CN108845339A - A kind of GNSS localization method and GNSS positioning device - Google Patents
A kind of GNSS localization method and GNSS positioning device Download PDFInfo
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- CN108845339A CN108845339A CN201810523522.8A CN201810523522A CN108845339A CN 108845339 A CN108845339 A CN 108845339A CN 201810523522 A CN201810523522 A CN 201810523522A CN 108845339 A CN108845339 A CN 108845339A
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- differential positioning
- locating module
- gnss
- satellite
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Abstract
The embodiment of the present invention discloses a kind of GNSS localization method and GNSS positioning device, this method include：Meet preset condition in the Differential positioning result that the first locating module of GNSS positioning device obtains, is exported the Differential positioning result as high accuracy positioning coordinate；When the Differential positioning result that the first locating module of GNSS positioning device obtains is unsatisfactory for preset condition, according to the Multipath Errors correction model and time delay error correction model pre-established, error correction is carried out to the first Satellite Observations that second locating module of GNSS positioning device obtains and obtains high accuracy positioning data.Implement the embodiment of the present invention, high-precision location data can be continuously available in the case where satellite-signal is poor.
Description
Technical field
The present invention relates to technical field of satellite, and in particular to a kind of Global Navigation Satellite System (Global
Navigation Satellite System, GNSS) localization method and GNSS positioning device.
Background technique
In the market many GNSS positioning devices mostly use carrier phase difference technology (Real-Time Kinematic,
RTK it) is positioned, first detects satellite-signal, then satellite-signal is resolved using carrier phase difference technology, is determined
Position data.But in GNSS position fixing process, satellite-signal meeting when encountering building or the environmental factors such as jungle blocks interference
It is easy losing lock, satellite-signal losing lock usually influences whether the precision of location data, and current GNSS localization method generally can not
High-precision positioning coordinate is continuously available in the case where satellite-signal environment is poor.
Summary of the invention
The embodiment of the present invention discloses a kind of GNSS localization method and GNSS positioning device, can be poor in satellite-signal environment
In the case where be continuously available high-precision positioning coordinate.
First aspect of the embodiment of the present invention discloses a kind of GNSS localization method, the method includes：
Differential positioning is carried out by the first locating module of GNSS positioning device, obtains Differential positioning result；
When the Differential positioning result indicates and meets preset condition, the Differential positioning result is exported；
The Differential positioning result indicate be unsatisfactory for the preset condition when, pass through the of the GNSS positioning device
Two locating modules carry out analysis to the satellite-signal detected and obtain the first Satellite Observations, according to the multipath pre-established
Error correction model and time delay error correction model carry out error correction to first Satellite Observations and obtain location data,
And export the location data.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to pass through GNSS positioning device
The first locating module carry out Differential positioning, obtain Differential positioning result before, the method also includes：
Difference accurate positioning is carried out using first locating module, difference is obtained and is accurately positioned result；
Moonscope reference data, the satellite are obtained using the satellite-signal that the second locating module analysis detection arrives
It observes reference data and includes at least Pseudo-range Observations and carrier phase observable；
Result is accurately positioned according to the difference and the moonscope reference data obtains the Multipath Errors amendment
Model.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to pass through GNSS positioning device
The first locating module carry out Differential positioning, obtain Differential positioning as a result, including：
The second satellite is obtained by the satellite-signal that the first locating module analysis detection of the GNSS positioning device arrives to see
Measured data, and second Satellite Observations are modified according to the differential corrections data being previously received and obtain the difference
Divide positioning result.
As an alternative embodiment, the basis pre-establishes more in first aspect of the embodiment of the present invention
Tracking error correction model and time delay error model carry out error correction to first Satellite Observations and obtain location data,
Including：
Ionospheric delay amendment and right is carried out to first Satellite Observations according to the time delay error correction model
The amendment of fluid layer time delay obtains the first amendment data；
Multipath Errors amendment is carried out to the first amendment data according to the Multipath Errors correction model, obtains institute
State location data.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to pass through GNSS positioning device
The first locating module carry out Differential positioning, obtain Differential positioning result after, the method also includes：Judge that the difference is fixed
Whether position result indicates to meet preset condition；
It is described to judge whether the Differential positioning result indicates to meet preset condition, including：
Judge the Differential positioning result whether indicate first locating module Differential positioning state effectively or institute
Whether the accuracy for stating Differential positioning result meets threshold value；
Judging that the Differential positioning result indicates that the Differential positioning state of first locating module is effective and described
When the accuracy of Differential positioning result meets the threshold value, it is determined as the Differential positioning result and indicates to meet the default item
Part；
Judge the Differential positioning result indicate first locating module Differential positioning state is invalid or institute
When stating the accuracy of Differential positioning result and being unsatisfactory for the threshold value, be determined as the Differential positioning result indicate be unsatisfactory for it is described
Preset condition.
Second aspect of the embodiment of the present invention discloses a kind of GNSS positioning device, including：
First acquisition unit obtains difference for carrying out Differential positioning by the first locating module of GNSS positioning device
Positioning result；
First output unit, for exporting the difference when the Differential positioning result indicates and meets preset condition
Positioning result；
Second output unit, for the Differential positioning result indicate be unsatisfactory for the preset condition when, pass through institute
The second locating module for stating GNSS positioning device carries out analysis to the satellite-signal detected and obtains the first Satellite Observations, root
First Satellite Observations are missed according to the Multipath Errors correction model and time delay error correction model that pre-establish
Difference amendment obtains location data, and exports the location data.
As an alternative embodiment, the GNSS positioning device is also wrapped in second aspect of the embodiment of the present invention
It includes：
Second acquisition unit, for being carried out in the first acquisition unit by the first locating module of GNSS positioning device
Differential positioning before obtaining Differential positioning result, carries out difference accurate positioning using first locating module, obtains difference essence
True positioning result；
The second acquisition unit, be also used to using the second locating module analysis detection to satellite-signal defended
Star observes reference data, and the moonscope reference data includes at least Pseudo-range Observations and carrier phase observable；
Modeling unit is described more for being obtained according to difference accurate positioning result and the moonscope reference data
Tracking error correction model.
As an alternative embodiment, the first acquisition unit is used in second aspect of the embodiment of the present invention
Differential positioning is carried out by the first locating module of GNSS positioning device, the mode for obtaining Differential positioning result is specially：
The first acquisition unit, for the first locating module analysis detection by the GNSS positioning device to defend
Star signal obtains the second Satellite Observations, and according to the differential corrections data being previously received to the second moonscope number
The Differential positioning result is obtained according to being modified.
As an alternative embodiment, second output unit is used in second aspect of the embodiment of the present invention
First Satellite Observations are carried out according to the Multipath Errors correction model and time delay error correction model that pre-establish
Error correction obtain location data mode be specially：
Second output unit, for according to the time delay error correction model to first Satellite Observations into
The amendment of row ionospheric delay and the amendment of troposphere time delay obtain the first amendment data, and are corrected according to the Multipath Errors
Model carries out Multipath Errors amendment to the first amendment data, obtains the location data.
As an alternative embodiment, the GNSS positioning device is also wrapped in second aspect of the embodiment of the present invention
It includes：
Judging unit, for carrying out difference by the first locating module of GNSS positioning device in the first acquisition unit
Positioning judges whether the Differential positioning result indicates to meet preset condition after obtaining Differential positioning result；
The judging unit includes：
Judgment sub-unit, for judging whether the Differential positioning result indicates the Differential positioning of first locating module
State is effective or whether the accuracy of the Differential positioning result meets threshold value；
Subelement is determined, for judging the Differential positioning result instruction first positioning in the judgment sub-unit
When the Differential positioning state of module is effective and the accuracy of the Differential positioning result meets the threshold value, it is determined as the difference
Positioning result, which indicates, meets the preset condition；
The determining subelement is also used to judge Differential positioning result instruction described the in the judgment sub-unit
When the Differential positioning state of one locating module is invalid or the accuracy of the Differential positioning result is unsatisfactory for the threshold value, determine
It is indicated for the Differential positioning result and is unsatisfactory for the preset condition.
The third aspect of the embodiment of the present invention discloses a kind of GNSS positioning device, it may include：
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes first aspect present invention
Some or all of any one method step.
Fourth aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, described
Computer program includes the instruction of some or all of any one method for executing first aspect present invention step.
The 5th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes some or all of any one method of first aspect step.
The aspect of the embodiment of the present invention the 6th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating
Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party
Some or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that：
When the Differential positioning result that the first locating module of GNSS positioning device obtains meets preset condition, directly export
Differential positioning result is for users to use；It is unsatisfactory in the Differential positioning result that the first locating module of GNSS positioning device obtains pre-
If when condition, according to the Multipath Errors correction model and time delay error correction model pre-established, to the GNSS positioning device
The second locating module obtain the first Satellite Observations carry out error correction obtain high accuracy positioning data.By implementing this
Inventive embodiments, then can be direct when the first locating module is accurately positioned in conjunction with the first locating module and the second locating module
Export the Differential positioning result of the first locating module for users to use；When the first locating module cannot be accurately positioned, then will
It can be in satellite signal quality since the second locating module is of less demanding for satellite signal quality using the second locating module
It is not to be positioned in good situation, therefore, can be realized by the first locating module and the second locating module in any field
High accuracy positioning under scape, or even high-precision positioning can also be continuously available in the case where satellite-signal environment is poor.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of GNSS localization method disclosed by the embodiments of the present invention；
Fig. 2 is the flow diagram of another kind GNSS localization method disclosed by the embodiments of the present invention；
Fig. 3 is a kind of structural schematic diagram of GNSS positioning device disclosed by the embodiments of the present invention；
Fig. 4 is the structural schematic diagram of another kind GNSS positioning device disclosed by the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of another GNSS positioning device disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " includes " " having " and their any deformations in the embodiment of the present invention and attached drawing,
It is intended to cover and non-exclusive includes.Such as it contains the process, method of a series of steps or units, system, product or sets
It is standby to be not limited to listed step or unit, but optionally further comprising the step of not listing or unit, or optionally
It further include the other step or units intrinsic for these process, methods, product or equipment.
The embodiment of the present invention discloses a kind of GNSS localization method and GNSS positioning device, can be adapted for any positioning ring
Border, it might even be possible to high-precision positioning can be continuously available in the case where satellite-signal environment is poor.In the embodiment of the present invention
In, which can be a kind of movement station, thereon built-in first locating module and the second locating module, the GNSS
First locating module of positioning device can be high accuracy positioning module, and the second locating module of GNSS positioning device can be height
Sensitivity locating module.High accuracy positioning module is more demanding to the quality of satellite-signal, can be not affected by satellite-signal
It interferes or blocks and lead to losing lock (satellite-signal environment is good), high accuracy positioning is realized by Differential positioning, but due to height
Precision locating module is higher to the quality requirement of satellite-signal, so that can be interfered or block in satellite-signal and lead
When causing losing lock (satellite-signal environment is poor), it is easy to cause the positioning of high accuracy positioning module invalid；Highly sensitive positioning mould
Block is lower for the quality requirement of satellite-signal, can be interfered or block in satellite-signal and lead to losing lock (satellite letter
Number environment is poor) when, keep track satellite-signal, but carries out positioning obtained positioning merely with highly sensitive locating module
Precision is poor.The first locating module of combination GNSS positioning device of the embodiment of the present invention and the second locating module realize high accuracy positioning
Method, the accurate positioning under any scene may be implemented.It is carried out respectively from the angle of GNSS positioning device below in detail
It describes in detail bright.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of flow diagram of GNSS localization method disclosed by the embodiments of the present invention.Such as Fig. 1 institute
Show, which may comprise steps of：
101, GNSS positioning device carries out Differential positioning by the first built-in locating module, obtains Differential positioning result.
102, indicate that GNSS positioning device exports the Differential positioning when meeting preset condition in above-mentioned Differential positioning result
As a result.
It wherein, will be using the Differential positioning knot of the first locating module if the first locating module can be accurately positioned
Fruit terminates process as last location data.
It is appreciated that preset condition can serve to indicate that the first locating module Differential positioning state effectively and Differential positioning
As a result accuracy meets threshold value.Therefore, Differential positioning result, which indicates, meets preset condition, i.e., the Differential positioning result indicates
The Differential positioning state of the first locating module is effectively out and the accuracy of Differential positioning result meets threshold value.
According to above-mentioned introduction, after executing the step 101, and before executing step 102 or 103, GNSS is fixed
Whether the Differential positioning result that position equipment can be also used for the acquisition of judgment step 101 indicates to meet preset condition.
Further, GNSS positioning device judges whether Differential positioning result indicates to meet preset condition, may include with
Lower step：Judge Differential positioning result indicate the first locating module Differential positioning state whether effectively or Differential positioning result
Accuracy whether meet threshold value；Judge Differential positioning result indicate the first locating module Differential positioning state effectively and
When the accuracy of Differential positioning result meets threshold value, it is determined as the Differential positioning result and indicates to meet preset condition；Judging
Difference positioning result indicates the Differential positioning state of the first locating module in vain out or the accuracy of Differential positioning result is discontented
When sufficient threshold value, it is determined as Differential positioning result and indicates to be unsatisfactory for preset condition.
103, indicate that GNSS positioning device is fixed by built-in second when being unsatisfactory for preset condition in Differential positioning result
Position module carries out analysis to the satellite-signal detected and obtains the first Satellite Observations, according to the Multipath Errors pre-established
Correction model and time delay correction model carry out error correction to first Satellite Observations and obtain location data, and it is fixed to export this
Position data.
Wherein, which includes at least Pseudo-range Observations and carrier phase observable.
It is unsatisfactory for preset condition it is found that Differential positioning result indicates according to explanation in a step 102, as difference is fixed
Position result indicates the Differential positioning state of the first locating module in vain or the accuracy of Differential positioning result is unsatisfactory for threshold value.
It is appreciated that first default using the first locating module execute step 101, the first locating module positioning states without
When the accuracy for the Differential positioning result imitated or navigated to is unsatisfactory for preset condition, positioned by the second locating module,
To ensure that GNSS positioning device can be accurately positioned under any scene.
It is directly defeated if the first locating module of GNSS positioning device can be accurately positioned by implementing above-mentioned implementation method
Difference positioning result is for users to use out；It is unsatisfactory in the Differential positioning result that the first locating module of GNSS positioning device obtains
When preset condition, according to the Multipath Errors correction model and time delay error correction model pre-established, GNSS positioning is set
The first Satellite Observations that the second standby locating module obtains carry out error correction and obtain high accuracy positioning data.Pass through implementation
The embodiment of the present invention, then can be straight when the first locating module is accurately positioned in conjunction with the first locating module and the second locating module
Connect the Differential positioning result of the first locating module of output for users to use；When the first locating module cannot be accurately positioned, then
It will utilize the second locating module can be in satellite-signal matter because the second locating module is of less demanding for satellite signal quality
Amount is positioned in good situation, therefore, can be realized by the first locating module and the second locating module any
High accuracy positioning under scene, or even high-precision positioning can also be continuously available in the case where satellite-signal environment is poor.
Embodiment two
Referring to Fig. 2, Fig. 2 is the flow diagram of another kind GNSS localization method disclosed by the embodiments of the present invention.Such as Fig. 2
Shown, which may comprise steps of：
201, GNSS positioning device carries out difference accurate positioning using the first locating module, obtains difference and is accurately positioned knot
Fruit.
In embodiments of the present invention, the foundation of Multipath Errors correction model is realized by step 201 to 203.Multipath
The foundation of error correction model needs to realize that it is poor to carry out by the first locating module under precision positioning in the first locating module
Divide and be accurately positioned, obtains difference and be accurately positioned result.
202, GNSS positioning device obtains moonscope using the satellite-signal that the second locating module analysis detection arrives and refers to
Data.
In embodiments of the present invention, while executing step 201, the second locating module also can detecte satellite-signal, and
Moonscope reference data is obtained by the satellite-signal that analysis detection arrives.Similarly, which at least wraps
Include Pseudo-range Observations and carrier phase observable.
203, GNSS positioning device is accurately positioned result according to above-mentioned difference and the acquisition of above-mentioned moonscope reference data is more
Tracking error correction model, the moonscope reference data include at least Pseudo-range Observations and carrier phase observable.
204, after establishing Multipath Errors correction model, GNSS positioning device by the first built-in locating module into
Row Differential positioning obtains Differential positioning result.
Specifically, for GNSS positioning device by built-in the first locating module progress Differential positioning, it is poor to obtain in step 204
Divide positioning result, including：
GNSS positioning device obtains the second Satellite Observations by the satellite-signal that the first locating module analysis detection arrives,
And the second Satellite Observations are modified according to the differential corrections data being previously received and obtain the Differential positioning result.
In embodiments of the present invention, the differential corrections data that GNSS positioning device is previously received can be to be sent out by base station
It send, is also possible to by continuous operation of the reference station system (Continuously Operating Reference
Stations, CORS) server send, the embodiment of the present invention is without limitation.It should be noted that of the invention real
It applies in example, the corresponding satellite of the satellite-signal that base station receives satellite corresponding with the second Satellite Observations is identical.
If the differential corrections data that GNSS positioning device is previously received are sent to obtain by base station, then, GNSS positioning
The mode that equipment receives differential corrections data is specifically as follows：Base station by analysis detection to satellite-signal obtain third defend
Star observes data, and obtains differential corrections number using the accurate coordinate of the third Satellite Observations and the known base station
According to, and the address information of the GNSS positioning device is obtained from the server of CORS system, and set according to GNSS positioning
Obtained differential corrections data are transmitted and give the GNSS positioning device by the instruction of standby address information.This benchmark is stood erectly
The method that the differential corrections data connect are sent to GNSS positioning device can be improved GNSS positioning device and receive difference
The rate of data is corrected, so that GNSS positioning device obtains the more efficient of location data.
If the differential corrections data that GNSS positioning device is previously received are sent to obtain by the server of CORS system, then
GNSS positioning device receive differential corrections data mode specifically can also be：The satellite-signal that base station is arrived by analysis detection
Third Satellite Observations are obtained, and obtain difference using the accurate coordinate of the third Satellite Observations and the known base station
Point amendment data, and the differential corrections data are transmitted and are stored to the server of CORS system and CORS system
The server of system is after the address information for obtaining GNSS positioning device, according to the finger of the address information of the GNSS positioning device
Show, obtained differential corrections data are transmitted and give the GNSS positioning device.This transit server by CORS system
The method for sending differential corrections data, while allowing the server of CORS system to turn differential corrections data in the implementation,
Realize the real-time monitoring to base station.Optionally, GNSS positioning device, which receives the mode of differential corrections data, specifically can also be：
Base station can obtain third Satellite Observations by satellite-signal that analysis detection arrives, and by the third Satellite Observations
It is sent to the server of CORS system, wherein the accurate coordinate of the base station is stored in the server of the CORS system,
After the server of CORS system receives the third Satellite Observations, the server of CORS system can be according to third satellite
The accurate coordinate of observation data and the base station obtains differential corrections data, and gets GNSS in the server of CORS system
After the address information of positioning device, according to the instruction of the address information of GNSS positioning device, differential corrections data are sent to
GNSS positioning device.Implement the optional implementation method, the third Satellite Observations of base station are met to the service of CORS system
Device processing, can be improved data processing rate, improves the rate that GNSS positioning device obtains differential corrections data, also can simplify
The work complexity of base station, reduces the manufacturing cost of base station.
205, indicate that GNSS positioning device exports the Differential positioning when meeting preset condition in above-mentioned Differential positioning result
As a result.
According to the introduction in embodiment one, Differential positioning result has in the Differential positioning state for indicating the first locating module
When the accuracy of effect and Differential positioning result meets threshold value, it is determined as meeting preset condition.Conversely, determining Differential positioning result
When indicating that the Differential positioning state of the first locating module is invalid or the accuracy of Differential positioning result is unsatisfactory for threshold value, it is determined as
Differential positioning result, which indicates, is unsatisfactory for preset condition.
It, can be with wherein it is determined that whether the Differential positioning state of the first locating module indicated by Differential positioning result is invalid
It is accomplished by the following way：Judge the satellite-signal that the first locating module receives, the first locating module will under normal circumstances
The corresponding satellite-signal of preset quantity is received, that is, the satellite that there is number of satellite equal to preset quantity is sent out to GNSS positioning device
Satellite-signal is penetrated, if the satellite-signal that the first locating module receives is the satellite launch by being less than the preset quantity, explanation
First locating module does not receive the satellite-signal of part satellite launch, it is determined that the Differential positioning state of the first locating module without
Effect, the Differential positioning result error that the first locating module obtains at this time is larger, whereas if defending of receiving of the first locating module
Star signal is the satellite launch by the preset quantity, then illustrates that the Differential positioning state of the first locating module is effective.
In addition, determining whether the accuracy of Differential positioning result meets threshold value and may include：By analyzing the first positioning mould
The satellite-signal that block receives obtains dilution of precision, and when the dilution of precision for judging to obtain is less than preset value, it is determined that
Obtained Differential positioning result accuracy meets threshold value；Conversely, when the dilution of precision for judging to obtain is greater than or equal to preset value
When, it is determined that obtained Differential positioning result accuracy is unsatisfactory for threshold value.
It should be noted that dilution of precision can for geometric dilution of precision (Geometric Dilution Precision,
GDOP), which represents satellite corresponding to the satellite-signal that the first locating module receives and the GNSS is positioned
The distance vector amplification factor of equipment.GDOP can be by three-dimensional position dilution of precision (Positional, PDOP) and clock deviation geometry
Dilution of precision (Time, TDOP) is calculated, i.e. GDOP=PDOP+TDOP.The numerical value of GDOP is bigger, indicates the first locating module
The spatial distribution of satellite corresponding to the satellite-signal received concentrates on the same area, and positioning accuracy is poor；Conversely, GDOP
Numerical value is smaller, and the spatial distribution of satellite corresponding to the satellite-signal that the first locating module of expression receives is not centered on same area
Domain, positioning accuracy are preferable.
According to foregoing description it is appreciated that the first locating module receives when the instruction of Differential positioning result meets condition
Satellite-signal be satellite launch by the preset quantity, and obtained by analyzing the satellite-signal that the first locating module receives
Dilution of precision is less than preset value, in this case, using the Differential positioning result of the first locating module as last positioning
The positioning accuracy of the first locating module can be improved in data.
206, indicate that GNSS positioning device is fixed by built-in second when being unsatisfactory for preset condition in Differential positioning result
Position module carries out analysis to the satellite-signal detected and obtains the first Satellite Observations, according to the Multipath Errors pre-established
Correction model and time delay error model carry out error correction to first Satellite Observations and obtain location data, and it is fixed to export this
Position data.
Wherein, step 206 can specifically include：Ionosphere is carried out to the first Satellite Observations according to time delay error model
Time delay amendment and the amendment of troposphere time delay, to obtain the first amendment data；And according to Multipath Errors correction model to first
It corrects data and carries out Multipath Errors amendment, to obtain location data.
Differential positioning result indicates when being unsatisfactory for preset condition, passes through the second built-in positioning mould in GNSS positioning device
After block carries out analysis the first Satellite Observations of acquisition to the satellite-signal detected, the first moonscope number can also be eliminated
Satellite clock correction and satellite orbital error in, at this point, the first obtained Satellite Observations are a cancellation satellite clock correction and defend
Star orbit error.Implementing this method can be improved positioning accuracy.
It is invalid in the Differential positioning state of the first locating module according to above-mentioned introduction, and dilution of precision obtained is greater than
Or when being equal to preset value, it is determined that Differential positioning result, which indicates, is unsatisfactory for preset condition, this more harsh default item
Part requires to can effectively improve positioning accuracy.
By implementing the above method, obtained when carrying out difference accurate positioning according to the first locating module of GNSS positioning device
Multiple error correction model, the first Satellite Observations obtained to the second locating module of GNSS positioning device carry out multipath mistake
The method that difference amendment, the first locating module of this combination GNSS positioning device and the second locating module realize high accuracy positioning, can
To realize the high accuracy positioning under any scene, continuously on the basis of guaranteeing the accuracy of Multipath Errors correction model
Obtain high-precision positioning coordinate.
By implementing the above method, high-precision is realized in conjunction with the first locating module of GNSS positioning device and the second locating module
The method of positioning can obtain high-precision location data in the case where satellite-signal losing lock；By to the second locating module
The first Satellite Observations obtained carry out ionospheric delay amendment, the amendment of troposphere time delay and Multipath Errors amendment respectively,
The available higher location data of precision.
Embodiment three
Referring to Fig. 3, Fig. 3 is a kind of structural schematic diagram of GNSS positioning device disclosed by the embodiments of the present invention.Such as Fig. 3 institute
Show, which may include：
First acquisition unit 301, for carrying out Differential positioning by the first locating module of GNSS positioning device, it is poor to obtain
Divide positioning result.
Optionally, in embodiments of the present invention, first acquisition unit 301 is used for the first positioning by GNSS positioning device
Module carries out Differential positioning, and the mode for obtaining Differential positioning result is specifically as follows：First acquisition unit 301, for passing through
The satellite-signal that first locating module analysis detection of GNSS positioning device arrives obtains the second Satellite Observations, and according to preparatory
The differential corrections data received are modified second Satellite Observations and obtain Differential positioning result.
First output unit 302, for exporting the difference when above-mentioned Differential positioning result indicates and meets preset condition
Positioning result.
Second output unit 303, for above-mentioned Differential positioning result indicate be unsatisfactory for preset condition when, by this
Second locating module of GNSS positioning device carries out analysis to the satellite-signal detected and obtains the first Satellite Observations, according to
The Multipath Errors correction model and time delay error correction model pre-established carries out error correction to the first Satellite Observations
Location data is obtained, and exports the location data.
Optionally, in embodiments of the present invention, which can also include：
Judging unit 304, for being carried out in the first acquisition unit by the first locating module of GNSS positioning device
Differential positioning judges whether the Differential positioning result indicates to meet preset condition after obtaining Differential positioning result；
Further alternative, judging unit 304 may include：
Judgment sub-unit 3041, for judging whether above-mentioned Differential positioning result indicates the Differential positioning of the first locating module
State is effective or whether the accuracy of above-mentioned Differential positioning result meets threshold value.
Subelement 3042 is determined, for judging above-mentioned the first positioning of Differential positioning result instruction in judgment sub-unit 3041
When the Differential positioning state of module is effective and the accuracy of above-mentioned Differential positioning result meets threshold value, it is determined as above-mentioned Differential positioning
As a result it indicates and meets preset condition.
It determines subelement 3042, is also used to judge that above-mentioned Differential positioning result instruction first is fixed in judgment sub-unit 3041
When the Differential positioning state of position module is invalid or the accuracy of above-mentioned Differential positioning result is unsatisfactory for threshold value, it is determined as above-mentioned difference
Divide positioning result to indicate and is unsatisfactory for preset condition.
It, will be using the first positioning when the first locating module can be accurately positioned by implementing above-mentioned GNSS positioning device
The Differential positioning result of module is as last location data；If the location data of the first locating module of GNSS positioning device without
When effect, error correction is carried out by the first Satellite Observations obtained to the second locating module and obtains location data, and will be repaired
Location data obtained is as last location data after just.Implement which, not only broken the first locating module for
The limitation that satellite signal quality requires, according to Multipath Errors correction model and time delay error correction model to the second location model
First Satellite Observations obtained, which are modified, obtains the positioning accurate that location data also effectively increases the second locating module
Degree, so as to realize the high accuracy positioning under any scene, is continuously available high-precision positioning coordinate.
Example IV
Referring to Fig. 4, Fig. 4 is the structural schematic diagram of another kind GNSS positioning device disclosed by the embodiments of the present invention.Fig. 4 institute
The GNSS positioning device shown is that GNSS positioning device as shown in Figure 3 optimizes, as shown in figure 4, the GNSS positioning device
Can also include：
Second acquisition unit 305, for first acquisition unit 301 by the first locating module of GNSS positioning device into
Row Differential positioning before obtaining Differential positioning result, carries out difference accurate positioning using first locating module, obtains difference
It is accurately positioned result.
Second acquisition unit 305, the satellite-signal for being also used to be arrived using the second locating module analysis detection are obtained satellite and seen
Reference data is surveyed, which includes at least Pseudo-range Observations and carrier phase observable.
Modeling unit 306, for being accurately positioned result and moonscope reference data acquisition multipath according to above-mentioned difference
Error correction model.
Optionally, in embodiments of the present invention, the second output unit 303 is used to be repaired according to the Multipath Errors pre-established
The mode that positive model and time delay error correction model carry out error correction acquisition location data to the first Satellite Observations is specific
Can be：Second output unit 303, when for carrying out ionosphere to the first Satellite Observations according to time delay error correction model
Prolong amendment and the amendment of troposphere time delay, obtains the first amendment data, and correct to first according to Multipath Errors correction model
Data carry out Multipath Errors amendment, obtain location data.
By implementing above-mentioned GNSS positioning device, high accuracy positioning is realized in conjunction with the first locating module and the second locating module
Mode, high-precision location data can be obtained in the case where satellite-signal losing lock；By being obtained to the second locating module
The first Satellite Observations carry out ionospheric delay amendment, the amendment of troposphere time delay and Multipath Errors amendment respectively, can be with
Obtain the higher location data of precision.
Embodiment five
Referring to Fig. 5, Fig. 5 is a kind of structural schematic diagram of GNSS positioning device disclosed by the embodiments of the present invention, the GNSS
Positioning device may include：
It is stored with the memory 501 of executable program code；
The processor 502 coupled with memory 501；
Wherein, processor 502 calls the executable program code stored in memory 501, and it is any one to execute FIG. 1 to FIG. 2
Kind GNSS localization method.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer
Program makes computer execute any one GNSS localization method of FIG. 1 to FIG. 2.
The embodiment of the present invention discloses a kind of computer program product, when the computer program product is run on computers
When, so that computer executes any one GNSS localization method of FIG. 1 to FIG. 2.
The embodiment of the present invention discloses a kind of using distribution platform, this is using distribution platform for issuing computer program production
Product, wherein when computer program product is run on computers, so that computer executes any one GNSS of FIG. 1 to FIG. 2 and determines
Position method.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
A kind of GNSS localization method disclosed by the embodiments of the present invention and GNSS positioning device are described in detail above,
Used herein a specific example illustrates the principle and implementation of the invention, and step sequence in above-mentioned specific case
Number size be not meant to execution sequence it is inevitable successively, the execution sequence of each process should be true with its function and internal logic
Fixed, the implementation process of the embodiments of the invention shall not be constituted with any limitation.Above-mentioned unit as illustrated by the separation member can be with
It is or may not be and be physically separated, some or all of units can be selected according to the actual needs to realize this
The purpose of example scheme.
Character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".In reality provided by the present invention
It applies in example, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can determine B according to A.It is also to be understood that determining B according to A
It is not meant to determine B only according to A, can also determine B according to A and/or other information.In addition, in various embodiments of the present invention
In each functional unit can integrate in one processing unit, be also possible to each unit and physically exist alone, can also two
A or more than two units are integrated in one unit.Above-mentioned integrated unit both can take the form of hardware realization, can also
To realize in the form of software functional units.If above-mentioned integrated unit is realized in the form of SFU software functional unit and as only
Vertical product when selling or using, can store in a retrievable memory of computer.Based on this understanding, this hair
Bright technical solution substantially the part that contributes to existing technology or the technical solution in other words it is all or part of,
It can be embodied in the form of software products, which is stored in a memory, including several requests
With so that a computer equipment (can be personal computer, server or network equipment etc., specifically can be computer
Processor in equipment) execute some or all of each embodiment above method of the invention step.
The above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for this
The those skilled in the art in field, according to the thought of the present invention, there will be changes in the specific implementation manner and application range,
In conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of global navigation satellite system GNSS localization method, which is characterized in that including：
Differential positioning is carried out by the first locating module of GNSS positioning device, obtains Differential positioning result；
When the Differential positioning result indicates and meets preset condition, the Differential positioning result is exported；
The Differential positioning result indicate be unsatisfactory for the preset condition when, it is fixed by the second of the GNSS positioning device
Position module carries out analysis to the satellite-signal detected and obtains the first Satellite Observations, according to the Multipath Errors pre-established
Correction model and time delay error correction model carry out error correction to first Satellite Observations and obtain location data, and defeated
The location data out.
2. the method according to claim 1, wherein first locating module by GNSS positioning device into
Row Differential positioning, before obtaining Differential positioning result, the method also includes：
Difference accurate positioning is carried out using first locating module, difference is obtained and is accurately positioned result；
Moonscope reference data, the moonscope are obtained using the satellite-signal that the second locating module analysis detection arrives
Reference data includes at least Pseudo-range Observations and carrier phase observable；
Result is accurately positioned according to the difference and the moonscope reference data obtains the Multipath Errors correction model.
3. method according to claim 1 or 2, which is characterized in that first positioning mould by GNSS positioning device
Block carries out Differential positioning, obtains Differential positioning as a result, including：
The second moonscope number is obtained by the satellite-signal that the first locating module analysis detection of the GNSS positioning device arrives
According to, and the acquisition difference is modified to second Satellite Observations according to the differential corrections data being previously received and is determined
Position result.
4. the method according to claim 1, wherein the Multipath Errors correction model that the basis pre-establishes
Error correction is carried out to first Satellite Observations with time delay error model and obtains location data, including：
Ionospheric delay amendment and troposphere are carried out to first Satellite Observations according to the time delay error correction model
Time delay amendment obtains the first amendment data；
Multipath Errors amendment is carried out to the first amendment data according to the Multipath Errors correction model, it is described fixed to obtain
Position data.
5. method according to any one of claims 1 to 4, which is characterized in that described to pass through the first of GNSS positioning device
Locating module carries out Differential positioning, after obtaining Differential positioning result, the method also includes：Judge the Differential positioning result
Whether instruction meets preset condition；
It is described to judge whether the Differential positioning result indicates to meet preset condition, including：
Judge whether the Differential positioning result indicates that the Differential positioning state of first locating module is effective or the difference
Divide whether the accuracy of positioning result meets threshold value；
Judge the Differential positioning result indicate first locating module Differential positioning state is effective and the difference
When the accuracy of positioning result meets the threshold value, it is determined as the Differential positioning result and indicates to meet the preset condition；
Judge the Differential positioning result indicate first locating module Differential positioning state is invalid or the difference
When the accuracy of point positioning result is unsatisfactory for the threshold value, be determined as the Differential positioning result indicate be unsatisfactory for it is described default
Condition.
6. a kind of global navigation satellite system GNSS positioning device, which is characterized in that including：
First acquisition unit obtains Differential positioning for carrying out Differential positioning by the first locating module of GNSS positioning device
As a result；
First output unit, for exporting the Differential positioning when the Differential positioning result indicates and meets preset condition
As a result；
Second output unit, for the Differential positioning result indicate be unsatisfactory for the preset condition when, by described
Second locating module of GNSS positioning device carries out analysis to the satellite-signal detected and obtains the first Satellite Observations, according to
The Multipath Errors correction model and time delay error correction model pre-established carries out error to first Satellite Observations
Amendment obtains location data, and exports the location data.
7. GNSS positioning device according to claim 6, which is characterized in that the GNSS positioning device further includes：
Second acquisition unit, for carrying out difference by the first locating module of GNSS positioning device in the first acquisition unit
Positioning before obtaining Differential positioning result, carries out difference accurate positioning using first locating module, it is accurately fixed to obtain difference
Position result；
The second acquisition unit, the satellite-signal for being also used to be arrived using the second locating module analysis detection are obtained satellite and seen
Reference data is surveyed, the moonscope reference data includes at least Pseudo-range Observations and carrier phase observable；
Modeling unit, for being accurately positioned result and the moonscope reference data acquisition multipath according to the difference
Error correction model.
8. GNSS positioning device according to claim 6 or 7, which is characterized in that the first acquisition unit is for passing through
First locating module of GNSS positioning device carries out Differential positioning, and the mode for obtaining Differential positioning result is specially：
The first acquisition unit, the satellite letter arrived for the first locating module analysis detection by the GNSS positioning device
Number obtain the second Satellite Observations, and according to the differential corrections data being previously received to second Satellite Observations into
Row amendment obtains the Differential positioning result.
9. GNSS positioning device according to claim 6, which is characterized in that second output unit is used for according in advance
The Multipath Errors correction model and time delay error correction model of foundation carry out error correction to first Satellite Observations
Obtain location data mode be specially：
Second output unit, for carrying out electricity to first Satellite Observations according to the time delay error correction model
The amendment of absciss layer time delay and the amendment of troposphere time delay obtain the first amendment data, and according to the Multipath Errors correction model
Multipath Errors amendment is carried out to the first amendment data, obtains the location data.
10. according to the described in any item GNSS positioning devices of claim 6~9, which is characterized in that the GNSS positioning device is also
Including：
Judging unit is determined for carrying out difference by the first locating module of GNSS positioning device in the first acquisition unit
Position judges whether the Differential positioning result indicates to meet preset condition after obtaining Differential positioning result；
The judging unit includes：
Judgment sub-unit, for judging whether the Differential positioning result indicates the Differential positioning state of first locating module
Whether the accuracy of the effective or described Differential positioning result meets threshold value；
Subelement is determined, for judging that the Differential positioning result indicates first locating module in the judgment sub-unit
When Differential positioning state is effective and the accuracy of the Differential positioning result meets the threshold value, be determined as the Differential positioning
As a result it indicates and meets the preset condition；
The determining subelement is also used to judge that the Differential positioning result instruction described first is fixed in the judgment sub-unit
When the Differential positioning state of position module is invalid or the accuracy of the Differential positioning result is unsatisfactory for the threshold value, it is determined as institute
It states Differential positioning result and indicates and be unsatisfactory for the preset condition.
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