CN108776348B - Multi-mode GNSS satellite selection method and system based on weighted stress balance - Google Patents
Multi-mode GNSS satellite selection method and system based on weighted stress balance Download PDFInfo
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- 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
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Abstract
The invention relates to a multi-mode GNSS satellite selection method and a system based on weighted stress balance, wherein the satellite selection method comprises the following steps: configuring the number of satellites required by navigation positioning and a satellite altitude angle threshold; determining a visible satellite according to the navigation message and calculating the altitude angle and the azimuth angle of the visible satellite; solving stress conditions corresponding to each visible satellite; dividing the visible satellite into different areas according to the altitude angle and the azimuth angle; and combining according to the determined satellite numbers of different areas required by navigation positioning, and solving the resultant force of stress of the corresponding visible satellite combination according to the solved stress condition of the visible satellite, wherein the satellite combination with the minimum resultant force is the required satellite combination. The calculation satellite combination is selected by utilizing a weighted stress balance method, so that a positioning result with high timeliness and high precision can be obtained, and the real-time performance, the precision and the robustness are better. And moreover, a large amount of matrix operations in the traditional star selection algorithm are reduced, less computing resources are occupied, and the real-time performance of the star selection algorithm is improved.
Description
Technical Field
The invention relates to a multimode GNSS satellite selection method and a multimode GNSS satellite selection system based on weighted stress balance.
Background
With the rapid development of global satellite navigation positioning systems, the number of visibility increases dramatically when navigation positioning is performed. The traditional GNSS satellite selection method with the minimum GDOP value combination based on the traversal method needs a large amount of matrix operation, occupies a large amount of computing resources and influences the real-time performance of navigation positioning. The subsequent improved optimization method still has the problems of more satellite selection combinations and overlarge operation amount, and the GNSS satellite selection algorithm based on the variable weight vector sum reduces a large amount of matrix operations according to the stress balance idea, and has the advantages of instantaneity, accuracy, robustness and the like.
The existing multi-system star selection algorithm mainly comprises the following two types: the first is that chinese patent application publication No. CN 102540214A discloses a smooth satellite selection method based on a signal source of a navigation satellite system, which includes partitioning visible satellites according to elevation angles, combining the visible satellites to select a satellite combination with an optimal GDOP value combination, and then using the selected satellite combination as a satellite selection combination preference of a subsequent epoch. Although the method reduces partial matrix operation, the defect of long time consumption still exists in the initial positioning process, and the influence of the user ranging error item on the positioning result is not considered. Secondly, chinese patent application publication No. CN 106707308A discloses a multi-constellation GBAS satellite selection algorithm and apparatus based on non-nominal troposphere error, which not only considers the spatial position of the visible satellite, but also considers the UERE error term, however, the calculation method is too complex, and does not consider systematic errors existing in different satellite navigation positioning systems during multi-system positioning.
Disclosure of Invention
The invention aims to provide a multi-mode GNSS satellite selection method based on weighted stress balance, which is used for solving the problem that the existing satellite selection method is relatively complex in process. The invention also provides a multi-mode GNSS satellite selection system based on weighted stress balance.
In order to achieve the above object, the present invention includes the following technical solutions.
A multi-mode GNSS satellite selection method based on weighted stress balance comprises the following steps:
(1) configuring the number of satellites required by navigation positioning and a satellite altitude angle threshold;
(2) determining a visible satellite according to the navigation message and calculating the altitude angle and the azimuth angle of the visible satellite;
(3) solving stress conditions corresponding to each visible satellite;
(4) dividing the visible satellite into different areas according to the altitude angle and the azimuth angle;
(5) and combining according to the determined satellite numbers of different areas required by navigation positioning, and solving a resultant force corresponding to the stress of the visible satellite combination according to the solved stress condition of the visible satellite, wherein the satellite combination with the minimum resultant force is the satellite combination required by navigation positioning solving.
According to the multimode GNSS satellite selection method based on weighted stress balance, the stress conditions of the visible satellites in a station center coordinate system are determined according to the system and the space position of the visible satellites, grouping is carried out according to the altitude angles and the azimuth angles of the visible satellites, then the stress conditions of all groups of satellites are analyzed, and one group of satellites closest to the stress balance state is selected as a navigation positioning resolving satellite. The calculation satellite combination is selected by utilizing a weighted stress balance method, so that a positioning result with high timeliness and high precision can be obtained. The method can realize rapid determination of the resolved satellite under multi-system positioning, and has good real-time performance, accuracy and robustness. And moreover, a large amount of matrix operations in the traditional satellite selection algorithm are reduced, less computing resources are occupied, the number of selectable satellite combinations is reduced, and the real-time performance of the satellite selection algorithm is improved. In addition, the method not only considers the spatial position distribution of the satellite, but also considers the system errors of different satellite systems, and also considers the ranging errors caused by the difference of the satellite spatial position distribution.
Further, the calculation process of the altitude and the azimuth of the visible satellite comprises:
1) the coordinate (x) of the visible satellite under the ECEF coordinate system is obtained through solutions，ys，zs) And the coordinates (x) of the receiver in the ECEF coordinate systemc，yc，zc) And solving to obtain the geodetic longitude and latitude (B, L) corresponding to the position of the receiver, and then solving to obtain the coordinates of the visible satellite in the station center coordinate system:
2) unitizing the coordinates of the visible satellite in the step 1) under the station center coordinate system to obtain:
3) solving for the altitude angle Elev and azimuth angle Azi of the visible satellite:
further, the visible satellite corresponding stress condition solving process includes:
if the visible satellite belongs to the GPS system or the BDS system and the elevation angle is ELEV, the corresponding stress vector is as follows:
if the visible satellite belongs to the GLONASS system and the elevation angle is Elev, the corresponding force vector is:
further, a positioning system three-system six-satellite positioning system is set, wherein the three systems are BDS, GPS and GLONASS, and a standing center coordinate system unit spherical surface is divided into 7 areas according to an altitude angle and an azimuth angle:
high elevation angle region a: elev is more than 70 degrees and less than or equal to 90 degrees, Azi is more than 0 degrees and less than 360 degrees;
middle elevation angle region B: the Elev is more than 30 degrees and less than or equal to 70 degrees, and the Azi is more than 0 degrees and less than or equal to 180 degrees;
middle elevation angle region C: elev is more than 30 degrees and less than or equal to 70 degrees, and Azi is more than 180 degrees and less than 360 degrees;
low elevation angle region D: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 0 degrees and less than or equal to 90 degrees;
low elevation angle region E: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 90 degrees and less than or equal to 180 degrees;
low elevation angle region F: elev is more than 5 degrees and less than or equal to 30 degrees, and Azi is more than 180 degrees and less than or equal to 270 degrees;
low elevation angle region G: the angle is more than 5 degrees and less than or equal to 30 degrees, and the angle is more than 270 degrees and less than Azi degrees and less than 360 degrees.
Further, in the step (5), in the six-satellite combined positioning, the candidate satellites available for combined positioning include: one high elevation area A, one middle elevation area B and one middle elevation area C, one low elevation area D, one low elevation area E, one low elevation area F and one low elevation area G;
selecting one visible satellite from the 6 regions respectively for combination, and solving the following solution:
X＝∑vx
Y＝∑vy
Z＝∑vz
N＝X+Y+Z
and selecting a group with the minimum N as a navigation positioning resolving satellite combination.
A multi-mode GNSS satellite selection system based on weighted force balancing, comprising a control module including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing steps comprising:
(1) configuring the number of satellites required by navigation positioning and a satellite altitude angle threshold;
(2) determining a visible satellite according to the navigation message and calculating the altitude angle and the azimuth angle of the visible satellite;
(3) solving stress conditions corresponding to each visible satellite;
(4) dividing the visible satellite into different areas according to the altitude angle and the azimuth angle;
(5) and combining according to the determined satellite numbers of different areas required by navigation positioning, and solving a resultant force corresponding to the stress of the visible satellite combination according to the solved stress condition of the visible satellite, wherein the satellite combination with the minimum resultant force is the satellite combination required by navigation positioning solving.
Further, the calculation process of the altitude and the azimuth of the visible satellite comprises:
1) the coordinate (x) of the visible satellite under the ECEF coordinate system is obtained through solutions，ys，zs) And the coordinates (x) of the receiver in the ECEF coordinate systemc，yc，zc) And solving to obtain the geodetic longitude and latitude (B, L) corresponding to the position of the receiver, and then solving to obtain the coordinates of the visible satellite in the station center coordinate system:
2) unitizing the coordinates of the visible satellite in the step 1) under the station center coordinate system to obtain:
3) solving for the altitude angle Elev and azimuth angle Azi of the visible satellite:
further, the visible satellite corresponding stress condition solving process includes:
if the visible satellite belongs to the GPS system or the BDS system and the elevation angle is ELEV, the corresponding stress vector is as follows:
if the visible satellite belongs to the GLONASS system and the elevation angle is Elev, the corresponding force vector is:
further, a positioning system three-system six-satellite positioning system is set, wherein the three systems are BDS, GPS and GLONASS, and a standing center coordinate system unit spherical surface is divided into 7 areas according to an altitude angle and an azimuth angle:
high elevation angle region a: elev is more than 70 degrees and less than or equal to 90 degrees, Azi is more than 0 degrees and less than 360 degrees;
middle elevation angle region B: the Elev is more than 30 degrees and less than or equal to 70 degrees, and the Azi is more than 0 degrees and less than or equal to 180 degrees;
middle elevation angle region C: elev is more than 30 degrees and less than or equal to 70 degrees, and Azi is more than 180 degrees and less than 360 degrees;
low elevation angle region D: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 0 degrees and less than or equal to 90 degrees;
low elevation angle region E: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 90 degrees and less than or equal to 180 degrees;
low elevation angle region F: elev is more than 5 degrees and less than or equal to 30 degrees, and Azi is more than 180 degrees and less than or equal to 270 degrees;
low elevation angle region G: the angle is more than 5 degrees and less than or equal to 30 degrees, and the angle is more than 270 degrees and less than Azi degrees and less than 360 degrees.
Further, in the step (5), in the six-satellite combined positioning, the candidate satellites available for combined positioning include: one high elevation area A, one middle elevation area B and one middle elevation area C, one low elevation area D, one low elevation area E, one low elevation area F and one low elevation area G;
selecting one visible satellite from the 6 regions respectively for combination, and solving the following solution:
X＝∑vx
Y＝∑vy
Z＝∑vz
N＝X+Y+Z
and selecting a group with the minimum N as a navigation positioning resolving satellite combination.
Drawings
FIG. 1 is a flow chart of a multi-mode GNSS satellite selection method based on weighted force balance.
Detailed Description
As shown in fig. 1, a multi-mode GNSS satellite selection method based on weighted force balance includes the following steps:
(1) configuring the number of satellites required by navigation positioning and a satellite altitude angle threshold;
(2) determining a visible satellite according to the navigation message and calculating the altitude angle and the azimuth angle of the visible satellite;
(3) solving stress conditions corresponding to each visible satellite;
(4) dividing the visible satellite into different areas according to the altitude angle and the azimuth angle;
(5) and combining according to the determined satellite numbers of different areas required by navigation positioning, and solving a resultant force corresponding to the stress of the visible satellite combination according to the solved stress condition of the visible satellite, wherein the satellite combination with the minimum resultant force is the satellite combination required by navigation positioning solving.
Based on the above basic technical solution, a specific implementation process of each step is given, and of course, the present invention is not limited thereto.
(1) And configuring basic parameters such as the number of satellites required by navigation positioning, the altitude angle threshold value of the satellites and the like. Wherein, the altitude angle threshold value is generally 5 degrees according to empirical values, and part of the regions with poor observation conditions is 10 degrees. The three-system navigation positioning needs at least 6 stars to perform navigation positioning on the premise of considering the clock error item. Appointing the weight of the positioning precision of a Beidou satellite navigation system (BDS), a United states Global Positioning System (GPS) and a Russian GLONASS satellite navigation system (GLONASS) to be 1: 1: 0.67.
calculating the weight p of the appointed observation value according to a random model formula dependent on the altitude angle Elev, wherein the calculation formula is as follows: p ═ p (sin (elev))2。
(2) Determining visible satellites according to the navigation message and calculating the altitude angle and the azimuth angle of the visible satellites, comprising the following steps:
1) the coordinate (x) of the visible satellite under the ECEF coordinate system is obtained through solutions，ys，zs) And the coordinates (x) of the receiver in the ECEF coordinate systemc，yc，zc) And solving to obtain the geodetic longitude and latitude (B, L) corresponding to the position of the receiver, and then solving to obtain the coordinates of the visible satellite in the station center coordinate system:
2) unitizing the coordinates of the visible satellite in the step 1) under the station center coordinate system to obtain:
3) solving for the altitude angle Elev and azimuth angle Azi of the visible satellite:
(3) and solving the stress condition corresponding to each visible satellite. The visible satellite corresponding stress condition solving process comprises the following steps:
if the visible satellite belongs to the GPS system or the BDS system and the elevation angle is ELEV, the corresponding stress vector is as follows:
if the visible satellite belongs to the GLONASS system and the elevation angle is Elev, the corresponding force vector is:
(4) the visible satellites are divided into different regions according to the altitude and azimuth angles.
The positioning system is set to be a three-system six-star positioning system which is BDS, GPS and GLONASS respectively. Then, taking a three-system six-star positioning system as an example, the standing center coordinate system unit sphere is divided into 7 areas according to the altitude angle and the azimuth angle:
high elevation angle region a: elev is more than 70 degrees and less than or equal to 90 degrees, Azi is more than 0 degrees and less than 360 degrees;
middle elevation angle region B: the Elev is more than 30 degrees and less than or equal to 70 degrees, and the Azi is more than 0 degrees and less than or equal to 180 degrees;
middle elevation angle region C: elev is more than 30 degrees and less than or equal to 70 degrees, and Azi is more than 180 degrees and less than 360 degrees;
low elevation angle region D: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 0 degrees and less than or equal to 90 degrees;
low elevation angle region E: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 90 degrees and less than or equal to 180 degrees;
low elevation angle region F: elev is more than 5 degrees and less than or equal to 30 degrees, and Azi is more than 180 degrees and less than or equal to 270 degrees;
low elevation angle region G: the angle is more than 5 degrees and less than or equal to 30 degrees, and the angle is more than 270 degrees and less than Azi degrees and less than 360 degrees.
(5) And combining according to the determined satellite numbers of different areas required by navigation positioning, and solving a resultant force corresponding to the stress of the visible satellite combination according to the solved stress condition of the visible satellite, wherein the satellite combination with the minimum resultant force is the satellite combination required by navigation positioning solving.
In the 6-satellite combined positioning, the candidate satellites available for combined positioning of the smaller GDOP include: there are one high elevation area a, one middle elevation area B and one middle elevation area C, one low elevation area D, one low elevation area E, one low elevation area F and one low elevation area G.
Selecting one visible satellite from the 6 regions respectively for combination, and solving the following solution:
X＝∑vx
Y＝∑vy
Z＝∑vz
N＝X+Y+Z
and selecting a group with the minimum N as a navigation positioning resolving satellite combination.
The specific embodiments are given above, but the present invention is not limited to the described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
The multimode GNSS satellite selection method based on the weighted stress balance can also be used as a software program, is loaded in a memory in a control module of the multimode GNSS satellite selection system based on the weighted stress balance, and can be operated on a processor in the control module.
Claims (6)
1. A multi-mode GNSS satellite selection method based on weighted stress balance is characterized by comprising the following steps:
(1) configuring the number of satellites required by navigation positioning and a satellite altitude angle threshold;
(2) determining a visible satellite according to the navigation message and calculating the altitude angle and the azimuth angle of the visible satellite;
(3) solving stress conditions corresponding to each visible satellite;
(4) dividing the visible satellite into different areas according to the altitude angle and the azimuth angle;
(5) combining according to the determined satellite numbers of different areas required by navigation positioning, and solving a resultant force corresponding to the stress of the visible satellite combination according to the solved stress condition of the visible satellite, wherein the satellite combination with the minimum resultant force is the satellite combination required by navigation positioning solving;
the calculation process of the altitude angle and the azimuth angle of the visible satellite comprises the following steps:
1) the coordinate (x) of the visible satellite under the ECEF coordinate system is obtained through solutions，ys，zs) And the coordinates (x) of the receiver in the ECEF coordinate systemc，yc，zc) And solving to obtain the geodetic longitude and latitude (B, L) corresponding to the position of the receiver, and then solving to obtain the coordinates of the visible satellite in the station center coordinate system:
2) unitizing the coordinates of the visible satellite in the step 1) under the station center coordinate system to obtain:
3) solving for the altitude angle Elev and azimuth angle Azi of the visible satellite:
the visible satellite corresponding stress condition solving process comprises the following steps:
if the visible satellite belongs to the GPS system or the BDS system and the elevation angle is ELEV, the corresponding stress vector is as follows:
if the visible satellite belongs to the GLONASS system and the elevation angle is Elev, the corresponding force vector is:
2. the multimode GNSS satellite selection method based on weighted force balance as claimed in claim 1, wherein a positioning system three systems, namely BDS, GPS and GLONASS, is set, and then a standing heart coordinate system unit sphere is divided into 7 areas according to altitude angle and azimuth angle:
high elevation angle region a: elev is more than 70 degrees and less than or equal to 90 degrees, Azi is more than 0 degrees and less than 360 degrees;
middle elevation angle region B: the Elev is more than 30 degrees and less than or equal to 70 degrees, and the Azi is more than 0 degrees and less than or equal to 180 degrees;
middle elevation angle region C: elev is more than 30 degrees and less than or equal to 70 degrees, and Azi is more than 180 degrees and less than 360 degrees;
low elevation angle region D: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 0 degrees and less than or equal to 90 degrees;
low elevation angle region E: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 90 degrees and less than or equal to 180 degrees;
low elevation angle region F: elev is more than 5 degrees and less than or equal to 30 degrees, and Azi is more than 180 degrees and less than or equal to 270 degrees;
low elevation angle region G: the angle is more than 5 degrees and less than or equal to 30 degrees, and the angle is more than 270 degrees and less than Azi degrees and less than 360 degrees.
3. The multi-mode GNSS satellite selection method based on weighted force balance as claimed in claim 2,
in the step (5), when positioning is performed by combining six satellites, the candidate satellites that can be used for combined positioning include: one high elevation area A, one middle elevation area B and one middle elevation area C, one low elevation area D, one low elevation area E, one low elevation area F and one low elevation area G;
selecting one visible satellite from the 6 regions respectively for combination, and solving the following solution:
X＝∑vx
Y＝∑vy
Z＝∑vz
N＝X+Y+Z
and selecting a group with the minimum N as a navigation positioning resolving satellite combination.
4. A multi-mode GNSS satellite selection system based on weighted force balancing, comprising a control module including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program performs steps comprising:
(1) configuring the number of satellites required by navigation positioning and a satellite altitude angle threshold;
(2) determining a visible satellite according to the navigation message and calculating the altitude angle and the azimuth angle of the visible satellite;
(3) solving stress conditions corresponding to each visible satellite;
(4) dividing the visible satellite into different areas according to the altitude angle and the azimuth angle;
(5) combining according to the determined satellite numbers of different areas required by navigation positioning, and solving a resultant force corresponding to the stress of the visible satellite combination according to the solved stress condition of the visible satellite, wherein the satellite combination with the minimum resultant force is the satellite combination required by navigation positioning solving;
the calculation process of the altitude angle and the azimuth angle of the visible satellite comprises the following steps:
1) the coordinate (x) of the visible satellite under the ECEF coordinate system is obtained through solutions，ys，zs) And the coordinates (x) of the receiver in the ECEF coordinate systemc，yc，zc) And solving to obtain the geodetic longitude and latitude (B, L) corresponding to the position of the receiver, and then solving to obtain the coordinates of the visible satellite in the station center coordinate system:
2) unitizing the coordinates of the visible satellite in the step 1) under the station center coordinate system to obtain:
3) solving for the altitude angle Elev and azimuth angle Azi of the visible satellite:
the visible satellite corresponding stress condition solving process comprises the following steps:
if the visible satellite belongs to the GPS system or the BDS system and the elevation angle is ELEV, the corresponding stress vector is as follows:
if the visible satellite belongs to the GLONASS system and the elevation angle is Elev, the corresponding force vector is:
5. the multimode GNSS satellite selection system based on weighted force balance as claimed in claim 4, wherein a positioning system three systems, namely BDS, GPS and GLONASS, is set, and then a standing heart coordinate system unit sphere is divided into 7 areas according to altitude angle and azimuth angle:
high elevation angle region a: elev is more than 70 degrees and less than or equal to 90 degrees, Azi is more than 0 degrees and less than 360 degrees;
middle elevation angle region B: the Elev is more than 30 degrees and less than or equal to 70 degrees, and the Azi is more than 0 degrees and less than or equal to 180 degrees;
middle elevation angle region C: elev is more than 30 degrees and less than or equal to 70 degrees, and Azi is more than 180 degrees and less than 360 degrees;
low elevation angle region D: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 0 degrees and less than or equal to 90 degrees;
low elevation angle region E: elev is more than 5 degrees and less than or equal to 30 degrees, Azi is more than 90 degrees and less than or equal to 180 degrees;
low elevation angle region F: elev is more than 5 degrees and less than or equal to 30 degrees, and Azi is more than 180 degrees and less than or equal to 270 degrees;
low elevation angle region G: the angle is more than 5 degrees and less than or equal to 30 degrees, and the angle is more than 270 degrees and less than Azi degrees and less than 360 degrees.
6. The multi-mode GNSS satellite selection system based on weighted force balancing of claim 5,
in the step (5), when positioning is performed by combining six satellites, the candidate satellites that can be used for combined positioning include: one high elevation area A, one middle elevation area B and one middle elevation area C, one low elevation area D, one low elevation area E, one low elevation area F and one low elevation area G;
selecting one visible satellite from the 6 regions respectively for combination, and solving the following solution:
X＝∑vx
Y＝∑vy
Z＝∑vz
N＝X+Y+Z
and selecting a group with the minimum N as a navigation positioning resolving satellite combination.
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