CN109375247A - A kind of satellite navigation locating method and system - Google Patents

A kind of satellite navigation locating method and system Download PDF

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Publication number
CN109375247A
CN109375247A CN201811056862.0A CN201811056862A CN109375247A CN 109375247 A CN109375247 A CN 109375247A CN 201811056862 A CN201811056862 A CN 201811056862A CN 109375247 A CN109375247 A CN 109375247A
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China
Prior art keywords
satellite
pseudorange
receiver
coordinate
deviation
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CN201811056862.0A
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Chinese (zh)
Inventor
蔡成林
王向阳
吴金凯
谷洪浩
蔡劲
马力
沈文波
胡佳
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Priority to CN201811056862.0A priority Critical patent/CN109375247A/en
Publication of CN109375247A publication Critical patent/CN109375247A/en
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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
    • G01S19/42—Determining position
    • 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

Abstract

The present invention relates to a kind of satellite navigation locating method and systems, are related to field of satellite location.S1, the initial pseudo of acquisition receiver at least four satellites；S2, obtains corresponding amendment pseudorange according to the initial pseudo of each satellite, obtains linear pseudorange according to the initial pseudo of default receiver coordinate and each satellite；The amendment pseudorange and the linear pseudorange are obtained crucial deviation as difference by S3；S4 constructs adaptive weighted matrix according to the crucial deviation of whole satellites；S5 obtains weight coefficient according to the adaptive weighted matrix；Initial results are calculated according to the weight coefficient and least-squares algorithm in S6, and the changes in coordinates amount for meeting preset condition is filtered out from the initial results, measure receiver result coordinate according to the changes in coordinates and show the receiver result coordinate.This programme solves the technical issues of how improving receiver result coordinate precision, suitable for being positioned using satellite.

Description

A kind of satellite navigation locating method and system
Technical field
The present invention relates to field of satellite location, in particular to a kind of satellite navigation locating method and system.
Background technique
In navigator fix resolving, the pseudorange error of satellite there are biggish otherness, calculate by traditional pseudorange One-Point Location Method, such as LS algorithm are a kind of weight average algorithms, and the defect of the algorithm is that the biggish satellite of discrete error seriously affects user Positioning result.
But above system is used, algorithm can have discrete error biggish satellite during being positioned, cause Positioning result precision is poor.
Summary of the invention
The technical problem to be solved by the present invention is to how improve receiver result coordinate precision.
The technical scheme to solve the above technical problems is that a kind of satellite navigation locating method, comprising:
S1, the initial pseudo of acquisition receiver at least four satellites；
S2 obtains corresponding amendment pseudorange according to the initial pseudo of each satellite, according to default receiver coordinate and The initial pseudo of each satellite obtains linear pseudorange；
The amendment pseudorange and the linear pseudorange are obtained crucial deviation as difference by S3；
S4 constructs adaptive weighted matrix according to the crucial deviation of whole satellites；
S5 obtains weight coefficient according to the adaptive weighted matrix；
S6 is calculated initial results according to the weight coefficient and least-squares algorithm, screens from the initial results The changes in coordinates amount for meeting preset condition out measures receiver result coordinate according to the changes in coordinates and shows the reception Machine result coordinate.
According to receiver to four or the initial pseudo of more than four satellites, amendment pseudorange and linear pseudorange are obtained, Then amendment pseudorange and linear pseudorange are obtained into crucial deviation as difference, recycles the crucial deviation building adaptive weighted Matrix obtains weight coefficient, and weight coefficient is substituted into least-squares algorithm equation and carries out that changes in coordinates amount is calculated, further according to seat Mark variable quantity obtains receiver result coordinate and shows the receiver result coordinate；Since the weight coefficient of this programme is by certainly It adapts to weighting matrix to be calculated, is the variation with pseudorange and changes, therefore be able to solve due to part satellite deviation It is larger and caused by the low technical problem of positioning accuracy.
The beneficial effects of the present invention are: obtaining initial pseudo before positioning every time, crucial deviation is obtained by pseudorange, then obtain To weight coefficient, so that can be modified by pseudorange to the calculating of receiver result before calculating receiver result coordinate every time, lead to It crosses weight coefficient and compares the receiver only obtained by least-squares algorithm with the receiver result coordinate that least-squares algorithm obtains As a result coordinate, solves the big technical problem of part satellite pseudorange biases, how to improve receiver result coordinate to solve The technical issues of precision.
Based on the above technical solution, the present invention can also be improved as follows.
Further, step S2 specifically:
S21: being modified the initial pseudo according to correction model and obtains amendment pseudorange, and the correction model includes Tropospheric delay correction model, the theory of relativity Correction of Errors algorithm, earth rotation algorithm for correction, Ionospheric delay correcting algorithm；
S22: linear pseudorange, the linearization equations are obtained according to linearization equations and the initial pseudo are as follows:
Wherein, ri0For the geometric distance of satellite i to receiver, dt is error amount caused by clock deviation, (xi,yi,zi) it is i-th The coordinate of satellite, (x0, y0, z0) it is receiver initial coordinate, c is the light velocity.
Beneficial effect using above-mentioned further scheme is to obtain linear pseudorange r by linearization equationsiu+cdt。
Further, linearization equations described in step S2 are linearized to obtain by that will simplify pseudorange equation, the letter Change pseudorange equation are as follows:
Wherein, Δ ρiFor crucial deviation, ρiTo correct pseudorange, (xi,yi,zi) be i-th satellite coordinate, (xu, yu, zu) it is receiver coordinate, dt is error amount caused by clock deviation, and c is the light velocity,
Beneficial effect using above-mentioned further scheme is, can be according to the initial of each satellite by simplifying pseudorange equation Pseudorange obtains amendment pseudorange.
Further, step S4 includes:
S41 seeks mutual deviation according to the crucial deviation of each satellite；
S42 obtains satellite weight according to the mutual deviation；
S43 obtains weight coefficient matrix according to the crucial deviation and the satellite weight.
Beneficial effect using above-mentioned further scheme is that the mutual deviation found out by crucial deviation is to obtain weight coefficient Matrix.
Further, the preset condition in step S6 are as follows:
Wherein, (Δ xu, Δ yu, Δ zu) it is changes in coordinates amount, β is threshold value.
Beneficial effect using above-mentioned further scheme is, by the way that initial coordinate and initial results are constantly substituted into default item It is verified and is calculated in part, obtain final receiver result coordinate.
Further, a kind of satellite navigation and location system, including input module, processing module and output module；The input Module be used for obtain receiver at least four satellites satellite data initial pseudo；The processing module is used for according to each The initial pseudo of satellite obtains corresponding amendment pseudorange, according to the initial puppet of default receiver coordinate and each satellite Away from linear pseudorange is obtained, the amendment pseudorange and the linear pseudorange are obtained into crucial deviation as difference, according to each satellite The key deviation constructs adaptive weighted matrix, weight coefficient is obtained according to the adaptive weighted matrix, finally from described The changes in coordinates amount for meeting preset condition is filtered out in initial results, and receiver result coordinate is measured according to the changes in coordinates And show the receiver result coordinate；The output module is for exporting the receiver result coordinate.
Beneficial effect using above-mentioned further scheme is that processing module calculates crucial deviation according to initial pseudo first Value, then weight coefficient is obtained, finally initial pseudo and weight coefficient is combined to obtain receiver result coordinate, compared to according only to initial pseudo Precision without substituting into the receiver result coordinate that weight coefficient calculates is higher.
Further, the processing module is used to obtain co-ordinates of satellite according to the satellite data of each satellite, then root According to receiver coordinate from each co-ordinates of satellite obtain each satellite to the receiver initial pseudo；According to amendment mould Type is modified to the initial pseudo and obtains amendment pseudorange, and the correction model includes tropospheric delay correction model, phase To opinion Correction of Errors algorithm, earth rotation algorithm for correction, Ionospheric delay correcting algorithm according to linearization equations and described initial Pseudorange obtains linear pseudorange, the linearization equations are as follows:
Wherein, ri0For the pre-determined distance of the geometric distance of satellite i to receiver, dt is error amount caused by clock deviation, and c is light Speed, (xi,yi,zi) be i-th satellite coordinate, (x0, y0, z0) it is receiver initial coordinate.
Beneficial effect using above-mentioned further scheme is to obtain linear pseudorange r by linearization equationsiu+cdt。
Further, the linearization equations are linearized to obtain by that will simplify pseudorange equation, the simplified pseudorange side Journey are as follows:
Wherein, Δ ρiFor crucial deviation, ρiTo correct pseudorange, (xi,yi,zi) be i-th satellite coordinate, (xu, yu, zu) it is receiver coordinate, dt is error amount caused by clock deviation, and c is the light velocity.
Beneficial effect using above-mentioned further scheme is, by simplifying pseudorange equation, to ignore Δ ρiInfluence, enable Δ ρi =0, it by the nonlinear function on the right of simplification matrix equation according to Taylor series expansion, takes to first order and is linearized, obtain Lienarized equation.
Further, the processing module is also used to seek mutual deviation according to the crucial deviation of each satellite, according to described Mutual deviation obtains satellite weight, obtains weight coefficient matrix further according to the crucial deviation and the satellite weight.
Beneficial effect using above-mentioned further scheme is that the mutual deviation found out by crucial deviation is to obtain weight coefficient Matrix.
Further, the preset condition are as follows:
Wherein, (Δ xu, Δ yu, Δ zu) it is changes in coordinates amount, β is threshold value.
Beneficial effect using above-mentioned further scheme is, by the way that initial coordinate and initial results are constantly substituted into default item Final receiver result coordinate is verified and is calculated in part.
Detailed description of the invention
Fig. 1 is the flow diagram of the embodiment of satellite navigation locating method of the present invention；
Fig. 2 is the system structure diagram of the embodiment of satellite navigation and location system of the present invention.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and It is non-to be used to limit the scope of the invention.
Embodiment is substantially as shown in Fig. 1:
The present embodiment Satellite navigation locating method, comprising:
S1, the initial pseudo of acquisition receiver at least four satellites；
S2 obtains corresponding amendment pseudorange according to the initial pseudo of each satellite, utilizes ephemeris parameter, electricity in the present embodiment Absciss layer delay error, to tropospheric delay correction model, the theory of relativity Correction of Errors algorithm, earth rotation algorithm for correction and ionosphere Delay correction scheduling algorithm is modified to obtain amendment pseudorange to initial pseudo, according to default receiver coordinate and each satellite just Beginning pseudorange obtains linear pseudorange；
Amendment pseudorange and linear pseudorange as difference are obtained crucial deviation by S3, and the crucial deviation in the present embodiment can be with It is set as:
Wherein b is crucial deviation, and i represents the number of satellite, and abs () is ABS function, and mi n () is minimum value letter Number, max () are max function, and mean () is mean function；
S4 constructs adaptive weighted matrix according to the crucial deviation of whole satellites, adaptive weighted in the present embodiment Matrix is Jacobian matrix；
S5 obtains weight coefficient according to adaptive weighted matrix；
S6, is calculated initial results according to weight coefficient and least-squares algorithm, and it is pre- that satisfaction is filtered out from initial results If the changes in coordinates amount of condition, receiver result coordinate is measured according to the changes in coordinates and shows receiver result coordinate, The equation of least-squares algorithm in the present embodiment are as follows:
Δ x=(GTωG)-1GTω B,
Wherein Δ xu,Δyu,ΔzuFor initial results, G is Jacobian matrix, GTIt is unit for the transposed matrix I of matrix G Measurement vector, ω are weight coefficient.
In the present embodiment, by (x0, y0, z0) it is receiver initial coordinate pre-determined distance ri0It substitutes into and calculates, according to least square The equation of algorithm obtains [Δ xu,Δyu,Δzu, cdt], enable x0=x0+Δxu,y0=y0+y,zz0=z0+Δzu,r0=r0+ Cdt is repeated the above process and is iterated, until Δ xu,Δyu,ΔzuIt is sufficiently small, meet formula preset condition:
Changes in coordinates amount is obtained according to preset condition, if obtaining changes in coordinates amount, initial coordinate (x for iteration k times0, y0, z0) Initial coordinate (x after obtaining iteration after iteration k-1 timesk-1, yk-1, zk-1), by the initial coordinate (x after iterationk-1, yk-1, zk-1) In addition changes in coordinates measures receiver result coordinate and shows receiver result coordinate, the display in the present embodiment is whole End can be mobile terminal of mobile telephone.
According to receiver to four or the initial pseudo of more than four satellites, amendment pseudorange and linear pseudorange are obtained, Then amendment pseudorange and linear pseudorange are obtained into crucial deviation as difference, crucial deviation is recycled to construct adaptive weighted matrix Weight coefficient is obtained, weight coefficient is substituted into least-squares algorithm equation and carries out that receiver result coordinate is calculated；Due to we The weight coefficient of case is calculated by adaptive weighted matrix, is the variation with pseudorange and is changed, therefore is able to solve As part satellite deviation it is larger and caused by the low technical problem of positioning accuracy.
Optionally, in some other embodiments, step S2 specifically:
S21: being modified initial pseudo according to correction model and obtains amendment pseudorange, and correction model includes that troposphere is prolonged Slow correction model, the theory of relativity Correction of Errors algorithm, earth rotation algorithm for correction, Ionospheric delay correcting algorithm；
S22: linear pseudorange, linearization equations are obtained according to linearization equations and initial pseudo are as follows:
Wherein, ri0For the geometric distance of satellite i to receiver, dt is error amount caused by clock deviation, (xi,yi,zi) it is i-th The coordinate of satellite, (x0, y0, z0) it is receiver initial coordinate, c is the light velocity.
In the present embodiment, pass through ri0Calculate unit measurement vector I, accounting equation are as follows:
Linear pseudorange r is obtained by linearization equationsiu+cdt。
Optionally, in some other embodiments, linearization equations pass through and will simplify pseudorange equation progress line in step S2 Property obtain, simplify pseudorange equation are as follows:
Wherein, Δ ρiFor crucial deviation, ρiTo correct pseudorange, (xi,yi,zi) be i-th satellite coordinate, (xu, yu, zu) it is receiver coordinate, dt is error amount caused by clock deviation, and c is the light velocity,
Amendment pseudorange can be obtained according to the initial pseudo of each satellite by simplifying pseudorange equation.
Optionally, in some other embodiments, step S4 includes:
S41 seeks mutual deviation according to the crucial deviation of each satellite；
S42 obtains satellite weight according to mutual deviation；
S43 obtains weight coefficient matrix according to crucial deviation and satellite weight.
The mutual deviation found out by crucial deviation is to obtain weight coefficient matrix.
Optionally, in some other embodiments, the preset condition in step S6 are as follows:
Wherein, (Δ xu, Δ yu, Δ zu) it is changes in coordinates amount, β is threshold value, 15 >=β >=8.
Final connect is verified and is calculated by constantly substituting into initial coordinate and initial results in preset condition Initial results are obtained the changes in coordinates amount for meeting preset condition in the present embodiment by receipts machine result coordinate after interative computation, If obtaining changes in coordinates amount needs iteration k times, the result after initial coordinate iteration k-1 times is measured into reception plus changes in coordinates Machine result coordinate.
Optionally, in some other embodiments, as shown in Fig. 2, a kind of satellite navigation and location system, including input module 1, processing module 2 and output module 3；Input module 1 be used for obtain receiver at least four satellites satellite data it is initial Pseudorange；Processing module 2 is used to obtain corresponding amendment pseudorange according to the initial pseudo of each satellite, according to default receiver coordinate Linear pseudorange is obtained with the initial pseudo of each satellite, amendment pseudorange and linear pseudorange are obtained into crucial deviation as difference, according to The crucial deviation of each satellite constructs adaptive weighted matrix, weight coefficient is obtained according to adaptive weighted matrix, finally from first The changes in coordinates amount for meeting preset condition is filtered out in beginning result, and receiver result coordinate is measured simultaneously according to the changes in coordinates Show receiver result coordinate；Output module 3 is used for output receiver result coordinate.
Processing module 2 calculates crucial deviation according to initial pseudo first, then obtains weight coefficient, final to combine initial puppet Away from receiver result coordinate is obtained with weight coefficient, compared to the receiver result calculated according only to initial pseudo without substituting into weight coefficient The precision of coordinate is higher.
Optionally, in some other embodiments, processing module 2 is used to obtain satellite according to the satellite data of each satellite Coordinate, then according to receiver coordinate from each co-ordinates of satellite obtain each satellite to receiver initial pseudo；According to repairing Positive model is modified to initial pseudo and obtains amendment pseudorange, and correction model includes tropospheric delay correction model, the theory of relativity Correction of Errors algorithm, earth rotation algorithm for correction, Ionospheric delay correcting algorithm are obtained according to linearization equations and initial pseudo Linear pseudorange, linearization equations are as follows:
Wherein, ri0For the pre-determined distance of the geometric distance of satellite i to receiver, dt is error amount caused by clock deviation, and c is light Speed, (xi,yi,zi) be i-th satellite coordinate, (x0, y0, z0) it is to receive initial coordinate.
Linear pseudorange r is obtained by linearization equationsiu+cdt。
Optionally, in some other embodiments, linearization equations are linearized to obtain by that will simplify pseudorange equation, Simplify pseudorange equation are as follows:
Wherein, Δ ρiFor crucial deviation, ρiTo correct pseudorange, (xi,yi,zi) be i-th satellite coordinate, (xu, yu, zu) it is receiver coordinate, dt is error amount caused by clock deviation, and c is the light velocity.
By simplifying pseudorange equation, ignore Δ ρiInfluence, enable Δ ρi=0, by the non-linear letter on the right of simplification matrix equation Number takes to first order and is linearized, obtain lienarized equation according to Taylor series expansion.
Optionally, in some other embodiments, processing module 2 is also used to ask mutual according to the crucial deviation of each satellite Difference, obtains satellite weight according to mutual deviation, obtains weight coefficient matrix further according to crucial deviation and satellite weight.
The mutual deviation found out by crucial deviation is to obtain weight coefficient matrix.
Optionally, in some other embodiments, preset condition are as follows:
Wherein, (Δ xu, Δ yu, Δ zu) it is changes in coordinates amount, β is threshold value, 15 >=β >=8.
It is verified to obtain final receiver knot in preset condition by constantly substituting into initial coordinate and initial results Fruit coordinate.
It should be noted that the various embodiments described above are product embodiments corresponding with above-mentioned each method embodiment, for this In embodiment the explanation of each constructional device and optional embodiment can with reference in above-mentioned each method embodiment pair it should be noted that This is repeated no more.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of satellite navigation locating method, which comprises the following steps:
S1, the initial pseudo of acquisition receiver at least four satellites；
S2 obtains corresponding amendment pseudorange according to the initial pseudo of each satellite, according to default receiver coordinate and each The initial pseudo of satellite obtains linear pseudorange；
The amendment pseudorange and the linear pseudorange are obtained crucial deviation as difference by S3；
S4 constructs adaptive weighted matrix according to the crucial deviation of whole satellites；
S5 obtains weight coefficient according to the adaptive weighted matrix；
Initial results are calculated according to the weight coefficient and least-squares algorithm in S6, filter out from the initial results full The changes in coordinates amount of sufficient preset condition measures receiver result coordinate according to the changes in coordinates and shows the receiver knot Fruit coordinate.
2. satellite navigation locating method according to claim 1, it is characterised in that: step S2 specifically:
S21: being modified the initial pseudo according to correction model and obtains amendment pseudorange, and the correction model includes convection current Layer delay correction model, the theory of relativity Correction of Errors algorithm, earth rotation algorithm for correction, Ionospheric delay correcting algorithm；
S22: linear pseudorange, the linearization equations are obtained according to linearization equations and the initial pseudo are as follows:
Wherein, ri0For the pre-determined distance of the geometric distance of satellite i to receiver, dt is error amount caused by clock deviation, (xi, yi, zi) For the coordinate of i-th satellite, (x0, y0, z0) it is receiver initial coordinate, c is the light velocity.
3. satellite navigation locating method according to claim 2, it is characterised in that: linearization equations described in step S2 are logical Pseudorange equation will be simplified by, which crossing, is linearized to obtain, the simplified pseudorange equation are as follows:
Wherein, Δ ρiFor crucial deviation, ρiTo correct pseudorange, (xi,yi,zi) be i-th satellite coordinate, (xu, yu, zu) be Receiver coordinate, dt are error amount caused by clock deviation, and c is the light velocity.
4. satellite navigation locating method according to claim 1, it is characterised in that: step S4 includes:
S41 seeks mutual deviation according to the crucial deviation of each satellite；
S42 obtains satellite weight according to the mutual deviation；
S43 obtains weight coefficient matrix according to the crucial deviation and the satellite weight.
5. satellite navigation locating method according to claim 1, it is characterised in that: the preset condition in step S6 are as follows:
Wherein, (Δ xu, Δ yu, Δ zu) it is changes in coordinates amount, β is threshold value.
6. a kind of satellite navigation and location system, it is characterised in that: including input module, processing module and output module；It is described defeated Enter module for obtain receiver at least four satellites satellite data initial pseudo；The processing module is used for according to every The initial pseudo of a satellite obtains corresponding amendment pseudorange, according to the described initial of default receiver coordinate and each satellite Pseudorange obtains linear pseudorange, the amendment pseudorange and the linear pseudorange is obtained crucial deviation as difference, according to each satellite The crucial deviation construct adaptive weighted matrix, weight coefficient is obtained according to the adaptive weighted matrix, finally from institute It states and filters out the changes in coordinates amount for meeting preset condition in initial results, receiver result is measured according to the changes in coordinates and is sat It marks and shows the receiver result coordinate；The output module is for exporting the receiver result coordinate.
7. satellite navigation and location system according to claim 6, it is characterised in that: the processing module is used for according to amendment The initial pseudo of model and each satellite obtains corresponding amendment pseudorange, and the correction model includes tropospheric delay correction Model, the theory of relativity Correction of Errors algorithm, earth rotation algorithm for correction, Ionospheric delay correcting algorithm；According to linearization equations and The initial pseudo obtains linear pseudorange, the linearization equations are as follows:
Wherein, ri0For the pre-determined distance of the geometric distance of satellite i to receiver, dt is error amount caused by clock deviation, and c is the light velocity, (xi,yi,zi) be i-th satellite coordinate, (x0, y0, z0) it is receiver initial coordinate.
8. satellite navigation and location system according to claim 7, it is characterised in that: the linearization equations will be by that will simplify Pseudorange equation is linearized to obtain, the simplified pseudorange equation are as follows:
Wherein, Δ ρiFor crucial deviation, ρiTo correct pseudorange, (xi,yi,zi) be i-th satellite coordinate, (xu, yu, zu) be Receiver coordinate, dt are error amount caused by clock deviation, and c is the light velocity.
9. satellite navigation and location system according to claim 6, it is characterised in that: the processing module is also used to according to every The crucial deviation of a satellite seeks mutual deviation, obtains satellite weight according to the mutual deviation, further according to the crucial deviation and The satellite weight obtains weight coefficient matrix.
10. satellite navigation and location system according to claim 6, it is characterised in that: the preset condition are as follows:
Wherein, (Δ xu, Δ yu, Δ zu) it is changes in coordinates amount, β is threshold value.
CN201811056862.0A 2018-09-11 2018-09-11 A kind of satellite navigation locating method and system Pending CN109375247A (en)

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Application publication date: 20190222