CN108845339B - 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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- CN108845339B CN108845339B CN201810523522.8A CN201810523522A CN108845339B CN 108845339 B CN108845339 B CN 108845339B CN 201810523522 A CN201810523522 A CN 201810523522A CN 108845339 B CN108845339 B CN 108845339B
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000004807 localization Effects 0.000 title abstract 2
- 238000012937 correction Methods 0.000 claims abstract description 138
- 238000003860 storage Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 description 9
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- 239000005433 ionosphere Substances 0.000 description 2
- 239000005436 troposphere Substances 0.000 description 2
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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]
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the present invention discloses a kind of GNSS localization method and GNSS positioning device, this method comprises: the Differential positioning result that obtains of the first locating module in GNSS positioning device meets preset condition, using the Differential positioning result as the output of 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 the technical field of Satellite positioning, and in particular, to a Global Navigation Satellite System (GNSS) positioning method and GNSS positioning apparatus.
Background
Many GNSS positioning apparatuses in the market mostly adopt a carrier-Time Kinematic (RTK) technique to perform positioning, and first detect a satellite signal, and then solve the satellite signal by using the carrier-Time Kinematic technique to obtain positioning data. However, in the GNSS positioning process, when a satellite signal is interfered by environmental factors such as buildings or jungle shelters, the satellite signal is easy to lose lock, the accuracy of positioning data is generally affected by the loss of lock of the satellite signal, and the current GNSS positioning method generally cannot continuously obtain high-accuracy positioning coordinates under the condition of poor satellite signal environment.
Disclosure of Invention
The embodiment of the invention discloses a GNSS positioning method and GNSS positioning equipment, which can continuously obtain high-precision positioning coordinates under the condition of poor satellite signal environment.
The first aspect of the embodiments of the present invention discloses a GNSS positioning method, which includes:
carrying out differential positioning through a first positioning module of the GNSS positioning equipment to obtain a differential positioning result;
when the differential positioning result indicates that a preset condition is met, outputting the differential positioning result;
and when the differential positioning result indicates that the preset condition is not met, analyzing the detected satellite signal through a second positioning module of the GNSS positioning equipment to obtain first satellite observation data, performing error correction on the first satellite observation data according to a pre-established multipath error correction model and a pre-established time delay error correction model to obtain positioning data, and outputting the positioning data.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, before performing differential positioning by using the first positioning module of the GNSS positioning apparatus, and obtaining a differential positioning result, the method further includes:
carrying out differential accurate positioning by utilizing the first positioning module to obtain a differential accurate positioning result;
analyzing the detected satellite signals by using the second positioning module to obtain satellite observation reference data, wherein the satellite observation reference data at least comprises a pseudo-range observation value and a phase observation value;
and obtaining the multi-path error correction model according to the differential accurate positioning result and the satellite observation reference data.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the performing differential positioning by using a first positioning module of a GNSS positioning apparatus to obtain a differential positioning result includes:
and analyzing the detected satellite signals through a first positioning module of the GNSS positioning equipment to obtain second satellite observation data, and correcting the second satellite observation data according to the pre-received differential correction data to obtain the differential positioning result.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the performing error correction on the first satellite observation data according to a pre-established multipath error correction model and a pre-established delay error model to obtain positioning data includes:
performing ionospheric delay correction and tropospheric delay correction on the first satellite observation data according to the delay error correction model to obtain first correction data;
and performing multipath error correction on the first correction data according to the multipath error correction model to obtain the positioning data.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after performing differential positioning by using the first positioning module of the GNSS positioning apparatus, and obtaining a differential positioning result, the method further includes: judging whether the differential positioning result indicates that a preset condition is met;
the judging whether the differential positioning result indicates that a preset condition is met includes:
judging whether the differential positioning result indicates that the differential positioning state of the first positioning module is effective or whether the accuracy of the differential positioning result meets a threshold value;
when the differential positioning result is judged to indicate that the differential positioning state of the first positioning module is effective and the accuracy of the differential positioning result meets the threshold, determining that the differential positioning result indicates that the preset condition is met;
and when the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not meet the threshold value, determining that the differential positioning result indicates that the preset condition is not met.
A second aspect of an embodiment of the present invention discloses a GNSS positioning apparatus, including:
the GNSS positioning device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for carrying out differential positioning through a first positioning module of the GNSS positioning device to obtain a differential positioning result;
the first output unit is used for outputting the differential positioning result when the differential positioning result indicates that a preset condition is met;
and the second output unit is used for analyzing the detected satellite signals through a second positioning module of the GNSS positioning device to obtain first satellite observation data when the differential positioning result indicates that the preset condition is not met, performing error correction on the first satellite observation data according to a pre-established multipath error correction model and a pre-established time delay error correction model to obtain positioning data, and outputting the positioning data.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the GNSS positioning apparatus further includes:
the second acquisition unit is used for carrying out differential accurate positioning by utilizing the first positioning module before the first acquisition unit carries out differential positioning through the first positioning module of the GNSS positioning equipment to obtain a differential positioning result;
the second obtaining unit is further configured to analyze the detected satellite signal by using the second positioning module to obtain satellite observation reference data, where the satellite observation reference data at least includes a pseudo-range observation value and a phase observation value;
and the modeling unit is used for obtaining the multipath error correction model according to the differential accurate positioning result and the satellite observation reference data.
As an optional implementation manner, in a second aspect of the embodiment of the present invention, the first obtaining unit is configured to perform differential positioning through a first positioning module of the GNSS positioning apparatus, and a manner of obtaining a differential positioning result specifically includes:
the first obtaining unit is configured to obtain second satellite observation data by analyzing the detected satellite signal through a first positioning module of the GNSS positioning apparatus, and correct the second satellite observation data according to difference correction data received in advance to obtain the difference positioning result.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the manner that the second output unit is configured to perform error correction on the first satellite observation data according to the pre-established multipath error correction model and the time delay error correction model to obtain the positioning data specifically is:
the second output unit is configured to perform ionospheric delay correction and tropospheric delay correction on the first satellite observation data according to the delay error correction model to obtain first correction data, and perform multipath error correction on the first correction data according to the multipath error correction model to obtain the positioning data.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the GNSS positioning apparatus further includes:
the GNSS positioning device comprises a first acquisition unit, a judgment unit and a second acquisition unit, wherein the first acquisition unit is used for carrying out differential positioning through a first positioning module of the GNSS positioning device to obtain a differential positioning result and then judging whether the differential positioning result indicates that a preset condition is met;
the judging unit includes:
a determining subunit, configured to determine whether the differential positioning result indicates that the differential positioning state of the first positioning module is valid or whether accuracy of the differential positioning result meets a threshold;
a determining subunit, configured to determine that the differential positioning result indicates that the preset condition is met when the determining subunit determines that the differential positioning result indicates that the differential positioning state of the first positioning module is valid and the accuracy of the differential positioning result meets the threshold;
the determining subunit is further configured to determine that the differential positioning result indicates that the preset condition is not met when the determining subunit determines that the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not meet the threshold.
A third aspect of the embodiments of the present invention discloses a GNSS positioning apparatus, which may include:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to perform part or all of the steps of any one of the methods of the first aspect of the invention.
A fourth aspect of embodiments of the present invention discloses a computer-readable storage medium storing a computer program comprising instructions for carrying out some or all of the steps of any one of the methods of the first aspect of the present invention.
A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product is configured to, when running on a computer, cause the computer to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
when a differential positioning result obtained by a first positioning module of the GNSS positioning equipment meets a preset condition, directly outputting the differential positioning result for a user to use; when the differential positioning result obtained by the first positioning module of the GNSS positioning device does not meet the preset condition, error correction is carried out on the first satellite observation data obtained by the second positioning module of the GNSS positioning device according to a pre-established multipath error correction model and a pre-established time delay error correction model to obtain high-precision positioning data. By implementing the embodiment of the invention and combining the first positioning module and the second positioning module, when the first positioning module is accurately positioned, the differential positioning result of the first positioning module can be directly output for a user to use; when the first positioning module can not accurately position, the second positioning module is utilized, and the second positioning module has low requirement on the satellite signal quality and can position under the condition that the satellite signal quality is not good, so that high-precision positioning under any scene can be realized through the first positioning module and the second positioning module, and high-precision positioning can be continuously obtained even under the condition that the satellite signal environment is poor.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flowchart illustrating a GNSS positioning method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating another GNSS positioning method according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a GNSS positioning apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another GNSS positioning apparatus according to the present disclosure;
FIG. 5 is a schematic structural diagram of another GNSS positioning apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terms "comprises," "comprising," and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a GNSS positioning method and GNSS positioning equipment, which can be suitable for any positioning environment and can continuously obtain high-precision positioning even under the condition of poor satellite signal environment. In the embodiment of the present invention, the GNSS positioning apparatus may be a mobile station, and a first positioning module and a second positioning module may be built in the mobile station, the first positioning module of the GNSS positioning apparatus may be a high-precision positioning module, and the second positioning module of the GNSS positioning apparatus may be a high-sensitivity positioning module. The high-precision positioning module has high requirement on the quality of satellite signals, can realize high-precision positioning through differential positioning when the satellite signals are not interfered or shielded to cause lock losing (the satellite signal environment is good), but can easily cause ineffective positioning of the high-precision positioning module when the satellite signals are interfered or shielded to cause lock losing (the satellite signal environment is poor) because the high-precision positioning module has high requirement on the quality of the satellite signals; the high-sensitivity positioning module has low quality requirement on satellite signals, can continuously track the satellite signals when the satellite signals are interfered or shielded to cause lock loss (the satellite signal environment is poor), and has poor positioning accuracy obtained by positioning only by using the high-sensitivity positioning module. The embodiment of the invention combines the first positioning module and the second positioning module of the GNSS positioning equipment to realize the high-precision positioning method, and can realize the precise positioning in any scene. The following description is made in detail from the perspective of a GNSS positioning apparatus.
Example one
Referring to fig. 1, fig. 1 is a flowchart illustrating a GNSS positioning method according to an embodiment of the present invention. As shown in fig. 1, the GNSS positioning method may include the following steps:
101. the GNSS positioning equipment carries out differential positioning through a built-in first positioning module to obtain a differential positioning result.
102. And when the differential positioning result indicates that the preset condition is met, the GNSS positioning equipment outputs the differential positioning result.
If the first positioning module can accurately position, the differential positioning result of the first positioning module is used as the final positioning data, and the process is ended.
It is understood that the preset condition may be used to indicate that the differential positioning status of the first positioning module is valid and the accuracy of the differential positioning result satisfies the threshold. Therefore, the differential positioning result indicates that the preset condition is satisfied, that is, the differential positioning result indicates that the differential positioning state of the first positioning module is valid and the accuracy of the differential positioning result satisfies the threshold.
According to the above description, after step 101 is executed and before step 102 or 103 is executed, the GNSS positioning apparatus may be further configured to determine whether the differential positioning result obtained in step 101 indicates that the preset condition is satisfied.
Further, the determining, by the GNSS positioning apparatus, whether the differential positioning result indicates that the preset condition is satisfied may include: judging whether the differential positioning result indicates that the differential positioning state of the first positioning module is effective or whether the accuracy of the differential positioning result meets a threshold value; when the differential positioning result is judged to indicate that the differential positioning state of the first positioning module is effective and the accuracy of the differential positioning result meets a threshold value, determining that the differential positioning result indicates that a preset condition is met; and when the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not meet a threshold value, determining that the differential positioning result indicates that the preset condition is not met.
103. When the differential positioning result indicates that the preset condition is not met, the GNSS positioning device analyzes the detected satellite signal through a built-in second positioning module to obtain first satellite observation data, performs error correction on the first satellite observation data according to a pre-established multipath error correction model and a pre-established time delay correction model to obtain positioning data, and outputs the positioning data.
The first satellite observation data at least comprises a pseudo-range observation value and a phase observation value.
As can be seen from the explanation in step 102, the differential positioning result indicates that the preset condition is not satisfied, that is, the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not satisfy the threshold.
It can be understood that, the step 101 is executed by default by using the first positioning module, and when the positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not meet the preset condition, the positioning is performed by using the second positioning module, so as to ensure that the GNSS positioning device can be accurately positioned in any scene.
By implementing the implementation method, if the first positioning module of the GNSS positioning device can accurately position, the differential positioning result is directly output for a user to use; when the differential positioning result obtained by the first positioning module of the GNSS positioning device does not meet the preset condition, error correction is carried out on the first satellite observation data obtained by the second positioning module of the GNSS positioning device according to a pre-established multipath error correction model and a pre-established time delay error correction model to obtain high-precision positioning data. By implementing the embodiment of the invention and combining the first positioning module and the second positioning module, when the first positioning module is accurately positioned, the differential positioning result of the first positioning module can be directly output for a user to use; when the first positioning module can not accurately position, the second positioning module is utilized, and the second positioning module has low requirement on the satellite signal quality and can position under the condition that the satellite signal quality is not good, so that high-precision positioning under any scene can be realized through the first positioning module and the second positioning module, and high-precision positioning can be continuously obtained even under the condition that the satellite signal environment is poor.
Example two
Referring to fig. 2, fig. 2 is a flowchart illustrating another GNSS positioning method according to an embodiment of the invention. As shown in fig. 2, the GNSS positioning method may include the following steps:
201. the GNSS positioning equipment utilizes the first positioning module to carry out differential accurate positioning, and differential accurate positioning results are obtained.
In the embodiment of the present invention, the establishment of the multipath error correction model is realized through steps 201 to 203. The establishment of the multipath error correction model is realized under the condition that the first positioning module can perform precision positioning, and the difference precision positioning is performed through the first positioning module to obtain a difference precision positioning result.
202. The GNSS positioning device analyzes the detected satellite signals by utilizing the second positioning module to obtain satellite observation reference data.
In the embodiment of the present invention, while step 201 is executed, the second positioning module may also detect a satellite signal and obtain satellite observation reference data by analyzing the detected satellite signal. Likewise, the satellite observation reference data includes at least a pseudorange observation and a phase observation.
203. And the GNSS positioning equipment obtains a multi-path error correction model according to the differential accurate positioning result and the satellite observation reference data, wherein the satellite observation reference data at least comprises a pseudo-range observation value and a phase observation value.
204. After the multipath error correction model is established, the GNSS positioning device performs differential positioning through a built-in first positioning module to obtain a differential positioning result.
Specifically, in step 204, the GNSS positioning apparatus performs differential positioning through a built-in first positioning module, and obtains a differential positioning result, including:
the GNSS positioning device obtains second satellite observation data by analyzing the detected satellite signals through the first positioning module, and corrects the second satellite observation data according to the difference correction data received in advance to obtain the difference positioning result.
In this embodiment of the present invention, the differential correction data received in advance by the GNSS positioning apparatus may be obtained by sending from a reference station, or may be obtained by sending from a server that Continuously operates a reference station system (CORS), which is not limited in this embodiment of the present invention. In the embodiment of the present invention, the satellite corresponding to the satellite signal received by the reference station is the same as the satellite corresponding to the second satellite observation data.
If the differential correction data received by the GNSS positioning apparatus in advance is obtained by sending from the reference station, the manner in which the GNSS positioning apparatus receives the differential correction data may specifically be: the reference station obtains third satellite observation data by analyzing the detected satellite signals, obtains differential correction data by using the third satellite observation data and the known accurate coordinates of the reference station, obtains address information of the GNSS positioning equipment from a server of a CORS system, and packs and sends the obtained differential correction data to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment. The method for directly sending the differential correction data obtained by the reference station to the GNSS positioning equipment can improve the speed of receiving the differential correction data by the GNSS positioning equipment, so that the positioning data obtaining efficiency of the GNSS positioning equipment is higher.
If the differential correction data received by the GNSS positioning apparatus in advance is obtained by being sent by the server of the CORS system, the manner in which the GNSS positioning apparatus receives the differential correction data may also specifically be: the method comprises the steps that a reference station obtains third satellite observation data by analyzing detected satellite signals, differential correction data are obtained by utilizing the third satellite observation data and known accurate coordinates of the reference station, the differential correction data are packaged and sent to a server of a CORS system to be stored, and after address information of GNSS positioning equipment is obtained by the server of the CORS system, the obtained differential correction data are packaged and sent to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment. The method for transferring and sending the differential correction data through the server of the CORS system enables the server of the CORS system to transfer the differential correction data and simultaneously realize real-time monitoring of the reference station. Optionally, the method for the GNSS positioning apparatus to receive the differential correction data may further include: the reference station can obtain third satellite observation data by analyzing the detected satellite signals, and send the third satellite observation data to the server of the CORS system, wherein the server of the CORS system stores the accurate coordinates of the reference station, after the server of the CORS system receives the third satellite observation data, the server of the CORS system can obtain differential correction data according to the third satellite observation data and the accurate coordinates of the reference station, and after the server of the CORS system obtains the address information of the GNSS positioning device, the differential correction data is sent to the GNSS positioning device according to the indication of the address information of the GNSS positioning device. By implementing the optional implementation method, the third satellite observation data of the reference station is submitted to the server of the CORS system for processing, so that the data processing rate can be improved, the rate of acquiring differential correction data by the GNSS positioning equipment can be improved, the working complexity of the reference station can be simplified, and the manufacturing cost of the reference station can be reduced.
205. And when the differential positioning result indicates that the preset condition is met, the GNSS positioning equipment outputs the differential positioning result.
According to the introduction of the first embodiment, the differential positioning result is determined to satisfy the preset condition when the differential positioning state of the first positioning module is indicated to be valid and the accuracy of the differential positioning result satisfies the threshold. Otherwise, when it is determined that the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not satisfy the threshold, it is determined that the differential positioning result indicates that the preset condition is not satisfied.
The determination of whether the differential positioning state of the first positioning module indicated by the differential positioning result is invalid may be implemented in the following manner: the satellite signals received by the first positioning module are judged, the first positioning module receives satellite signals corresponding to the preset number under normal conditions, namely satellites with the number equal to the preset number transmit satellite signals to GNSS positioning equipment, if the satellite signals received by the first positioning module are transmitted by satellites with the number less than the preset number, the first positioning module does not receive part of satellite signals transmitted by the satellites, the differential positioning state of the first positioning module is determined to be invalid, the differential positioning result obtained by the first positioning module is large in deviation, and otherwise, if the satellite signals received by the first positioning module are transmitted by the satellites with the preset number, the differential positioning state of the first positioning module is determined to be valid.
Additionally, determining whether the accuracy of the differential positioning result satisfies a threshold may include: obtaining a precision factor by analyzing satellite signals received by the first positioning module, and determining that the precision of the obtained differential positioning result meets a threshold value when the obtained precision factor is judged to be smaller than a preset value; otherwise, when the obtained precision factor is judged to be greater than or equal to the preset value, the obtained differential positioning result precision is determined not to meet the threshold value.
It should be noted that the Precision factor may be a Geometric Precision factor (GDOP), where the Geometric Precision factor represents a distance vector amplification factor between a satellite corresponding to the satellite signal received by the first positioning module and the GNSS positioning apparatus. GDOP can be calculated from three-dimensional position precision factor (PDOP) and clock difference geometric precision factor (Time, TDOP), i.e., GDOP is PDOP + TDOP. The larger the value of the GDOP is, the more concentrated the spatial distribution of the satellite corresponding to the satellite signal received by the first positioning module is in the same area, and the poorer the positioning accuracy is; conversely, the smaller the value of the GDOP, the better the positioning accuracy, which means that the spatial distribution of the satellite corresponding to the satellite signal received by the first positioning module is not concentrated in the same area.
As can be understood from the above description, when the differential positioning result indicates that the condition is satisfied, the satellite signals received by the first positioning module are transmitted by the preset number of satellites, and the accuracy factor obtained by analyzing the satellite signals received by the first positioning module is smaller than the preset value.
206. When the differential positioning result indicates that the preset condition is not met, the GNSS positioning device analyzes the detected satellite signal through a built-in second positioning module to obtain first satellite observation data, performs error correction on the first satellite observation data according to a pre-established multipath error correction model and a time delay error model to obtain positioning data, and outputs the positioning data.
Wherein, step 206 may specifically include: performing ionospheric delay correction and tropospheric delay correction on the first satellite observation data according to the delay error model to obtain first correction data; and performing multipath error correction on the first correction data according to the multipath error correction model to obtain the positioning data.
When the differential positioning result indicates that the preset condition is not met, after the GNSS positioning device analyzes the detected satellite signal through the built-in second positioning module to obtain the first satellite observation data, the satellite clock error and the satellite orbit error in the first satellite observation data can be eliminated, and at the moment, the obtained first satellite observation data eliminates the satellite clock error and the satellite orbit error. The method can improve the positioning accuracy.
According to the introduction, when the differential positioning state of the first positioning module is invalid and the obtained accuracy factor is greater than or equal to the preset value, it is determined that the differential positioning result indicates that the preset condition is not met, and the positioning accuracy can be effectively improved due to the stricter requirement of the preset condition.
By implementing the method, a multi-error correction model is obtained when differential accurate positioning is carried out according to a first positioning module of GNSS positioning equipment, and multi-path error correction is carried out on first satellite observation data obtained by a second positioning module of the GNSS positioning equipment.
By implementing the method, the method for realizing high-precision positioning by combining the first positioning module and the second positioning module of the GNSS positioning equipment can obtain high-precision positioning data under the condition that the satellite signals are unlocked; the ionosphere time delay correction, the troposphere time delay correction and the multipath error correction are respectively carried out on the first satellite observation data obtained by the second positioning module, so that the positioning data with higher precision can be obtained.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a GNSS positioning apparatus according to an embodiment of the present invention. As shown in fig. 3, the GNSS positioning apparatus may include:
the first obtaining unit 301 is configured to perform differential positioning through a first positioning module of the GNSS positioning apparatus, so as to obtain a differential positioning result.
Optionally, in the embodiment of the present invention, the first obtaining unit 301 is configured to perform differential positioning through a first positioning module of the GNSS positioning apparatus, and a manner of obtaining the differential positioning result may specifically be: the first obtaining unit 301 is configured to obtain second satellite observation data by analyzing the detected satellite signal through a first positioning module of the GNSS positioning apparatus, and correct the second satellite observation data according to the difference correction data received in advance to obtain a difference positioning result.
A first output unit 302, configured to output the differential positioning result when the differential positioning result indicates that a preset condition is met.
A second output unit 303, configured to, when the differential positioning result indicates that the preset condition is not met, analyze the detected satellite signal through a second positioning module of the GNSS positioning apparatus to obtain first satellite observation data, perform error correction on the first satellite observation data according to a pre-established multipath error correction model and a time delay error correction model to obtain positioning data, and output the positioning data.
Optionally, in this embodiment of the present invention, the GNSS positioning apparatus may further include:
a determining unit 304, configured to determine whether the differential positioning result indicates that a preset condition is met after the first obtaining unit performs differential positioning through a first positioning module of the GNSS positioning apparatus to obtain a differential positioning result;
further optionally, the determining unit 304 may include:
the determining subunit 3041 is configured to determine whether the differential positioning result indicates that the differential positioning state of the first positioning module is valid or whether the accuracy of the differential positioning result meets a threshold.
The determining subunit 3042 is configured to determine that the differential positioning result indicates that a preset condition is met when the determining subunit 3041 determines that the differential positioning result indicates that the differential positioning state of the first positioning module is valid and the accuracy of the differential positioning result meets a threshold.
The determining subunit 3042 is further configured to determine that the differential positioning result indicates that the preset condition is not met when the determining subunit 3041 determines that the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not meet the threshold.
By implementing the GNSS positioning equipment, when the first positioning module can accurately position, the differential positioning result of the first positioning module is adopted as the final positioning data; and if the positioning data of the first positioning module of the GNSS positioning device is invalid, performing error correction on the first satellite observation data obtained by the second positioning module to obtain the positioning data, and taking the corrected positioning data as the final positioning data. By implementing the method, the limitation of the first positioning module on the satellite signal quality requirement is broken through, the first satellite observation data obtained by the second positioning module is corrected according to the multipath error correction model and the time delay error correction model to obtain the positioning data, and the positioning precision of the second positioning module is effectively improved, so that high-precision positioning in any scene can be realized, and high-precision positioning coordinates can be continuously obtained.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of another GNSS positioning apparatus according to an embodiment of the present invention. The GNSS positioning apparatus shown in fig. 4 is optimized by the GNSS positioning apparatus shown in fig. 3, and as shown in fig. 4, the GNSS positioning apparatus may further include:
a second obtaining unit 305, configured to perform differential precise positioning by using a first positioning module of the GNSS positioning apparatus before the first obtaining unit 301 performs differential positioning by using the first positioning module to obtain a differential positioning result.
The second obtaining unit 305 is further configured to analyze the detected satellite signals by using the second positioning module to obtain satellite observation reference data, where the satellite observation reference data at least includes a pseudo-range observation value and a phase observation value.
And the modeling unit 306 is used for obtaining a multipath error correction model according to the differential accurate positioning result and the satellite observation reference data.
Optionally, in this embodiment of the present invention, a manner that the second output unit 303 is configured to perform error correction on the first satellite observation data according to the pre-established multipath error correction model and the time delay error correction model to obtain the positioning data may specifically be: the second output unit 303 is configured to perform ionospheric delay correction and tropospheric delay correction on the first satellite observation data according to the delay error correction model to obtain first correction data, and perform multipath error correction on the first correction data according to the multipath error correction model to obtain positioning data.
By implementing the GNSS positioning equipment and combining a mode of realizing high-precision positioning by the first positioning module and the second positioning module, high-precision positioning data can be obtained under the condition that a satellite signal is unlocked; the ionosphere time delay correction, the troposphere time delay correction and the multipath error correction are respectively carried out on the first satellite observation data obtained by the second positioning module, so that the positioning data with higher precision can be obtained.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of a GNSS positioning apparatus according to an embodiment of the present invention, where the GNSS positioning apparatus may include:
a memory 501 in which executable program code is stored;
a processor 502 coupled to a memory 501;
the processor 502 invokes the executable program code stored in the memory 501 to execute any one of the GNSS positioning methods of fig. 1 to 2.
An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute any one of the GNSS positioning methods shown in fig. 1 to 2.
An embodiment of the present invention discloses a computer program product, which, when running on a computer, causes the computer to execute any one of the GNSS positioning methods shown in fig. 1 to 2.
The embodiment of the invention discloses an application publishing platform, which is used for publishing a computer program product, wherein when the computer program product runs on a computer, the computer is enabled to execute any one of the GNSS positioning methods shown in the figures 1-2.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.
The GNSS positioning method and GNSS positioning apparatus disclosed in the embodiments of the present invention are described in detail above, and specific examples are applied herein to explain the principles and embodiments of the present invention, and the size of the step sequence number in the specific examples does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and internal logic, and should not be limited in any way to the implementation process of the embodiments of the present invention. The units described as separate parts may or may not be physically separate, and some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
The character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship. In the embodiments provided herein, it should be understood that "B corresponding to A" means that B is associated with A from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as a stand-alone product, it may be stored in a memory accessible to a computer. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
The above description of the embodiments is only intended to facilitate the understanding of the method of the invention and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A Global Navigation Satellite System (GNSS) positioning method is characterized by comprising the following steps:
performing differential positioning through a first positioning module of GNSS positioning equipment, analyzing a detected satellite signal by the first positioning module of the GNSS positioning equipment to obtain second satellite observation data, and correcting the second satellite observation data according to pre-received differential correction data to obtain a differential positioning result; judging whether the differential positioning result indicates that a preset condition is met; the judging whether the differential positioning result indicates that a preset condition is met includes: judging whether the differential positioning result indicates that the differential positioning state of the first positioning module is effective or whether the accuracy of the differential positioning result meets a threshold value;
judging satellite signals received by the first positioning module, and if the satellite signals received by the first positioning module are transmitted by satellites less than the preset number, determining that the differential positioning state of the first positioning module is invalid;
determining whether the accuracy of the differential positioning result satisfies a threshold may include: obtaining a precision factor by analyzing satellite signals received by the first positioning module, and determining that the precision of the obtained differential positioning result meets a threshold value when the obtained precision factor is judged to be smaller than a preset value; otherwise, when the obtained precision factor is judged to be greater than or equal to the preset value, determining that the precision of the obtained differential positioning result does not meet the threshold value; the precision factor is a geometric precision factor and is obtained by calculating a three-dimensional position precision factor and a clock error geometric precision factor, and the larger the value of the geometric precision factor is, the worse the positioning precision is, the smaller the value is, and the better the positioning precision is;
when the differential positioning result indicates that a preset condition is met, outputting the differential positioning result;
when the differential positioning result indicates that the preset condition is not met, analyzing the detected satellite signal through a second positioning module of the GNSS positioning equipment to obtain first satellite observation data, performing error correction on the first satellite observation data according to a pre-established multipath error correction model and a pre-established time delay error correction model to obtain positioning data, and outputting the positioning data;
the difference correction data received in advance are sent by a continuous operation reference station system, the reference station obtains third satellite observation data by analyzing detected satellite signals, the third satellite observation data and the known accurate coordinates of the reference station are used for obtaining difference correction data, the difference correction data are packaged and sent to a server of the continuous operation reference station system for storage, and after the server of the continuous operation reference station system obtains the address information of the GNSS positioning equipment, the obtained difference correction data are packaged and sent to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment; or,
the method comprises the steps that a base station obtains third satellite observation data by analyzing detected satellite signals and sends the third satellite observation data to a server of a continuous operation reference station system, wherein accurate coordinates of the base station are stored in the server of the continuous operation reference station system, after the server of the continuous operation reference station system receives the third satellite observation data, the server of the continuous operation reference station system can obtain differential correction data according to the third satellite observation data and the accurate coordinates of the base station, and after the server of the continuous operation reference station system obtains address information of GNSS positioning equipment, the differential correction data are sent to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment.
2. The method of claim 1, wherein before the differential positioning is performed by the first positioning module of the GNSS positioning apparatus, and the differential positioning result is obtained, the method further comprises:
carrying out differential accurate positioning by utilizing the first positioning module to obtain a differential accurate positioning result;
analyzing the detected satellite signals by using the second positioning module to obtain satellite observation reference data, wherein the satellite observation reference data at least comprises a pseudo-range observation value and a phase observation value;
and obtaining the multi-path error correction model according to the differential accurate positioning result and the satellite observation reference data.
3. The method of claim 1, wherein the error correcting the first satellite observation data according to the pre-established multipath error correction model and the time delay error model to obtain the positioning data comprises:
performing ionospheric delay correction and tropospheric delay correction on the first satellite observation data according to the delay error correction model to obtain first correction data;
and performing multipath error correction on the first correction data according to the multipath error correction model to obtain the positioning data.
4. The method according to any one of claims 1 to 3, wherein after the differential positioning is performed by the first positioning module of the GNSS positioning apparatus, and the differential positioning result is obtained, the method further comprises:
when the differential positioning result is judged to indicate that the differential positioning state of the first positioning module is effective and the accuracy of the differential positioning result meets the threshold, determining that the differential positioning result indicates that the preset condition is met;
and when the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not meet the threshold value, determining that the differential positioning result indicates that the preset condition is not met.
5. A global navigation satellite system, GNSS, positioning apparatus, comprising:
the first acquisition unit is used for carrying out differential positioning through a first positioning module of GNSS positioning equipment, obtaining second satellite observation data through analyzing a detected satellite signal through the first positioning module of the GNSS positioning equipment, and correcting the second satellite observation data according to pre-received differential correction data to obtain a differential positioning result; judging whether the differential positioning result indicates that a preset condition is met; the judging whether the differential positioning result indicates that a preset condition is met includes: judging whether the differential positioning result indicates that the differential positioning state of the first positioning module is effective or whether the accuracy of the differential positioning result meets a threshold value;
judging satellite signals received by the first positioning module, and if the satellite signals received by the first positioning module are transmitted by satellites less than the preset number, determining that the differential positioning state of the first positioning module is invalid;
determining whether the accuracy of the differential positioning result satisfies a threshold may include: obtaining a precision factor by analyzing satellite signals received by the first positioning module, and determining that the precision of the obtained differential positioning result meets a threshold value when the obtained precision factor is judged to be smaller than a preset value; otherwise, when the obtained precision factor is judged to be greater than or equal to the preset value, determining that the precision of the obtained differential positioning result does not meet the threshold value; the precision factor is a geometric precision factor and is obtained by calculating a three-dimensional position precision factor and a clock error geometric precision factor, and the larger the value of the geometric precision factor is, the worse the positioning precision is, the smaller the value is, and the better the positioning precision is;
the first output unit is used for outputting the differential positioning result when the differential positioning result indicates that a preset condition is met;
a second output unit, configured to, when the differential positioning result indicates that the preset condition is not met, analyze a detected satellite signal through a second positioning module of the GNSS positioning apparatus to obtain first satellite observation data, perform error correction on the first satellite observation data according to a pre-established multipath error correction model and a time delay error correction model to obtain positioning data, and output the positioning data;
the difference correction data received in advance are sent by a continuous operation reference station system, the reference station obtains third satellite observation data by analyzing detected satellite signals, the third satellite observation data and the known accurate coordinates of the reference station are used for obtaining difference correction data, the difference correction data are packaged and sent to a server of the continuous operation reference station system for storage, and after the server of the continuous operation reference station system obtains the address information of the GNSS positioning equipment, the obtained difference correction data are packaged and sent to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment; or,
the method comprises the steps that a base station obtains third satellite observation data by analyzing detected satellite signals and sends the third satellite observation data to a server of a continuous operation reference station system, wherein accurate coordinates of the base station are stored in the server of the continuous operation reference station system, after the server of the continuous operation reference station system receives the third satellite observation data, the server of the continuous operation reference station system can obtain differential correction data according to the third satellite observation data and the accurate coordinates of the base station, and after the server of the continuous operation reference station system obtains address information of GNSS positioning equipment, the differential correction data are sent to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment.
6. The GNSS positioning apparatus of claim 5, wherein the GNSS positioning apparatus further comprises:
the second acquisition unit is used for carrying out differential accurate positioning by utilizing the first positioning module before the first acquisition unit carries out differential positioning through the first positioning module of the GNSS positioning equipment to obtain a differential positioning result;
the second obtaining unit is further configured to analyze the detected satellite signal by using the second positioning module to obtain satellite observation reference data, where the satellite observation reference data at least includes a pseudo-range observation value and a phase observation value;
and the modeling unit is used for obtaining the multipath error correction model according to the differential accurate positioning result and the satellite observation reference data.
7. The GNSS positioning apparatus of claim 5, wherein the second output unit is configured to perform error correction on the first satellite observation data according to a pre-established multipath error correction model and time delay error correction model to obtain positioning data specifically:
the second output unit is configured to perform ionospheric delay correction and tropospheric delay correction on the first satellite observation data according to the delay error correction model to obtain first correction data, and perform multipath error correction on the first correction data according to the multipath error correction model to obtain the positioning data.
8. The GNSS positioning apparatus according to any of claims 5 to 7, further comprising:
the GNSS positioning device comprises a first acquisition unit, a judgment unit and a second acquisition unit, wherein the first acquisition unit is used for carrying out differential positioning through a first positioning module of the GNSS positioning device to obtain a differential positioning result and then judging whether the differential positioning result indicates that a preset condition is met;
the judging unit includes:
a determining subunit, configured to determine whether the differential positioning result indicates that the differential positioning state of the first positioning module is valid or whether accuracy of the differential positioning result meets a threshold;
a determining subunit, configured to determine that the differential positioning result indicates that the preset condition is met when the determining subunit determines that the differential positioning result indicates that the differential positioning state of the first positioning module is valid and the accuracy of the differential positioning result meets the threshold;
the determining subunit is further configured to determine that the differential positioning result indicates that the preset condition is not met when the determining subunit determines that the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not meet the threshold.
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| US11531080B2 (en) * | 2019-07-24 | 2022-12-20 | Cypress Semiconductor Corporation | Leveraging spectral diversity for machine learning-based estimation of radio frequency signal parameters |
| CN110850458A (en) * | 2019-11-29 | 2020-02-28 | 中国电建集团成都勘测设计研究院有限公司 | Vibration detection method and system based on GNSS-RTK and UWB fusion positioning |
| CN113074742B (en) * | 2020-08-14 | 2022-06-10 | 中移(上海)信息通信科技有限公司 | Information sending method, device, equipment and computer storage medium |
| CN112558125B (en) * | 2021-02-22 | 2021-05-25 | 腾讯科技（深圳）有限公司 | Vehicle positioning method, related device, equipment and storage medium |
| CN112817012B (en) * | 2021-04-19 | 2021-07-27 | 航天宏图信息技术股份有限公司 | Positioning method and device, electronic equipment and readable storage medium |
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| CN106249264B (en) * | 2016-07-19 | 2019-03-22 | 深圳市安煋信息技术有限公司 | A kind of localization method, system and navigation device |
| CN106324622B (en) * | 2016-08-05 | 2019-12-31 | 西安希德电子信息技术股份有限公司 | Local area augmentation system integrity monitoring and real-time positioning augmentation method |
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