CN109085626A - A kind of localization method and device - Google Patents
A kind of localization method and device Download PDFInfo
- Publication number
- CN109085626A CN109085626A CN201811031912.XA CN201811031912A CN109085626A CN 109085626 A CN109085626 A CN 109085626A CN 201811031912 A CN201811031912 A CN 201811031912A CN 109085626 A CN109085626 A CN 109085626A
- Authority
- CN
- China
- Prior art keywords
- pseudorange
- base station
- carrier phase
- gnss
- observation data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of localization method and devices, position for the patrol officer to power industry.Localization method, comprising: terminal receives the satellite positioning signal that satellite is sent；Terminal receives the satellite positioning signal that base station is sent；Terminal obtains motion information, using inertial navigation system (inertial navigation system, INS), calculates the INS positioning coordinate of terminal；Satellite positioning signal, the INS positioning coordinate of satellite positioning signal, base station transmission that terminal sends satellite are handled, and calculate the position location of terminal.This method improves the positioning accuracy of terminal, prevents post staff from neglecting one's duties, and improves the supervision to patrol officer, and then excludes various security risks in time.
Description
Technical field
The present invention relates to technical field of satellite more particularly to a kind of localization methods and device.
Background technique
Currently, it is essentially all to be completed in a manner of manual inspection that inspection, which works,.Post staff in order to prevent
Neglect one's duties, working is perfunctory to not carry out investigation maintenance to various security risks in time, need to carry out the position of patrol officer
Supervision.
In the prior art, there are mainly two types of modes by supervision patrol officer: first way, using bar code, integrated circuit
(integrated circuit, IC) is stuck in the mode that inspection place is checked card, and refers to that the inspection place specified in inspection route is set
Place of checking card is set, the specified place of patrol officer's arrival is checked card or swipe code carries out operation, but this mode can not determine to patrol
Whether the track route of inspection personnel meets specification, can not also know the position of patrol officer in time interval of checking card；Second of side
Formula obtains inspection using the One-Point Location technology of global positioning system (global positioning system, GPS) in real time
The position of personnel.As shown in Figure 1, terminal, which receives satellite positioning signal, determines the position of terminal according to satellite positioning signal.This
Although kind of mode can position the intimate complete monitoring of patrol officer due to only relying on the pseudorange in satellite positioning signal,
Its positioning accuracy is not high, and error is larger, so being still difficult to accurately determine the track route of patrol officer, and in satellite-signal
Serious shielding or the region for losing satellite-signal can not position.
It would therefore be highly desirable to which the positioning accurate to patrol officer can be improved to the method that patrol officer is positioned by finding one kind
Degree, and then scent a hidden danger and eliminate in time failure.
Summary of the invention
The embodiment of the present invention provides a kind of method and device of positioning, to solve the precision of satellite positioning in the prior art
Lower problem.
The embodiment of the present invention provides a kind of localization method, this method comprises:
Terminal receives the m satellite positioning signal that m satellite is sent, and the terminal is according to the m satellite positioning signal
Determine m GNSS pseudorange, m GNSS carrier phase observation data；M is the integer greater than 1；
The terminal receives m base station pseudorange, m base station carrier phase observation data from base station；
The terminal is according to the m GNSS pseudorange, the m GNSS carrier phase observation data, the m base station puppet
Coordinate is positioned away from, the INS of the m base station carrier phase observation data, the terminal, determines the position adjustment of the terminal
Amount；
The terminal determines the position of the terminal according to last time position location and the position adjustment amount.
Optionally, the terminal determines that m-1 GNSS pseudorange list is poor according to the m GNSS pseudorange；The terminal according to
The m base station pseudorange determines that m-1 base station pseudorange list is poor；
The terminal determines that m-1 GNSS carrier phase observation data list is poor according to the m GNSS carrier phase observation data；
The terminal determines that m-1 base station carrier phase observation data list is poor according to the m base station carrier phase observation data；
The terminal is poor according to the m-1 GNSS pseudorange list difference and the m-1 base station pseudorange list, determines m-1
Pseudorange double difference；The terminal is according to the m-1 GNSS carrier phase observation data list difference and the m-1 base station carrier phase
Observation list is poor, determines m-1 carrier phase observation data double difference；
The terminal is positioned according to the m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, the INS
Coordinate determines integer ambiguity vector；The terminal determines the position adjustment amount according to integer ambiguity vector.
Optionally, the terminal determines that the first satellite, first satellite are the m satellite from the m satellite
The middle maximum satellite of elevation angle；The terminal will in the m GNSS pseudorange, except the corresponding GNSS pseudorange of first satellite it
Outer each GNSS pseudorange, the difference that the corresponding GNSS pseudorange of first satellite is individually subtracted are pseudo- as the m-1 GNSS
Away from single poor；
The terminal is every in addition to the corresponding base station pseudorange of first satellite by the m base station pseudorange
A base station pseudorange, the difference that the corresponding base station pseudorange of first satellite is individually subtracted are pseudo- as the m-1 base station
Away from single poor.
Optionally, the terminal removes the corresponding GNSS of first satellite in the m GNSS carrier phase observation data
The corresponding GNSS carrier wave of first satellite is individually subtracted in each GNSS carrier phase observation data except carrier phase observation data
The difference of carrier phase observable is poor as the m-1 GNSS carrier phase observation data list；
The terminal is carried the corresponding base station of first satellite in the m base station carrier phase observation data, is removed
Each base station carrier phase observation data except wave phase observation is individually subtracted the corresponding base station of first satellite and carries
The difference of wave phase observation is poor as the m-1 base station carrier phase observation data list.
Optionally, the m-1 benchmark is individually subtracted in each GNSS pseudorange list difference in the m-1 GNSS pseudorange list difference
Corresponding base station pseudorange list is poor in pseudorange list difference of standing, as the m-1 pseudorange double difference；
Each GNSS base station carrier phase observation data in the m-1 GNSS base station carrier phase observation data list difference
List is poor to be individually subtracted corresponding base station carrier phase observation data list in the m-1 base station carrier phase observation data list difference
Difference, as the m-1 pseudorange double difference.
Optionally, the m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, INS positioning are sat
Mark, substitutes into preset double difference formula；
According to the solution of the preset double difference formula, the fuzziness floating-point solution vector is determined；
According to the fuzziness floating-point solution vector, the integer ambiguity vector is determined.
In the embodiment of the present invention, terminal further defines carrier phase observation data other than determining pseudorange.Moreover, in addition to end
Outside the GNSS pseudorange and GNSS carrier phase observation data for holding itself to determine, the base station pseudorange and base forwarded by base station is also received
Quasi- station carrier phase observation data.Terminal is according to the GNSS pseudorange, GNSS carrier phase observation data, base station pseudorange, base station
Carrier phase observation data and the INS positioning combinatorial coordinates processing of itself, solve the position essence in the prior art to terminal positioning
Low problem is spent, the position precision to terminal positioning is improved.
Based on same inventive concept, the embodiment of the present invention further provides a kind of positioning device, which includes:
Data transmission module receives the m satellite positioning signal that m satellite is sent for terminal, and the terminal is according to institute
It states m satellite positioning signal and determines m GNSS pseudorange, m GNSS carrier phase observation data；M is the integer greater than 4；
The data transmission module receives m base station pseudorange, m base station carrier wave from base station for the terminal
Carrier phase observable；
Integrated navigation module is observed for the terminal according to the m GNSS pseudorange, the m GNSS carrier phase
The INS positioning coordinate of value, the m base station pseudorange, the m base station carrier phase observation data, the terminal, determines institute
State the position adjustment amount of terminal；
The integrated navigation module determines institute for the terminal according to last time position location and the position adjustment amount
State the position of terminal.
Optionally, the integrated navigation module is specifically used for:
Determine that m-1 GNSS pseudorange list is poor according to the m GNSS pseudorange；The terminal is according to the m base station puppet
It is poor away from determining m-1 base station pseudorange list；The terminal determines m-1 GNSS according to the m GNSS carrier phase observation data
Carrier phase observation data list is poor；And the terminal determines m-1 benchmark according to the m base station carrier phase observation data
Carrier phase observation data list of standing is poor；
It is poor according to the m-1 GNSS pseudorange list difference and the m-1 base station pseudorange list, determine m-1 pseudorange double difference；
And the terminal is observed according to the m-1 GNSS carrier phase observation data list difference and the m-1 base station carrier phase
Value is single poor, determines m-1 carrier phase observation data double difference；
Coordinate is positioned according to the m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, the INS, really
Determine integer ambiguity vector；The terminal determines the position adjustment amount according to integer ambiguity vector.
Optionally, the integrated navigation module is specifically used for:
The m-1 base station pseudorange is individually subtracted in each GNSS pseudorange list difference in the m-1 GNSS pseudorange list difference
Corresponding base station pseudorange list is poor during list is poor, as the m-1 pseudorange double difference；
Each GNSS base station carrier phase observation data in the m-1 GNSS base station carrier phase observation data list difference
List is poor to be individually subtracted corresponding base station carrier phase observation data list in the m-1 base station carrier phase observation data list difference
Difference, as the m-1 pseudorange double difference.
Optionally, the integrated navigation module is specifically used for:
The m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, the INS are positioned into coordinate, substituted into
Preset double difference formula；According to the solution of the preset double difference formula, the fuzziness floating-point solution vector is determined；And according to
The fuzziness floating-point solution vector determines the integer ambiguity vector.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of localization method in the prior art；
Fig. 2 is a kind of figure of positioning system structure provided in an embodiment of the present invention；
Fig. 3 is a kind of flow chart of localization method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of positioning device provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with Figure of description to this hair
It is bright to be described in further detail, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The all other embodiment obtained, shall fall within the protection scope of the present invention.
The embodiment of the present invention is described in further detail with reference to the accompanying drawings of the specification.
Localization method provided in an embodiment of the present invention is described in detail below.With reference to Fig. 2, provided for the embodiment of the present invention
Positioning system structure schematic diagram.
Terminal receives satellite positioning signal；Base station also receives satellite positioning signal, and the satellite positioning received is believed
After number being converted into location information, it is sent to terminal.The terminal positioning letter that satellite positioning signal, base station are sent based on the received
Breath, inertial navigation system (inertial navigation system, INS) position coordinate, determine the position of terminal.
Base station includes: Global Navigation Satellite System (global navigation satellite system, GNSS)
Antenna, GNSS high-precision receiver, network server.GNSS high-precision receiver receives satellite positioning signal and generates RTCM
(Radio Technical Commission for Maritime services) difference text, passes through serial ports and network service
Device is connected, and the RTCM difference text of output is sent to terminal.
Terminal includes: GNSS antenna, data transmission module, processing module.GNSS antenna will receive navigation satellite letter first
Number be converted to electric signal, data transmission module receives the RTCM text from base station, the two enter together processing module and with
The information that INS is obtained is combined navigator fix resolving, finally obtains terminal location.
Wherein, base station is long-term continuous observation to be carried out to satellite positioning signal, and location information is passed in real time or periodically
It send to the ground fixed observer station of terminal.
Positioning flow provided in an embodiment of the present invention is described in detail below.With reference to Fig. 3, provided for the embodiment of the present invention
A kind of positioning flow schematic diagram.
Step 301: terminal receives the m satellite positioning signal that m satellite is sent, and is believed according to the m satellite positioning
Number determine m GNSS pseudorange, m GNSS carrier phase observation data.
Wherein, m is the integer greater than 1.
Step 302: the terminal receives m base station pseudorange, m base station carrier phase observation data from base station.
Step 303: the terminal is according to the m GNSS pseudorange, the m GNSS carrier phase observation data, the m item
Base station pseudorange, the m base station carrier phase observation data, the terminal INS position coordinate, determine the position of the terminal
Set adjustment amount.
In step 303, the terminal obtains motion information according to sensor, and motion information includes 3-axis acceleration, angle speed
Degree etc..The INS positioning coordinate is calculated using INS according to the motion information.
Step 304: the terminal determines the position of the terminal according to last time position location and the position adjustment amount.
In step 301, terminal determines a GNSS pseudorange and a GNSS carrier phase according to a satellite positioning signal
Observation.Therefore, terminal determines m GNSS pseudorange, m GNSS carrier phase observation according to the m satellite positioning signal
Value.How the embodiment of the present invention determines that m GNSS pseudorange, m GNSS carrier phase observation data do not limit to terminal, specifically may be used
To refer to embodiment in the prior art, details are not described herein.
In step 301, pseudorange is distance of the observation station GPS obtained by being observed as GPS to satellite, due to terminal not yet to because
The influence of " satellite clock and receiver clock synchronous error " is corrected, and includes that clocking error factor exists from in institute's ranging
It is interior, therefore claim " pseudorange ".Carrier phase observation data refer to the same phase for receiving the received satellite-signal of moment terminal relative to
The measured value for the carrier signal phase that terminal generates.
In step 302, the m base station pseudorange, the m base station carrier phase observation data are by base station according to m
Base station satellite positioning signal determines；The m base station satellite positioning signal is received by the base station；The m base
Quasi- station satellite positioning signal is sent by the m satellite.
In step 302, terminal determines a base station pseudorange and a benchmark according to a base station satellite positioning signal
It stands carrier phase observation data.Therefore, terminal determines m base station pseudorange, m item according to the m base station satellite positioning signal
Base station carrier phase observation data.How the embodiment of the present invention is to determining that m base station pseudorange, m base station carrier phase see
Measured value does not limit, and can specifically refer to embodiment in the prior art, details are not described herein.
In step 303, the terminal determines that the first satellite, first satellite are the m and defend from the m satellite
The maximum satellite of elevation angle in star.
The terminal determines that m-1 GNSS pseudorange list is poor according to the m GNSS pseudorange.For example, the terminal will
In the m GNSS pseudorange, each GNSS pseudorange in addition to the corresponding GNSS pseudorange of first satellite is individually subtracted described
The difference of the corresponding GNSS pseudorange of first satellite is poor as the m-1 GNSS pseudorange list.
The terminal determines that m-1 base station pseudorange list is poor according to the m base station pseudorange.For example, terminal will
In the m base station pseudorange, each base station pseudorange in addition to the corresponding base station pseudorange of first satellite subtracts respectively
Go the difference of the corresponding base station pseudorange of first satellite poor as the m-1 base station pseudorange list.
The terminal determines that m-1 GNSS carrier phase observation data list is poor according to the m GNSS carrier phase observation data.
For example, the terminal removes the corresponding GNSS carrier wave phase of first satellite in the m GNSS carrier phase observation data
Each GNSS carrier phase observation data except the observation of position is individually subtracted the corresponding GNSS carrier phase of first satellite and sees
The difference of measured value is poor as the m-1 GNSS carrier phase observation data list.
The terminal determines m-1 base station carrier phase observation data according to the m base station carrier phase observation data
It is single poor.For example, the terminal removes the corresponding base of first satellite in the m base station carrier phase observation data
Each base station carrier phase observation data except the carrier phase observation data of quasi- station, is individually subtracted the corresponding base of first satellite
The difference of quasi- station carrier phase observation data is poor as the m-1 base station carrier phase observation data list.
The m-1 base station pseudorange is individually subtracted in each GNSS pseudorange list difference in the m-1 GNSS pseudorange list difference
Corresponding base station pseudorange list is poor during list is poor, as the m-1 pseudorange double difference.
Each GNSS base station carrier phase observation data in the m-1 GNSS base station carrier phase observation data list difference
List is poor to be individually subtracted corresponding base station carrier phase observation data list in the m-1 base station carrier phase observation data list difference
Difference, as the m-1 carrier phase observation data double difference.
In step 303, the terminal according to the m-1 pseudorange double difference, the m-1 carrier phase observation data double difference,
INS positions coordinate, determines integer ambiguity vector.For example,
Terminal is sat according to the m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, INS positioning
Mark, obtains double difference formula.
Double difference formula is by taking formula (1) as an example:
Xins=X0+ΔX+ω··········(1)
WhereinIt indicates pseudorange double difference, is vector,It indicates pseudorange observation noise double difference value, is vector, λ table
Show carrier wavelength, be constant,It indicates double-differential carrier phase, is vector,Indicate integer ambiguity float-solution, for
Amount,It indicates station star geometric distance double difference value, is vector,It indicates observation error double difference value, is vector, XinsIt indicates
INS positions coordinate, is vector, and Δ X indicates position adjustment amount, is vector, X0It indicates last time position location, is vector, ω is to see
Noise is surveyed, is vector.Wherein,λ、X0、Xins, ω be known quantity；ΔX
For unknown quantity.
In X0It is unfolded formula (1) progress Taylor series single order to obtain formula (2) in place；
It is terminal according to last time position location X0=[x0 y0 z0] satellite that is calculated to terminal geometric distance,Direction three-dimensional cosine double difference value for satellite to base station and satellite to terminal, δ x, δ y, δ z point
Not Wei this position adjustment amount three directions of x, y, z adjustment amount.
Formula (3) can be obtained by formula (2)；
Formula (3) can be write as L=GY；Wherein,
Terminal obtains fuzziness float-solution by Least Square adjustment method according to formula (3).
Such as, by Least Square adjustment method, available formula (4)；
Wherein, Δ XfloatIndicate position adjustment amount float-solution,Indicate fuzziness floating-point solution vector, W indicates observation
It is worth weight matrix；The fuzziness floating-point solution vector can be solved by formula (4).
Terminal drops adjustment of correlated observations method according to the fuzziness floating-point solution vector, using integer least square fuzziness
(LAMBDA algorithm) determines the integer ambiguity vector.
In step 303, according to integer ambiguity vector, position adjustment amount is determined.
By integer ambiguity vectorIt substitutes into formula (5)；
Formula (5) can be write a Chinese character in simplified form into: L2=G2Δ X, wherein
By Least Square adjustment method, formula (6) can be obtained；
ΔXfix=(G2 T·W2·G2)-1·G2 T·W2·L2..............(6)；
Position adjustment amount Δ X is solved by formula (6)fix。
In step 304, the position of the terminal can determine by the following method:
Such as, by formula (7), the position X of the terminal can be obtainedfixFor
Xfix=X0+ΔXfix (7)。
In the embodiment of the present invention, terminal further defines carrier phase observation data other than determining pseudorange.Moreover, in addition to end
Outside the GNSS pseudorange and GNSS carrier phase observation data for holding itself to determine, the base station pseudorange and base forwarded by base station is also received
Quasi- station carrier phase observation data.Terminal is according to the GNSS pseudorange, GNSS carrier phase observation data, base station pseudorange, base station
Carrier phase observation data and the INS positioning combinatorial coordinates processing of itself, solve the position essence in the prior art to terminal positioning
Low problem is spent, the position precision to terminal positioning is improved.
Positioning device provided in an embodiment of the present invention is described in detail below.With reference to Fig. 4, provided for the embodiment of the present invention
Positioning device detailed maps.Wherein, Fig. 4 indicates the structural schematic diagram of positioning device.
Data transmission module 401, for terminal receive m satellite send m satellite positioning signal, the terminal according to
The m satellite positioning signal determines m GNSS pseudorange, m GNSS carrier phase observation data；M is the integer greater than 4；
The data transmission module 401, for the terminal from base station receives m base station pseudorange, m base station carries
Wave phase observation；
Integrated navigation module 402 is seen for the terminal according to the m GNSS pseudorange, the m GNSS carrier phase
Measured value, the m base station pseudorange, the m base station carrier phase observation data, the terminal INS position coordinate, determine
The position adjustment amount of the terminal；
The integrated navigation module 402 is determined for the terminal according to last time position location and the position adjustment amount
The position of the terminal.
Optionally, the integrated navigation module 402 is specifically used for:
Determine that m-1 GNSS pseudorange list is poor according to the m GNSS pseudorange；The terminal is according to the m base station puppet
It is poor away from determining m-1 base station pseudorange list；The terminal determines m-1 GNSS according to the m GNSS carrier phase observation data
Carrier phase observation data list is poor；And the terminal determines m-1 benchmark according to the m base station carrier phase observation data
Carrier phase observation data list of standing is poor；
It is poor according to the m-1 GNSS pseudorange list difference and the m-1 base station pseudorange list, determine m-1 pseudorange double difference；
And the terminal is observed according to the m-1 GNSS carrier phase observation data list difference and the m-1 base station carrier phase
Value is single poor, determines m-1 carrier phase observation data double difference；
Coordinate is positioned according to the m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, the INS, really
Determine integer ambiguity vector；The terminal determines the position adjustment amount according to integer ambiguity vector.
Optionally, the integrated navigation module 402 is specifically used for:
The m-1 base station pseudorange is individually subtracted in each GNSS pseudorange list difference in the m-1 GNSS pseudorange list difference
Corresponding base station pseudorange list is poor during list is poor, as the m-1 pseudorange double difference；
Each GNSS base station carrier phase observation data in the m-1 GNSS base station carrier phase observation data list difference
List is poor to be individually subtracted corresponding base station carrier phase observation data list in the m-1 base station carrier phase observation data list difference
Difference, as the m-1 pseudorange double difference.
Optionally, the integrated navigation module 402 is specifically used for:
The m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, the INS are positioned into coordinate, substituted into
Preset double difference formula；According to the solution of the preset double difference formula, the fuzziness floating-point solution vector is determined；And according to
The fuzziness floating-point solution vector determines the integer ambiguity vector.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Claims (10)
1. a kind of localization method characterized by comprising
Terminal receives the m satellite positioning signal that m satellite is sent, and the terminal determines m according to the m satellite positioning signal
GNSS pseudorange, m GNSS carrier phase observation data；M is the integer greater than 4；
The terminal receives m base station pseudorange, m base station carrier phase observation data from base station；
The terminal according to the m GNSS pseudorange, the m GNSS carrier phase observation data, the m base station pseudorange,
The INS positioning coordinate of the m base station carrier phase observation data, the terminal, determines the position adjustment amount of the terminal；
The terminal determines the position of the terminal according to last time position location and the position adjustment amount.
2. the method as described in claim 1, which is characterized in that the terminal is according to the m GNSS pseudorange, the m item
GNSS carrier phase observation data, the m base station pseudorange, the m base station carrier phase observation data, the terminal
INS positions coordinate, determines the position adjustment amount of the terminal, comprising:
The terminal determines that m-1 GNSS pseudorange list is poor according to the m GNSS pseudorange；
The terminal determines that m-1 base station pseudorange list is poor according to the m base station pseudorange；
The terminal determines that m-1 GNSS carrier phase observation data list is poor according to the m GNSS carrier phase observation data；
The terminal determines that m-1 base station carrier phase observation data list is poor according to the m base station carrier phase observation data；
The terminal is poor according to the m-1 GNSS pseudorange list difference and the m-1 base station pseudorange list, determines m-1 pseudorange
Double difference；
The terminal is observed according to the m-1 GNSS carrier phase observation data list difference and the m-1 base station carrier phase
Value is single poor, determines m-1 carrier phase observation data double difference；
The terminal is sat according to the m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, INS positioning
Mark, determines integer ambiguity vector；The terminal determines the position adjustment amount according to integer ambiguity vector.
3. method according to claim 2, which is characterized in that the terminal determines m-1 according to the m GNSS pseudorange
GNSS pseudorange list is poor, comprising:
The terminal determines that the first satellite, first satellite are that elevation angle is maximum in the m satellite from the m satellite
Satellite；
For the terminal by the m GNSS pseudorange, each GNSS in addition to the corresponding GNSS pseudorange of first satellite is pseudo-
Away from the difference that the corresponding GNSS pseudorange of first satellite is individually subtracted is poor as the m-1 GNSS pseudorange list；
The terminal determines that m-1 base station pseudorange list is poor according to the m base station pseudorange, comprising:
The terminal is by each base in the m base station pseudorange, in addition to the corresponding base station pseudorange of first satellite
Quasi- station pseudorange, is individually subtracted the difference of the corresponding base station pseudorange of first satellite as the m-1 base station pseudorange list
Difference.
4. method as claimed in claim 3, which is characterized in that the terminal is according to the m GNSS carrier phase observation data
Determine that m-1 GNSS carrier phase observation data list is poor, comprising:
The terminal is seen the corresponding GNSS carrier phase of first satellite in the m GNSS carrier phase observation data, is removed
The corresponding GNSS carrier phase observation data of first satellite is individually subtracted in each GNSS carrier phase observation data except measured value
Difference it is poor as the m-1 GNSS carrier phase observation data list；
The terminal determines that m-1 base station carrier phase observation data list is poor according to the m base station carrier phase observation data,
Include:
The terminal removes the corresponding base station carrier wave phase of first satellite in the m base station carrier phase observation data
Each base station carrier phase observation data except the observation of position, is individually subtracted the corresponding base station carrier wave phase of first satellite
The difference of position observation is poor as the m-1 base station carrier phase observation data list.
5. method according to claim 2, which is characterized in that the terminal is according to the m-1 GNSS pseudorange list difference and institute
It is poor to state m-1 base station pseudorange list, determines m-1 pseudorange double difference, comprising:
It is poor that the m-1 base station pseudorange list is individually subtracted in each GNSS pseudorange list difference in the m-1 GNSS pseudorange list difference
In corresponding base station pseudorange list it is poor, as the m-1 pseudorange double difference；
The terminal is observed according to the m-1 GNSS carrier phase observation data list difference and the m-1 base station carrier phase
Value is single poor, determines m-1 carrier phase observation data double difference, comprising:
Each GNSS base station carrier phase observation data list in the m-1 GNSS base station carrier phase observation data list difference is poor
It is poor that corresponding base station carrier phase observation data list in the m-1 base station carrier phase observation data list difference is individually subtracted, work
For the m-1 pseudorange double difference.
6. the method as described in claim 2-5 is any, which is characterized in that terminal is according to the m-1 pseudorange double difference, the m-
1 carrier phase observation data double difference, the INS position coordinate, determine integer ambiguity vector, comprising:
The m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, the INS are positioned into coordinate, substituted into default
Double difference formula；
According to the solution of the preset double difference formula, the fuzziness floating-point solution vector is determined；
According to the fuzziness floating-point solution vector, the integer ambiguity vector is determined.
7. a kind of positioning device characterized by comprising
Data transmission module receives the m satellite positioning signal that m satellite is sent for terminal, and the terminal is according to the m item
Satellite positioning signal determines m GNSS pseudorange, m GNSS carrier phase observation data；M is the integer greater than 4；
The data transmission module receives m base station pseudorange, m base station carrier phase from base station for the terminal
Observation；
Integrated navigation module, for the terminal according to the m GNSS pseudorange, the m GNSS carrier phase observation data, institute
State m base station pseudorange, the m base station carrier phase observation data, the terminal INS positioning coordinate, determine the end
The position adjustment amount at end；
The integrated navigation module determines the end for the terminal according to last time position location and the position adjustment amount
The position at end.
8. device as claimed in claim 7, which is characterized in that the integrated navigation module is specifically used for:
Determine that m-1 GNSS pseudorange list is poor according to the m GNSS pseudorange；The terminal is true according to the m base station pseudorange
It is poor to determine m-1 base station pseudorange list；The terminal determines m-1 GNSS carrier wave according to the m GNSS carrier phase observation data
Carrier phase observable list is poor；And the terminal determines that m-1 base station carries according to the m base station carrier phase observation data
Wave phase observation list is poor；
It is poor according to the m-1 GNSS pseudorange list difference and the m-1 base station pseudorange list, determine m-1 pseudorange double difference；With
And the terminal is according to the m-1 GNSS carrier phase observation data list difference and the m-1 base station carrier phase observation data
It is single poor, determine m-1 carrier phase observation data double difference；
Coordinate is positioned according to the m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, the INS, is determined whole
All ambiguity vectors；The terminal determines the position adjustment amount according to integer ambiguity vector.
9. device as claimed in claim 8, which is characterized in that the integrated navigation module is specifically used for:
It is poor that the m-1 base station pseudorange list is individually subtracted in each GNSS pseudorange list difference in the m-1 GNSS pseudorange list difference
In corresponding base station pseudorange list it is poor, as the m-1 pseudorange double difference；
Each GNSS base station carrier phase observation data list in the m-1 GNSS base station carrier phase observation data list difference is poor
It is poor that corresponding base station carrier phase observation data list in the m-1 base station carrier phase observation data list difference is individually subtracted, work
For the m-1 pseudorange double difference.
10. the device as described in claim 8-9 is any, which is characterized in that the integrated navigation module is specifically used for:
The m-1 pseudorange double difference, the m-1 carrier phase observation data double difference, the INS are positioned into coordinate, substituted into default
Double difference formula；According to the solution of the preset double difference formula, the fuzziness floating-point solution vector is determined；And according to described
Fuzziness floating-point solution vector determines the integer ambiguity vector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811031912.XA CN109085626B (en) | 2018-09-05 | 2018-09-05 | Positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811031912.XA CN109085626B (en) | 2018-09-05 | 2018-09-05 | Positioning method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109085626A true CN109085626A (en) | 2018-12-25 |
| CN109085626B CN109085626B (en) | 2021-04-20 |
Family
ID=64840677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811031912.XA Active CN109085626B (en) | 2018-09-05 | 2018-09-05 | Positioning method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109085626B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554417A (en) * | 2019-08-29 | 2019-12-10 | 国网天津市电力公司 | High-precision position postback and danger area alarm method and device |
| CN111078805A (en) * | 2019-09-26 | 2020-04-28 | 深圳市东深电子股份有限公司 | River reach patrol track validity judgment method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8860609B2 (en) * | 2008-10-23 | 2014-10-14 | Texas Instruments Incorporated | Loosely-coupled integration of global navigation satellite system and inertial navigation system |
| CN104536026A (en) * | 2015-01-08 | 2015-04-22 | 中国航空无线电电子研究所 | Dynamic-to-dynamic real-time measurement system |
| CN105158783A (en) * | 2015-08-21 | 2015-12-16 | 上海海积信息科技股份有限公司 | Real-time dynamic differential positioning method and device thereof |
| CN106646570A (en) * | 2017-01-12 | 2017-05-10 | 付寅飞 | Multi-base-station satellite differential positioning and inertia combination vehicle precise positioning method |
| CN107478221A (en) * | 2017-08-11 | 2017-12-15 | 黄润芳 | A kind of high-precision locating method for mobile terminal |
-
2018
- 2018-09-05 CN CN201811031912.XA patent/CN109085626B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8860609B2 (en) * | 2008-10-23 | 2014-10-14 | Texas Instruments Incorporated | Loosely-coupled integration of global navigation satellite system and inertial navigation system |
| CN104536026A (en) * | 2015-01-08 | 2015-04-22 | 中国航空无线电电子研究所 | Dynamic-to-dynamic real-time measurement system |
| CN105158783A (en) * | 2015-08-21 | 2015-12-16 | 上海海积信息科技股份有限公司 | Real-time dynamic differential positioning method and device thereof |
| CN106646570A (en) * | 2017-01-12 | 2017-05-10 | 付寅飞 | Multi-base-station satellite differential positioning and inertia combination vehicle precise positioning method |
| CN107478221A (en) * | 2017-08-11 | 2017-12-15 | 黄润芳 | A kind of high-precision locating method for mobile terminal |
Non-Patent Citations (2)
| Title |
|---|
| 张迪 等: "移动测量系统的GNSS/INS组合定位方法的对比研究", 《软件》 * |
| 彭旭飞 等: "一种INS辅助的求解BDS整周模糊度优化算法", 《PROCEEDINGS OF 2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (IEEE CGNCC2016)》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554417A (en) * | 2019-08-29 | 2019-12-10 | 国网天津市电力公司 | High-precision position postback and danger area alarm method and device |
| CN111078805A (en) * | 2019-09-26 | 2020-04-28 | 深圳市东深电子股份有限公司 | River reach patrol track validity judgment method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109085626B (en) | 2021-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105849589B (en) | Global Navigation Satellite System, positioning terminal, localization method and recording medium | |
| CN105607093B (en) | A kind of integrated navigation system and the method for obtaining navigation coordinate | |
| CN106772493B (en) | Unmanned plane course calculating system and its measuring method based on Beidou Differential positioning | |
| CN105043415B (en) | Inertial system Alignment Method based on quaternion model | |
| CN110017849A (en) | A kind of tilt measuring method of the mapping all-in-one machine based on GNSS receiver and IMU sensor | |
| CN108267135A (en) | For the accurate positioning method and system of track automatic measurement vehicle | |
| WO2014134710A1 (en) | Method and apparatus for fast magnetometer calibration | |
| JP2010500578A5 (en) | ||
| CN102230971A (en) | GPS multi-antenna attitude determination method | |
| CN110174104A (en) | A kind of Combinated navigation method, device, electronic equipment and readable storage medium storing program for executing | |
| CN106941703B (en) | Indoor and outdoor seamless positioning device and method based on situation awareness | |
| CN106597487A (en) | Synchronous detection device for dynamic positioning accuracy of multiple receivers of Beidou satellite and method thereof | |
| CN105527642B (en) | A kind of single star positioner and method | |
| CN110044377B (en) | Vicon-based IMU offline calibration method | |
| US20180275283A1 (en) | Method for calculating a speed of an aircraft, method for calculating a protection radius, positioning system and associated aircraft | |
| CN106526629A (en) | Satellite navigation equipment, and orientation method and device thereof | |
| CN103033822B (en) | Mobile information confirmation device and mobile information confirmation method and receiving set | |
| CN102590842B (en) | GNSS/IMU (global navigation satellite system/inertial measurement unit) integrated antenna | |
| US20140249750A1 (en) | Navigational and location determination system | |
| CN109085626A (en) | A kind of localization method and device | |
| Eling et al. | Development of an RTK-GPS system for precise real-time positioning of lightweight UAVs | |
| CN108152838A (en) | It is a kind of that the device and method for measuring target location are taken aim at based on sight | |
| CN201983799U (en) | High-accuracy detection and demarcation device of inertia orientation equipment | |
| US10006770B2 (en) | Remote location determination system | |
| CN206281978U (en) | A kind of test system of GNSS receiver course angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |