CN109085627A - A method of improving Global Navigation Satellite System single frequency receiving positioning accuracy - Google Patents
A method of improving Global Navigation Satellite System single frequency receiving positioning accuracy Download PDFInfo
- Publication number
- CN109085627A CN109085627A CN201810595397.1A CN201810595397A CN109085627A CN 109085627 A CN109085627 A CN 109085627A CN 201810595397 A CN201810595397 A CN 201810595397A CN 109085627 A CN109085627 A CN 109085627A
- Authority
- CN
- China
- Prior art keywords
- integer ambiguity
- fixed solution
- ambiguity fixed
- value
- single frequency
- 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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Abstract
The invention discloses a kind of methods for improving Global Navigation Satellite System single frequency receiving positioning accuracy, this method comprises the following steps: multiple observations are obtained from Global Navigation Satellite System single frequency receiving, N number of integer ambiguity fixed solution is obtained using the combination of different observations, false integer ambiguity fixed solution is eliminated by height value, false integer ambiguity fixed solution is eliminated by doppler velocity, it finally again will be after above-mentioned Processing for removing and the integer ambiguity fixed solution that is retained is used to position.The characteristics of present invention is solved for falseness FIX proposes the method for eliminating falseness FIX solution by doppler velocity and height value, achievees the purpose that reduce falseness FIX solution, improves single-frequency GNSS receiver positioning accuracy, and then obtains reliable location information.The present invention also has that real-time is good, high reliability, engineering application value with higher.
Description
Technical field
The present invention relates to technical field of satellite navigation, specifically for, the present invention be a kind of raising global navigational satellite
The method of system single frequency receiving positioning accuracy.
Background technique
Currently, Global Navigation Satellite System (GNSS, Global Navigation Satellite System) receiver
There is outstanding advantages of at low cost, applied widely, the precise position information of motion carrier is obtained using single-frequency GNSS receiver
It needs using carrier phase measurement, wherein integer ambiguity fixed solution (FIX solution) is the critical issue of the above process.But
In the actual course of work of single-frequency GNSS receiver, obtained FIX solution usually contains false FIX solution, and falseness FIX solution will lead to
Deviations even position failure.
Therefore, influence of the false FIX solution to Global Navigation Satellite System single frequency receiving positioning accuracy how is effectively avoided,
The emphasis for having become for those skilled in the art's technical problem urgently to be resolved and studying always.
Summary of the invention
The problems such as to usually contain false FIX solution when solving and being positioned by existing single-frequency GNSS receiver, the present invention
A kind of method for improving Global Navigation Satellite System single frequency receiving positioning accuracy is innovatively provided, height value and Duo Pu are passed through
It strangles speed to eliminate false FIX solution, thus position error caused by avoiding false FIX from solving and positioning Problem-Error.
To realize the above-mentioned technical purpose, the invention discloses a kind of positioning of raising Global Navigation Satellite System single frequency receiving
The method of precision, this method comprises the following steps；
Observation obtaining step: multiple observations are obtained from Global Navigation Satellite System single frequency receiving, utilize difference
The combination of observation obtains N number of integer ambiguity fixed solution, includes multiple false complete cycles in N number of integer ambiguity fixed solution
Ambiguity fixed solution；Wherein, N is the station-keeping mode number of single frequency receiving when carrying out dynamic positioning；
The step of eliminating false integer ambiguity fixed solution by height value: enabling calculated height value is constraint condition,
Eliminate X false integer ambiguity fixed solution in N number of integer ambiguity fixed solution；Wherein, N > X；
The step of eliminating false integer ambiguity fixed solution by doppler velocity: enabling doppler velocity is constraint condition,
Eliminate Y false integer ambiguity fixed solution in N number of integer ambiguity fixed solution；Wherein, N > (X+Y)；
By integer ambiguity fixed solution step used for positioning: will be after above-mentioned Processing for removing and the N- that is retained
(X+Y) a integer ambiguity fixed solution is used for positioning calculation.
Based on above-mentioned technical solution, present invention innovation uses height value and doppler velocity and solves progress to false FIX
It effectively eliminates, retain true FIX fixed solution, to solve problems of the existing technology, reach and improve single-frequency reception
The purpose of machine positioning accuracy.
Further, by integer ambiguity fixed solution step used for positioning, N- (X+Y) a integer ambiguity is consolidated
Determine to correspond to the most integer ambiguity fixed solution of number of satellite in solution for positioning calculation.
Based on above-mentioned improved technical solution, the present invention can also further judge more suitable FIX by number of satellite
Solution, to further increase single frequency receiving positioning accuracy.
Further, it in the step of eliminating integer ambiguity fixed solution by height value, is determined using such as under type false
Integer ambiguity fixed solution:, will be in the different station-keeping modes of single frequency receiving using calculated height value as the first height value
Under obtained height value as the second height value, calculate the difference of corresponding first height value and the second height value in time
Absolute value filter out the absolute value for being greater than first threshold in multiple absolute values to obtain multiple absolute values, and will be greater than the
Corresponding second height value of the absolute value of one threshold value fixes the corresponding integer ambiguity of third height value as third height value
Solution is determined as false integer ambiguity fixed solution.
Further, height value is calculated in the following way: obtaining that the single frequency receiving is installed using barometer
The air pressure change value of mobile object calculates relative altitude value by air pressure change value；It is resolved in record from history dynamic positioning
Reliable height value is obtained, fitting of a polynomial calculating is carried out to reliable height value using relative altitude value, to obtain height value.
Further, it is solid that integer ambiguity corresponding to the reliable height value obtained in record is resolved from history dynamic positioning
Determine solution and meet following condition: its locating accuracy is greater than the first preset value and the number of corresponding satellite is greater than the second preset value.
Further, relative altitude value is calculated in the following way:
Wherein, Δ z indicates relative altitude value, and T [t] indicates local temperature value, and γ indicates cooling rate value, and P [t] is indicated
Atmospheric pressure value when time interval t, g indicate acceleration of gravity,γIndicate the gas constant of air.
Further, it in the step of eliminating integer ambiguity fixed solution by doppler velocity, is determined using such as under type
False integer ambiguity fixed solution: choosing a position of single frequency receiving as basic point and determines basic point affiliated epoch；Pass through
Doppler velocity predicts first object position of the single frequency receiving in subsequent epoch, based on complete cycle mould corresponding to next epoch
Paste degree fixed solution determines the second target position, then judge the first object position at a distance from second target position, such as
The fruit distance is greater than or equal to second threshold, then integer ambiguity fixed solution corresponding to next epoch is determined as false complete cycle
Ambiguity fixed solution.
Further, in the step of eliminating integer ambiguity fixed solution by doppler velocity, if first object position
With at a distance from the second target position be less than second threshold, then basic point is updated to the second target position, to residue to be processed
Whether falseness is judged integer ambiguity fixed solution.
Further, in the step of eliminating integer ambiguity fixed solution by doppler velocity, for current fixed
Basic point and its affiliated current epoch, if the epoch corresponding integer ambiguity of the continuous predetermined number after current epoch is fixed
Xie Jun is judged as false integer ambiguity fixed solution, then based on the true integer ambiguity fixed solution pair determined by height value
N number of integer ambiguity fixed solution is split, solid to every part integer ambiguity to obtain the part Z integer ambiguity fixed solution
Fixed solution eliminates false integer ambiguity fixed solution by doppler velocity respectively；Wherein, Z < N.
Further, it in the step of eliminating integer ambiguity fixed solution by doppler velocity, is calculated using such as under type
Doppler velocity:
Wherein, fd indicates the Doppler frequency of single frequency receiving observation, and C indicates the light velocity, f1Indicate carrier frequency, VsIt indicates
Satellite velocities, VrIndicate doppler velocity, CbvIndicate the clock drift of single frequency receiving.
The invention has the benefit that the characteristics of present invention is solved for falseness FIX, proposes through doppler velocity and height
The method that journey value eliminates falseness FIX solution achievees the purpose that reduce falseness FIX solution, improves single-frequency GNSS receiver positioning accuracy, into
And obtain reliable location information.The present invention also has that real-time is good, high reliability, engineer application valence with higher
Value.
Detailed description of the invention
Fig. 1 is the flow diagram for improving the method for Global Navigation Satellite System single frequency receiving positioning accuracy.
Fig. 2 is the implementation status diagram that next position is predicted according to doppler velocity.
Fig. 3 is the implementation status diagram being split to N number of integer ambiguity fixed solution.
Specific embodiment
With reference to the accompanying drawings of the specification to a kind of raising Global Navigation Satellite System single frequency receiving according to the present invention
The method of positioning accuracy carries out detailed explanation and illustration.
When carrying out dynamic positioning, many kinds of parameters is needed to configure, such as signal strength threshold, elevation of satellite threshold value and complete cycle mould
Paste degree fixing means etc. needs suitably to determine parameter according to the balance of positioning accuracy and FIX success rate.But due to ring
The factor in border and time-varying, the acquisition time and precision of localization method are different under different parameters.That is, in the feelings of preset parameter
Under condition, it is fixed for often not can guarantee in the best FIX success rate that the various stages obtain.Therefore, the present embodiment by using
The combination of obtainable N number of mode carrys out parallel execution positioning result；It is handled, can be obtained every time at most N number of by parallelization
FIX solution.Therefore, it is necessary to a kind of methods to determine that the most reliable FIX in multiple FIX solutions of each epoch is solved.
As shown in Figure 1, present embodiment discloses a kind of raising Global Navigation Satellite System single frequency receiving positioning accuracies
Method, firstly, the present embodiment is from Global Navigation Satellite System (GNSS, Global Navigation Satellite System)
The observations such as satellite-orbit information and phase information that receiver obtains, according to observation (such as signal strength and the elevation angle of acquisition
Deng) change parameter value combination；Accordingly, the present embodiment carries out dynamic positioning according to the combination parameter of N number of mode.In this process
In, N number of integer ambiguity fixed solution (FIX solution) at most can be obtained.Then, using the doppler velocity in satellite-signal as about
Beam eliminates the false FIX solution in N number of FIX solution obtained；In addition, eliminating false FIX by elevation observation (height value)
Solution；Final true FIX solution can be determined that specifically, this method includes following step by remaining FIX solution
Suddenly.
(1) observation obtaining step: obtaining multiple observations from Global Navigation Satellite System single frequency receiving, using not
Combination with observation obtains N number of integer ambiguity fixed solution, includes multiple false complete cycle moulds in N number of integer ambiguity fixed solution
Paste degree fixed solution；Wherein, N is the station-keeping mode number of single frequency receiving when carrying out dynamic positioning.
(2) the step of eliminating false integer ambiguity fixed solution by height value: the present invention enables the calculated height value be
Constraint condition eliminates X false integer ambiguity fixed solution in N number of integer ambiguity fixed solution；Wherein, N > X.The present embodiment
In, in the step of height value elimination integer ambiguity fixed solution, determine that false integer ambiguity is fixed using such as under type
Solution.
Using calculated height value as the first height value, the height that will be obtained under the different station-keeping modes of single frequency receiving
Journey value calculates the absolute value of the difference of corresponding first height value and the second height value in time as the second height value,
To obtain multiple absolute values, filters out and be greater than first threshold (h in multiple absolute valuesth1[m]) absolute value, and will be greater than
Corresponding second height value of the absolute value of one threshold value fixes the corresponding integer ambiguity of third height value as third height value
Solution is determined as false integer ambiguity fixed solution.
More specifically, the present embodiment can calculate height value (altitude value) in the following way: be pacified using barometer
The air pressure change value of mobile object equipped with single frequency receiving calculates relative altitude value by air pressure change value；It is dynamic from history
Reliable height value is obtained in state positioning calculation record, fitting of a polynomial calculating is carried out to reliable height value using relative altitude value,
To obtain height value；Wherein, history dynamic positioning solution is obtained after carrying out parallelization and integration to each dynamic positioning structure respectively
Record is calculated, thus result obtained can be defined as proposed methods and results (not eliminating false FIX solution), from history
Dynamic positioning, which resolves integer ambiguity fixed solution corresponding to the reliable height value obtained in record, need to meet following condition: it is fixed
Position accuracy rate is greater than the first preset value and the number of corresponding satellite is greater than the second preset value.On the basis of disclosure of the present invention
On, related setting value (such as " the first preset value ", " the second preset value ", " first threshold ") carry out according to the actual situation rationally and
Wise setting, the present embodiment calculate relative altitude value in the following way:
Wherein, Δ z indicates relative altitude value, and T [t] indicates local temperature value [K], and γ indicates cooling rate value [K/m], P
[t] indicates the atmospheric pressure value [hPa] in time interval t, and g indicates acceleration of gravity [m/s2],γIndicate that the gas of air is normal
Number [J/kgK].
Enable the height of traveling time section t that a [t] is set, when time t is 0, height value is using 0 as initial value；Height a
[t+1] is estimated as follows:
A [t+1]=a [t]+Δz
The height a [t] that we calculate according to barometer, estimates the height value h [t] of mobile object.
(3) the step of eliminating false integer ambiguity fixed solution by doppler velocity: enable doppler velocity for constraint item
Part eliminates Y false integer ambiguity fixed solution in N number of integer ambiguity fixed solution；Wherein, N > (X+Y).
More specifically, it as shown in Fig. 2, in the step of eliminating integer ambiguity fixed solution by doppler velocity, utilizes
As under type determines false integer ambiguity fixed solution: choosing a position of single frequency receiving as basic point and determine basic point institute
Belong to epoch；First object position of the single frequency receiving in subsequent epoch is predicted by doppler velocity, is based on next epoch institute
Corresponding integer ambiguity fixed solution determines the second target position, then judge first object position and the second target position away from
From if integer ambiguity fixed solution corresponding to next epoch is determined as void more than or equal to second threshold by the distance
False integer ambiguity fixed solution.When it is implemented, defining a radius threshold d using first object positionth[m], if FIX
In threshold range, we are solved using FIX and are set to new basic point solution；If it has exceeded threshold value, we will recognize
The FIX solution of epoch T+1 is determined for false solution and is eliminated.In this case, we are assessed using remaining basic point in period T+2
FIX solution, these basic points are the FIX solutions of time T；The epoch T+1 position of meaning shown in Fig. 2 is false FIX, epoch T+2 is true
FIX。
As shown in Figure 2, VnIndicate the north to speed, VeEast is indicated to speed, θ indicates the direction of mobile object；The side θ
To being expressed as four conditional expressions:
As an improved technical scheme, in order to improve the whether false accuracy judged of FIX, the present embodiment passes through Doppler
Speed was eliminated in the step of integer ambiguity fixed solution, if first object position is at a distance from the second target position less than second
Basic point is then updated to the second target position (that is, new basic point is arranged), with solid to remaining integer ambiguity to be processed by threshold value
Determining solution, whether falseness is judged.
In the present embodiment, in the step of doppler velocity elimination integer ambiguity fixed solution, such as under type meter is utilized
Calculate doppler velocity:
Wherein, fd indicates the Doppler frequency [Hz] of single frequency receiving observation, and C indicates the light velocity [m/s], f1Indicate carrier frequency
Rate [Hz], VsIt indicates satellite velocities [m/s], VrIt indicates doppler velocity [m/s], CbvIndicate the clock drift of single frequency receiving
[s]。
However, when falseness FIX solution continuously occur or location estimation cannot be continuously acquired, it is tired to solve Doppler frequency
The problem of error for the speed and direction that product is estimated, as an improved technical scheme, as shown in figure 3, being disappeared by doppler velocity
In the step of except integer ambiguity fixed solution, for current fixed basic point and its affiliated current epoch, if gone through currently
The epoch corresponding integer ambiguity fixed solution of continuous predetermined number (such as M epoch) after member is judged as false complete cycle mould
Paste degree fixed solution, then based on by height value determine true integer ambiguity fixed solution to N number of integer ambiguity fixed solution into
Row segmentation, as shown in figure 3, then to every part integer ambiguity fixed solution, being divided with obtaining the part Z integer ambiguity fixed solution
False integer ambiguity fixed solution is not eliminated by doppler velocity；Wherein, Z < N.
(4) by integer ambiguity fixed solution step used for positioning: after above-mentioned Processing for removing and will be retained
A integer ambiguity fixed solution of N- (X+Y) is used for positioning calculation；In the present embodiment, in order to further increase positioning accuracy, this reality
It applies in integer ambiguity fixed solution step used for positioning involved in example, it can be by a integer ambiguity fixed solution of N- (X+Y)
Middle corresponding number of satellite is most and/or the maximum integer ambiguity fixed solution of success ratio values is used for positioning calculation, the present invention
On the basis of being obtained true FIX fixed solution, it can be selected from existing scheme using the process that true FIX fixed solution carries out positioning calculation
It takes, the present invention repeats no more.
In the description of this specification, reference term " the present embodiment ", " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean specific features described in conjunction with this embodiment or example, structure,
Material or feature are included at least one embodiment or example of the invention.In the present specification, above-mentioned term is shown
The statement of meaning property is necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other,
Those skilled in the art can be by different embodiments or examples described in this specification and different embodiments or examples
Feature is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement and simple modifications etc., should all be included in the protection scope of the present invention in content.
Claims (10)
1. a kind of method for improving Global Navigation Satellite System single frequency receiving positioning accuracy, it is characterised in that: this method includes
Following steps；
Observation obtaining step: obtaining multiple observations from Global Navigation Satellite System single frequency receiving, utilizes different observations
The combination of value obtains N number of integer ambiguity fixed solution, includes multiple false integral circumference ambiguities in N number of integer ambiguity fixed solution
Spend fixed solution；Wherein, N is the station-keeping mode number of single frequency receiving when carrying out dynamic positioning；
The step of eliminating false integer ambiguity fixed solution by height value: enabling calculated height value is constraint condition, eliminates N
X false integer ambiguity fixed solution in a integer ambiguity fixed solution；Wherein, N > X；
The step of eliminating false integer ambiguity fixed solution by doppler velocity: enabling doppler velocity is constraint condition, eliminates N
Y false integer ambiguity fixed solution in a integer ambiguity fixed solution；Wherein, N > (X+Y)；
By integer ambiguity fixed solution step used for positioning: will be after above-mentioned Processing for removing and the N- (X+Y) that is retained
A integer ambiguity fixed solution is used for positioning calculation.
2. the method according to claim 1 for improving Global Navigation Satellite System single frequency receiving positioning accuracy, feature
It is:
By in integer ambiguity fixed solution step used for positioning, satellite will be corresponded in a integer ambiguity fixed solution of N- (X+Y)
The most integer ambiguity fixed solution of quantity is used for positioning calculation.
3. the method according to claim 1 or 2 for improving Global Navigation Satellite System single frequency receiving positioning accuracy, special
Sign is:
In the step of eliminating integer ambiguity fixed solution by height value, determine that false integer ambiguity is fixed using such as under type
Solution: using calculated height value as the first height value, the height value that will be obtained under the different station-keeping modes of single frequency receiving
As the second height value, the absolute value of the difference of corresponding first height value and the second height value in time is calculated, thus
Multiple absolute values are obtained, filter out the absolute value for being greater than first threshold in multiple absolute values, and will be greater than the absolute of first threshold
It is worth corresponding second height value as third height value, the corresponding integer ambiguity fixed solution of third height value is determined as falseness
Integer ambiguity fixed solution.
4. the method according to claim 3 for improving Global Navigation Satellite System single frequency receiving positioning accuracy, feature
It is: calculates height value in the following way: obtains the gas of mobile object for being equipped with the single frequency receiving using barometer
Changing value is pressed, relative altitude value is calculated by air pressure change value；It is resolved from history dynamic positioning and obtains reliable height in record
Value carries out fitting of a polynomial calculating to reliable height value using relative altitude value, to obtain height value.
5. the method according to claim 4 for improving Global Navigation Satellite System single frequency receiving positioning accuracy, feature
It is: it is as follows resolves integer ambiguity fixed solution satisfaction corresponding to the reliable height value obtained in record from history dynamic positioning
Condition: its locating accuracy is greater than the first preset value and the number of corresponding satellite is greater than the second preset value.
6. the method according to claim 5 for improving Global Navigation Satellite System single frequency receiving positioning accuracy, feature
It is:
Relative altitude value is calculated in the following way:
Wherein, Δ z indicates relative altitude value, and T [t] indicates local temperature value, and γ indicates cooling rate value, and P [t] was indicated in the time
The atmospheric pressure value when t of section, g indicate acceleration of gravity,γIndicate the gas constant of air.
7. the method according to claim 6 for improving Global Navigation Satellite System single frequency receiving positioning accuracy, feature
It is:
In the step of eliminating integer ambiguity fixed solution by doppler velocity, false integer ambiguity is determined using such as under type
Fixed solution: choosing a position of single frequency receiving as basic point and determines basic point affiliated epoch；It is predicted by doppler velocity
First object position of the single frequency receiving in subsequent epoch is determined based on integer ambiguity fixed solution corresponding to next epoch
Second target position, then judge the first object position at a distance from second target position, if the distance be greater than or
Equal to second threshold, then integer ambiguity fixed solution corresponding to next epoch is determined as false integer ambiguity fixed solution.
8. the method according to claim 7 for improving Global Navigation Satellite System single frequency receiving positioning accuracy, feature
It is:
In the step of eliminating integer ambiguity fixed solution by doppler velocity, if first object position and the second target position
Distance be less than second threshold, then basic point is updated to the second target position, to fix to remaining integer ambiguity to be processed
Whether falseness is judged solution.
9. the method according to claim 8 for improving Global Navigation Satellite System single frequency receiving positioning accuracy, feature
It is:
In the step of eliminating integer ambiguity fixed solution by doppler velocity, for current fixed basic point and its affiliated work as
Preceding epoch, if the epoch of the continuous predetermined number after current epoch corresponding integer ambiguity fixed solution is judged as void
False integer ambiguity fixed solution, then based on the true integer ambiguity fixed solution determined by height value to N number of integer ambiguity
Fixed solution is split, and to obtain the part Z integer ambiguity fixed solution, to every part integer ambiguity fixed solution, is passed through respectively
Doppler velocity eliminates false integer ambiguity fixed solution；Wherein, Z < N.
10. the raising Global Navigation Satellite System single frequency receiving according to any claim in claim 7 to 9 positions
The method of precision, it is characterised in that:
In the step of eliminating integer ambiguity fixed solution by doppler velocity, doppler velocity is calculated using such as under type:
Wherein, fd indicates the Doppler frequency of single frequency receiving observation, and C indicates the light velocity, f1Indicate carrier frequency, VsIndicate satellite
Speed, VrIndicate doppler velocity, CbvIndicate the clock drift of single frequency receiving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595397.1A CN109085627B (en) | 2018-06-11 | 2018-06-11 | A method of improving Global Navigation Satellite System single frequency receiving positioning accuracy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595397.1A CN109085627B (en) | 2018-06-11 | 2018-06-11 | A method of improving Global Navigation Satellite System single frequency receiving positioning accuracy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109085627A true CN109085627A (en) | 2018-12-25 |
| CN109085627B CN109085627B (en) | 2019-07-12 |
Family
ID=64839898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810595397.1A Active CN109085627B (en) | 2018-06-11 | 2018-06-11 | A method of improving Global Navigation Satellite System single frequency receiving positioning accuracy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109085627B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090093959A1 (en) * | 2007-10-04 | 2009-04-09 | Trimble Navigation Limited | Real-time high accuracy position and orientation system |
| CN103344977A (en) * | 2013-06-08 | 2013-10-09 | 山东华戎信息产业有限公司 | Locating and tracking device with switchable precision and locating and tracking method |
| CN103389502A (en) * | 2013-07-29 | 2013-11-13 | 中国人民解放军国防科学技术大学 | Method for determining carrier acceleration at high precision on basis of multiple ground base stations |
| CN105510935A (en) * | 2015-12-15 | 2016-04-20 | 北京光华纺织集团有限公司 | Device used for navigation |
| CN106772494A (en) * | 2017-01-13 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of inexpensive GNSS barometers combination RTK localization methods |
-
2018
- 2018-06-11 CN CN201810595397.1A patent/CN109085627B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090093959A1 (en) * | 2007-10-04 | 2009-04-09 | Trimble Navigation Limited | Real-time high accuracy position and orientation system |
| CN103344977A (en) * | 2013-06-08 | 2013-10-09 | 山东华戎信息产业有限公司 | Locating and tracking device with switchable precision and locating and tracking method |
| CN103389502A (en) * | 2013-07-29 | 2013-11-13 | 中国人民解放军国防科学技术大学 | Method for determining carrier acceleration at high precision on basis of multiple ground base stations |
| CN105510935A (en) * | 2015-12-15 | 2016-04-20 | 北京光华纺织集团有限公司 | Device used for navigation |
| CN106772494A (en) * | 2017-01-13 | 2017-05-31 | 中国科学院重庆绿色智能技术研究院 | A kind of inexpensive GNSS barometers combination RTK localization methods |
Non-Patent Citations (1)
| Title |
|---|
| 李星星: "GNSS精密单点定位及非差模糊度快速确定方法研究", 《中国博士学位论文全文数据库 基础科学辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109085627B (en) | 2019-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2023084B1 (en) | Position correction apparatus | |
| US6826478B2 (en) | Inertial navigation system for mobile objects with constraints | |
| JP4964047B2 (en) | Position detection apparatus and position detection method | |
| US6671587B2 (en) | Vehicle dynamics measuring apparatus and method using multiple GPS antennas | |
| EP1287411B1 (en) | 3d autonomous integrity monitored extrapolation navigation | |
| US11079494B2 (en) | Positioning device | |
| CN109407126A (en) | A kind of method that multimode rake receiver alignment by union resolves | |
| CN108120994A (en) | A kind of GEO satellite orbit determination in real time method based on spaceborne GNSS | |
| US20150153460A1 (en) | Sequential Estimation in a Real-Time Positioning or Navigation System Using Historical States | |
| CN105758424B (en) | System and method for attitude fault detection in one or more inertial measurement units | |
| CN106586026B (en) | A kind of measurement method of aircraft with respect to runway lateral deviation rate | |
| ITTO20060107A1 (en) | AUTOMATIC PILOT EQUIPMENT FOR A ROTARY SAILING AIRCRAFT | |
| JP5164645B2 (en) | Method and apparatus for repetitive calculation control in Kalman filter processing | |
| CN107544074A (en) | A kind of method that unmanned plane identifies false gps signal | |
| RU2529016C1 (en) | Method of locating mobile object in navigation measurements | |
| CN109085627B (en) | A method of improving Global Navigation Satellite System single frequency receiving positioning accuracy | |
| KR101880193B1 (en) | Dynamic displacement calculation device and method of calculating dynamic displacement | |
| JP5219547B2 (en) | Car navigation system and navigation method | |
| CN109375248A (en) | A kind of Kalman's multimodality fusion location algorithm model and its method serially updated | |
| CN108919283B (en) | Satellite autonomous non-cooperative target relative navigation method and system | |
| RU2487318C1 (en) | Platform-free inertial attitude and heading reference system based on sensitive elements of medium accuracy | |
| Holzapfel et al. | Road profile recognition for autonomous car navigation and Navstar GPS support | |
| WO2020110996A1 (en) | Positioning device, speed measuring device, and program | |
| JP2014153113A (en) | Velocity estimation device and program | |
| Castro-Toscano et al. | Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal |
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 |