B in Ee are solved as unknown number, and the ionosphere delay in error equation Ee is adopted
It is calculated with Crow cloth model of having a rest, tropospheric delay is calculated using Sa Sitamoning models.
Step S30 (multiple threads)：Using two kinds of integer ambiguity processing method M (not shown) respectively in two threads
Middle resolving integer ambiguity F, and integer ambiguity F generations are returned in error equation Ee, to obtain two groups of Primary Location result Ri.
In one embodiment of the application, respectively using different in two threads by the way of multiple threads
Ambiguity resolution method M (thread uses a kind of ambiguity resolution method M) carries out ambiguity resolution and (resolves integral circumference ambiguity
Degree F) with two groups of Primary Location result Ri obtaining basic lineal vector B, (Ri includes basic lineal vector B and correspondence in Primary Location result
Ratio values and observation residual values V (not shown)), one of thread resolves integer ambiguity F again, another thread
It is no more than limit in resolution error (such as root-mean-square error (Root Mean Square, RMS)) and does not occur the case where cycle slip
The integer ambiguity F of previous epoch (previous to execute epoch corresponding when step S10-S40) is directly used down.
Step S40 (calculation result fusion)：According to two groups of Primary Location result Ri and positioning result type T (not shown))
Two groups of Primary Location result Ri are merged and are accurately positioned result Rp (not shown) with obtain unmanned plane 100).
Primary Location result Ri includes residual values V, and positioning result type T can be fixed solution or float-solution.
In one embodiment of the application, the fixed solution of integer ambiguity F in two groups of Primary Location result Ri may be selected
Residual values V in Primary Location result Ri corresponding to the float-solution solution of corresponding Primary Location result Ri or integer ambiguity F
Smaller conduct is accurately positioned result Rp..
After executing the step S40, step S10 can be returned to carry out the calculating of next epoch.
Unmanned plane localization method in the present embodiment can be applied to the difference resolving high precision of small-sized fixed-wing unmanned plane
Positioning, it is only necessary to the GNSS original observed datas of small-sized fixed-wing unmanned plane (and base station) can calculate small-sized fixed-wing without
High accuracy positioning track when man-machine flight, the method for data prediction and calculation result therein fusion can efficiently solve by
The difference caused by observation quality of data difference and flight attitude problem resolves that fixed rate is low and the more problem of elevation jump point, from
And efficiently solve in the prior art the problems such as positioning accuracy is low, vertical error is big, resolving efficiency is low.
Fig. 2 is the structure diagram of the embodiment of the application unmanned plane positioning system.As shown in Fig. 2, the embodiment of the present application carries
A kind of unmanned plane positioning system 110 has been supplied, has been mounted in unmanned plane 100.
In one embodiment of the application, unmanned plane 100 is small-sized fixed-wing unmanned plane, unmanned plane positioning system 110
It is a kind of computing device (such as server, computer and mobile intelligent terminal).Unmanned plane positioning system 110 includes processor 111
With memory 112, unmanned plane positioning unit 1121 is stored in memory 112.Processor 111 is a kind of IC chip,
Such as microprocessor (central processing unit, CPU), digital signal processor (digital signal
Processor, DSP), it is application-specific integrated circuit (application specific integrated circuit, ASIC), existing
At programmable gate array (field-programmable gate array, FPGA) or other programmable logic device, for holding
The computer program stored in line storage 112.Unmanned plane positioning unit 1121 includes being used for realizing unmanned plane shown in FIG. 1
The computer program of localization method.
The unmanned plane positioning system of the embodiment of the present application is based on identical invention with above-mentioned unmanned plane localization method embodiment
Design, some particular technique features of system can refer to embodiment of the method, and this will not be detailed here.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the claims of the application, every to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field includes similarly in the scope of patent protection of the application.
Claims (10)
1. a kind of unmanned plane localization method, which is characterized in that including：
The observation data of unmanned plane are pre-processed；
Difference Calculation is carried out to obtain observational equation and error equation, and to the observational equation to the observation data of the unmanned plane
It is filtered with the error equation to obtain integer ambiguity；
The integer ambiguity is resolved in two threads respectively using two kinds of integer ambiguity processing methods, and by the integral circumference ambiguity
In degree generation, returns in the error equation, to obtain two groups of Primary Location results；And
Two groups of Primary Location results are merged to be somebody's turn to do according to two groups of Primary Location results and positioning result type
Unmanned plane is accurately positioned result.
2. unmanned plane localization method according to claim 1, which is characterized in that carried out to the observation data of the unmanned plane
Difference Calculation is filtered to obtain complete cycle the observational equation and the error equation with obtaining observational equation and error equation
Fuzziness specifically includes：
The observation data of the unmanned plane are subjected to Difference Calculation to obtain the observational equation and the error equation；
The float-solution of the integer ambiguity is obtained using two-way Kalman filtering；And
The fixed solution of the integer ambiguity is obtained using Lambda methods.
3. unmanned plane localization method according to claim 2, which is characterized in that the unknown number packet wherein in the error equation
Include basic lineal vector and dual differential integer ambiguity, the ionosphere delay in the error equation using Crow cloth have a rest model obtain,
Tropospheric delay in the error equation is obtained using Sa Sitamoning models.
4. unmanned plane localization method according to claim 1, which is characterized in that use two kinds of integer ambiguity processing methods
The integer ambiguity is resolved in two threads respectively, and integer ambiguity generation is returned in the error equation, to obtain two groups
Primary Location result specifically includes：
So that a thread is resolved the integer ambiguity again, another thread is made to be no more than limit in resolution error and does not occur week
Integer ambiguity that previous epoch is directly used in the case of jump, to obtain two groups of Primary Location results.
5. unmanned plane localization method according to claim 1, which is characterized in that wherein the pretreatment includes elevation angle sieve
Choosing, elimination of rough difference, integrity checking and Detection of Cycle-slip at least one.
6. a kind of unmanned plane positioning system, including processor and memory, it is stored with unmanned plane positioning unit in the memory,
It is characterized in that, which is used for：
The observation data of unmanned plane are pre-processed；
Difference Calculation is carried out to obtain observational equation and error equation, and to the observational equation to the observation data of the unmanned plane
It is filtered with the error equation to obtain integer ambiguity；
The integer ambiguity is resolved in two threads respectively using two kinds of integer ambiguity processing methods, and by the integral circumference ambiguity
In degree generation, returns in the error equation, to obtain two groups of Primary Location results；And
Two groups of Primary Location results are merged to be somebody's turn to do according to two groups of Primary Location results and positioning result type
Unmanned plane is accurately positioned result.
7. unmanned plane positioning system according to claim 6, which is characterized in that carried out to the observation data of the unmanned plane
Difference Calculation is filtered to obtain complete cycle the observational equation and the error equation with obtaining observational equation and error equation
Fuzziness specifically includes：
The observation data of the unmanned plane are subjected to Difference Calculation to obtain the observational equation and the error equation；
The float-solution of the integer ambiguity is obtained using two-way Kalman filtering；And
The fixed solution of the integer ambiguity is obtained using Lambda methods.
8. unmanned plane positioning system according to claim 7, which is characterized in that the unknown number packet wherein in the error equation
Include basic lineal vector and dual differential integer ambiguity, the ionosphere delay in the error equation using Crow cloth have a rest model obtain,
Tropospheric delay in the error equation is obtained using Sa Sitamoning models.
9. unmanned plane positioning system according to claim 6, which is characterized in that use two kinds of integer ambiguity processing methods
The integer ambiguity is resolved in two threads respectively, and integer ambiguity generation is returned in the error equation, to obtain two groups
Primary Location result specifically includes：
So that a thread is resolved the integer ambiguity again, another thread is made to be no more than limit in resolution error and does not occur week
Integer ambiguity that previous epoch is directly used in the case of jump, to obtain two groups of Primary Location results.
10. unmanned plane positioning system according to claim 6, which is characterized in that wherein the pretreatment includes elevation angle sieve
Choosing, elimination of rough difference, integrity checking and Detection of Cycle-slip at least one.
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| CN112083464A (en) * | 2019-06-14 | 2020-12-15 | 北京合众思壮科技股份有限公司 | Method and device for fixing partial ambiguity |
| CN112083464B (en) * | 2019-06-14 | 2023-12-26 | 北京合众思壮科技股份有限公司 | Partial ambiguity fixing method and device |
| CN110749909A (en) * | 2019-07-25 | 2020-02-04 | 中国民用航空中南地区空中交通管理局 | Aircraft position high-precision positioning method based on multi-constellation network post difference |
| CN110749909B (en) * | 2019-07-25 | 2022-11-15 | 中国民用航空中南地区空中交通管理局 | Aircraft position high-precision positioning method based on multi-constellation network post difference |
| CN111239785A (en) * | 2020-02-28 | 2020-06-05 | 同济大学 | Carrier phase cycle slip detection and restoration method for unmanned positioning and attitude measurement |
| CN113340271A (en) * | 2021-06-29 | 2021-09-03 | 上海良相智能化工程有限公司 | Ground target positioning error real-time estimation method based on unmanned aerial vehicle micro-cluster |
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