CN109459778A - Code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method and its application - Google Patents
Code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method and its application Download PDFInfo
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- 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
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Abstract
The invention discloses a kind of, and the code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method, this method uses the observation informations such as code pseudorange, Doppler, carrier-to-noise ratio, elevation of satellite to establish the function model and stochastic model to test the speed respectively first, then the robust stochastic model for being able to suppress rough error influence is obtained using the method for least square Robust filter, and the function model that tests the speed of code pseudorange and Doppler are finally combined into the model that tests the speed with robust stochastic model composition.Using method proposed by the invention, the limitation that current single-frequency satellite receiver is only tested the speed with single piece of information can be broken through, while can inhibit to observe the influence of rough error, promotes the robustness, unbiasedness and stability of joint speed-measuring method significantly.
Description
Technical field
The invention belongs to GNSS (Global Navigation Satellite System) positioning and field of navigation technology, in particular to are based on robust side
Code pseudorange/Doppler's simultaneous determination receiver movement velocity of difference component estimation.
Background technique
Speed is one of the important kinematic parameter in the fields such as aviation flight, intelligent navigation, unmanned, maritime traffic,
High-precision that GNSS tests the speed, it is real-time, cheap the features such as it is widely used in these fields.Foreign scholar passes through
Differential data simulation test has obtained the range rate error relationship directly proportional to the movement velocity of carrier and rate of acceleration change, accidentally
Poor range is per second to several metre per second (m/s)s etc. from submillimeter.Domestic scholars are also once to pseudorange, carrier wave, Doppler and its difference observation
Test the speed model and rate accuracy has carried out the anatomy and evaluation of system.In detail, pseudorange, carrier wave and doppler measurement
Measure receiver speed, directly can seek average speed using GNSS positioning result progress differential position, but this highly dependent upon
It is not very practical in the precision of positioning result.In addition, the average speed in Differential time can be acquired by pseudo range difference between epoch
Degree, but influenced by code pseudorange accuracy, range rate error is larger；Being averaged in Differential time can be also acquired using phase difference between epoch
Speed, and precision is higher, but carrier phase is vulnerable to interference and cycle slip is frequent, or even without output, reliability is lower；Doppler sees
Measured value can obtain high-precision instantaneous velocity, insensitive to orbit error, receiver clock-offsets, atmosphere errors, and cycle slip is not present,
Influence of the pseudorange stand-alone position error to rate accuracy is also a kind of practical reliable observation in millimeter rank.
All a variety of observation informations or speed-measuring method have been made a general survey of, but how to have merged different classes of observation information, has been maximized
It is the pressing issues faced in engineer application that ground, which realizes that high-accuracy stable tests the speed,.
Summary of the invention
Technical problem: being directed to the above-mentioned prior art, use for reference the thought of Multi-source Information Fusion, propose using single-frequency code pseudorange and
The method of the observation Combined Calculation receiver speed of two class different accuracy of Doppler, while being based on Robust filter and component of variance
Estimate the mode combined, more reasonable effective stochastic model is established in exploration, maximumlly to play the effect of conjunctive model.
Technical solution: the code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method, pseudo- using code first
The function model and stochastic model to test the speed is established respectively away from, Doppler, carrier-to-noise ratio, the observation information of elevation of satellite；Then it adopts
The robust stochastic model for being able to suppress rough error influence is obtained with the method for least square Robust filter；Finally by code pseudorange and Duo Pu
The function model that tests the speed strangled combines the model that tests the speed with robust stochastic model composition, is iteratively solved using the method for variance components estimate
The movement velocity of satellite receiver.
Further, it includes following specific that the code pseudorange based on robust variance component estimation/Doppler, which combines speed-measuring method,
Step:
Step 1) establishes the function to test the speed using code pseudorange, Doppler, carrier-to-noise ratio, elevation of satellite observation information respectively
Model and stochastic model, comprise the following specific steps that:
A), the change rate that yard pseudorange and carrier wave are acquired by way of difference between epoch, as shown in formula (1):
In formula, ρ andRespectively code pseudorange and its change rate,WithRespectively carrier phase and its change rate, D are more
General Le observation, Δ t is Differential time, wherein every subscript k, k+1 is respectively+1 moment of kth moment and kth；
B), the function model to test the speed is established using code pseudorange and doppler measurement, generally GNSS observational equation such as formula
(2) shown in:
In formula, ρ is receiver code Pseudo-range Observations,For receiver carrier observations, N0For integer ambiguity, λ is carrier wave
Wavelength, R are receiver and intersatellite true geometric distance, and c is the light velocity, and δ t is clock deviation, δ ρionFor ionosphere delay, δ ρtrop
For tropospheric delay, ερWithFor comprising other error terms including orbit error, multipath effect, observation noise, wherein respectively
The subscript s and subscript r of item respectively represent satellite and receiver.
It to the derivation of time t and is linearized according to GNSS observational equation, as shown in formula (3):
It is every in formulaIndicate the change rate of t at any time, and
In formula, rs、For satellite position, the speed column under ECEF (Earth-Centered, Earth-Fixed) coordinate system
Vector, rr、For receiver location, speed column vector, R under ECEF coordinate system0For by receiver rough coordinates rr0The reception acquired
Machine and intersatellite geometric distance,For receiver outline speed, x, y and z are throwing of the position vector under ECEF coordinate system
Shadow, vx、vyAnd vzFor projection of the velocity vector under ECEF coordinate system.Corresponding survey can be obtained in combinatorial formula (1), (3) and (4)
Fast function model；
C), the stochastic model to test the speed is established using observation informations such as carrier-to-noise ratio, elevation of satellite, as shown in formula (5):
In formula, σ is covariance, and E indicates that elevation of satellite, subscript i indicate satellite number, and S is zoom factor, constant term
a0、a1And E0It is defined by table 1:
Wherein, zoom factor S is defined by satellite carrier-to-noise ratio, as shown in formula (6):
In formula, C/N0Indicate satellite carrier-to-noise ratio, int (*) is bracket function.Survey can determine by formula (5), (6) and table 1
The priori stochastic model of speed.
Step 2) obtains the robust stochastic model for being able to suppress rough error influence using the method for least square Robust filter,
It comprises the following specific steps that:
A), residual vector and corresponding association's factor are acquired by least-squares estimation, as shown in formula (7):
In formula, B is design matrix, and P is Posterior weight, and l is observation vector, and Q is that observation assists factor,Parameter to be estimated, V
For residual vector, QvvFactor is assisted for residual error.
B), the IGG III equivalence weight scheme proposed by Zhou Jiangwen obtains the random mould of robust for being able to suppress rough error influence
Type, as shown in formula (8):
In formula,For standardized residual, k0And k1For constant, general k0∈ [1.0~1.5], k1∈ [2.5~8.0],
For robust equivalence weight, subscript i represents i-th of observation.
The function model that tests the speed of code pseudorange and Doppler are combined the model that tests the speed with robust stochastic model composition by step 3),
Using the movement velocity of the method iterative solution satellite receiver of variance components estimate, comprise the following specific steps that:
A), the function model that tests the speed of code pseudorange and Doppler are combined into the model that tests the speed with robust stochastic model composition, such as formula
(9) shown in:
In formula, every subscript 1 and 2 respectively represents yard pseudorange and Doppler, the corresponding combination item that N and W are respectively represented；
B), using the weight of all kinds of observations of method iteration adjustment of variance components estimate, as shown in formula (10):
In formula, tr (*) representing matrix seeks mark, and E (*) expression takes expectation, and n is observation number,Variance is weighed for unit
Estimated value, V are residual vector,For robust equivalence weight, every subscript 1 and 2 respectively represents yard pseudorange and Doppler.By asking
Solving equations (10) formula, obtains variance of unit weightValuationSubstitution formula (11) obtains adjusted all kinds of
Observation weight:
In formula,Indicate the weight that single iteration adjusts, C is constant, can fix selectionAny of, it is every
Subscript 1 and 2 respectively represents yard pseudorange and Doppler.
C), using through the variance components estimate movement velocity adjusted for combining the model solution satellite receiver that tests the speed, such as
Shown in formula (12):
In formula,For the velocity vector of estimation, subscript -1 represents matrix inversion operation；
Repeat step a), b), c) until the valuation of all kinds of variance of unit weights is equal or its is equal through hypothesis testing, i.e.,
The final movement velocity of receiver can be acquired.
Further, when carrying out step 3), if estimating by being still unable to satisfy variance of unit weight when 4~5 loop iterations
Be worth it is equal or by assuming that examine, then jump out circulation, directly adopt robust solution as final calculation result.
In addition, above-mentioned refer to Zhou Jiangwen, the artificial geodesist, IGG III scheme was Zhou Jiangwen in 1989
The 3rd set of Robust filter method put forward according to measurement error boundedness, the i.e. equivalence weight of robustIt is obtained by formula (8).This
It is that Robust filter field generallys use and the preferable Robust filter method of robust effect, is widely applied and is praised highly by industry, at
For well known practical robust method.Formula (8) is that each set robust method that it is proposed is used in most wide methodology in the middle
Core formula.The present invention is also that the inhibition of rough error is carried out using its robust method.
It is surveyed the utility model has the advantages that a kind of code pseudorange based on robust variance component estimation proposed by the invention/Doppler combines
Fast method breaks through current single-frequency satellite reception by utilizing code pseudorange and Doppler's observation information Combined Calculation receiver speed
The limitation that machine is only tested the speed with single observation value；It is asked for the model that tests the speed is combined vulnerable to what the bad observation such as rough error influenced
Topic inhibits influence of the rough error to model inside similar observation using equivalence weight Robust filter principle；For merging multi-source information
Combine when testing the speed there are incompatible between various information, the inconsistent problem of precision, be balanced using variance components estimate method
The stochastic model combined and tested the speed is adaptively adjusted in weight proportion between inhomogeneity observation.Using proposed by the invention
Method is obviously improved the robustness of joint speed-measuring method, unbiasedness and steady, it can be achieved that single-frequency observation information makes effective use of
It is qualitative.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is that the code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method in one embodiment of the invention
Flow chart；
Fig. 2 is respectively to resolve scheme in one embodiment of the invention to test the speed true error；
Fig. 3 is the direction One-Point Location N, E true error in one embodiment of the invention；
Fig. 4 is respectively to resolve scheme X-axis in one embodiment of the invention to test the speed true error；
Fig. 5 is respectively to resolve scheme aggregate velocity error in one embodiment of the invention；
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
A kind of code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method, uses code pseudorange, how general
The observation informations such as Le, carrier-to-noise ratio, elevation of satellite establish the function model and stochastic model to test the speed respectively, anti-using least square
The method of difference estimation obtains the robust stochastic model for being able to suppress rough error influence, by the function model that tests the speed of code pseudorange and Doppler
Combine the model that tests the speed with robust stochastic model composition, the movement of the method iterative solution satellite receiver based on variance components estimate
Speed.
It tests the speed in resolving in GNSS, is by establishing observational equation and to unknown parameter (such as position, speed in equation
Degree) (estimation) is solved, to obtain position or velocity information.Observational equation can be divided into two parts: the Function Modules of observation
Type and stochastic model.Function model feature observation and it is to be estimated between mathematical relationship (i.e. nature physics law mathematics side
Journey expression, such as displacement=speed * time, wherein displacement is the observation of each timing node, speed is parameter to be estimated)；
Stochastic model then describes the correlation between noise (i.e. error) size and observation of observation.Keep gain of parameter to be estimated quasi-
It is really effective to solve (estimation), need to establish accurate function model and matched stochastic model.Work as in actually resolving
In, function model can be obtained relatively accurately by the physical meaning determined, and due to the random of observation device and environment or
Nonrandom combined influence, it tends to be difficult to guarantee that the accurate error of observation obtained namely stochastic model are difficult to accurately obtain and build
It is vertical.So (i.e. signal-to-noise ratio, satellite are high by the main feature information by observation by the present invention to establish accurate stochastic model
Spend angle etc.), combine the stochastic model for establishing priori, then by robust variance component estimation method, using function model and with
Machine model carries out careful adjusting, as much as possible function model is matched with stochastic model, and can accurately reflect reality
Measurement situation.The present invention is mainly characterized by observation and not only uses single regular code Pseudo-range Observations, also merges
Doppler measurement, this is two distinct types of observation, and the physical meaning and observation error level of observation are all inconsistent.
Combine the function model to test the speed so not only needing to establish, also needs to establish accurate stochastic model, to improve velocity information
Estimated accuracy, the method for use are exactly to have the variance components estimate method of robustness.
Embodiment 1
A kind of code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method and comprises the following specific steps that:
Step 1) establishes the letter to test the speed using observation informations such as code pseudorange, Doppler, carrier-to-noise ratio, elevation of satellite respectively
Exponential model and stochastic model, comprise the following specific steps that:
A), the change rate that yard pseudorange and carrier wave are acquired by way of difference between epoch, as shown in formula (1):
In formula, ρ andRespectively code pseudorange and its change rate,WithRespectively carrier phase and its change rate, D are more
General Le observation, Δ t is Differential time, wherein every subscript k, k+1 is respectively+1 moment of kth moment and kth.
B), the function model to test the speed is established using code pseudorange and doppler measurement, generally GNSS observational equation such as formula
(2) shown in:
In formula, ρ is receiver code Pseudo-range Observations,For receiver carrier phase observation data, N0For integer ambiguity, λ is
Carrier wavelength, R are receiver and intersatellite true geometric distance, and c is the light velocity, and δ t is clock deviation, δ ρionFor ionosphere delay, δ
ρtropFor tropospheric delay, ερWithFor comprising other error terms including orbit error, multipath effect, observation noise, wherein
Every subscript s and subscript r respectively represents satellite and receiver.
It to the derivation of time t and is linearized according to GNSS observational equation, as shown in formula (3):
It is every in formulaIndicate the change rate of t at any time, and
In formula, rs、For satellite position, the speed column under ECEF (Earth-Centered, Earth-Fixed) coordinate system
Vector, rr、For receiver location, speed column vector, R under ECEF coordinate system0For by receiver rough coordinates rr0That acquires connects
Receipts machine and intersatellite geometric distance,For receiver outline speed, x, y and z are throwing of the position vector under ECEF coordinate system
Shadow, vx、vyAnd vzFor projection of the velocity vector under ECEF coordinate system.Corresponding survey can be obtained in combinatorial formula (1), (3) and (4)
Fast function model；
C), the stochastic model to test the speed is established using observation informations such as carrier-to-noise ratio, elevation of satellite, as shown in formula (5):
In formula, σ is covariance, and E indicates that elevation of satellite, subscript i indicate satellite number, and S is zoom factor, constant term
a0、a1And E0It is defined by table 1:
Wherein, zoom factor S is defined by satellite carrier-to-noise ratio, as shown in formula (6):
In formula, C/N0Indicate satellite carrier-to-noise ratio, int (*) is bracket function.Survey can determine by formula (5), (6) and table 1
The priori stochastic model of speed.
Step 2) obtains the robust stochastic model for being able to suppress rough error influence using the method for least square Robust filter,
It comprises the following specific steps that:
A), residual vector and corresponding association's factor are acquired by least-squares estimation, as shown in formula (7):
In formula, B is design matrix, and P is Posterior weight, and l is observation vector, and Q is that observation assists factor,Parameter to be estimated, V
For residual vector, QvvFactor is assisted for residual error.
B), the IGG III equivalence weight scheme proposed by Zhou Jiangwen obtains the random mould of robust for being able to suppress rough error influence
Type, as shown in formula (8):
In formula,For standardized residual, k0And k1For constant, general k0∈ [1.0~1.5], k1∈ [2.5~8.0],
For robust equivalence weight, subscript i represents i-th of observation.
The function model that tests the speed of code pseudorange and Doppler are combined the model that tests the speed with robust stochastic model composition by step 3),
Using the movement velocity of the method iterative solution satellite receiver of variance components estimate, comprise the following specific steps that:
A), the function model that tests the speed of code pseudorange and Doppler are combined into the model that tests the speed with robust stochastic model composition, such as formula
(9) shown in:
In formula, every subscript 1 and 2 respectively represents yard pseudorange and Doppler.
B), using the weight of all kinds of observations of method iteration adjustment of variance components estimate, as shown in formula (10):
In formula, tr (*) representing matrix seeks mark, and E (*) expression takes expectation, and n is observation number,Variance is weighed for unit
Estimated value, V are residual vector,For robust equivalence weight, every subscript 1 and 2 respectively represents yard pseudorange and Doppler.By asking
Solving equations (10) formula, obtains variance of unit weightValuationSubstitution formula (11) obtains adjusted all kinds of
Observation weight:
In formula,Indicate the weight that single iteration adjusts, C is constant, can fix selectionAny of, it is every
Subscript 1 and 2 respectively represents yard pseudorange and Doppler.
C), using through the variance components estimate movement velocity adjusted for combining the model solution satellite receiver that tests the speed, such as
Shown in formula (12):
In formula,For the velocity vector of estimation, subscript -1 represents matrix inversion operation；
Repeat step a), b), c) until the valuation of all kinds of variance of unit weights is equal or its is equal through hypothesis testing, i.e.,
The final movement velocity of receiver can be acquired.Wherein, when carrying out step 3), if by can not still expire when 4~5 loop iterations
Sufficient variance of unit weight valuation is equal or by assuming that inspection, then jump out circulation, directly adopt robust solution as final resolving knot
Fruit.
Rough error decision threshold k is set in the present embodiment0For 1.2, k1It is 5.5, largest loop threshold value is 4.
Embodiment 2
The application scenarios for combining speed-measuring method to the code pseudorange based on robust variance component estimation/Doppler below are lifted
Example explanation:
For the practical resolving effect that the proposed method of the present invention is comprehensively compared, static, static simulation dynamic and vehicle are devised
Three kinds of test modes such as dynamic are carried, point 4 kinds of resolving schemes are compared:
Option A: least-squares estimation directlys adopt priori stochastic model and combines the function model progress minimum to test the speed
Two multiply adjustment resolving.
Option b: variance components estimate directlys adopt the method tune of conventional method component estimation on the basis of option A
Save the priori stochastic model of pseudorange and Doppler.
Scheme C: least square Robust filter, i.e., respectively to the Posterior weight battle array of pseudorange and Doppler, using robust minimum two
The mode for multiplying estimation adjusts the weight of bad observation, is then combined into and combines model progress least square adjustment resolving of testing the speed.
Scheme D: variance components estimate is added on the basis of scheme C, to form robust in robust variance component estimation
The estimation method combined with component of variance combines the model that tests the speed to pseudorange and Doppler and carries out adjustment resolving.
1), static test
Fig. 2 is that each resolving scheme tests the speed true error figure.What is chosen is the station Australia Curtin University CUT0 year product
Day is the static observation data of 148d whole day, on specially GPS L1 and the BDS B1 of Trimble Net R9 receiver acquisition
Pseudorange and Doppler's observation information resolve.The speed true error of conventional least-squares estimation has obvious fluctuation, and
Due to the influence of the bad observations such as lifting satellite, causing speed true error, there are a degree of bounces.Pass through Robust filter
Afterwards, this fluctuation and jump have obtained a degree of inhibition, and in addition conventional variance components estimate can also reach similar effect
Fruit, but it is best based on the estimation method effect that Robust filter is combined with component of variance.
The following table 1 is each resolving scheme true error statistical form.In each mean value for resolving scheme, the speed of robust variance component estimation
Degree mean value is successively taken second place closest to speed true value zero, variance components estimate and Robust filter, and least-squares estimation is worst.Foundation
Parameter Estimation unbiasedness is it is found that the Velocity Estimation unbiasedness of robust component of variance is best, thus it is believed that robust component of variance is estimated
Weight between meter method energy active balance different accuracy observation, the influence of correcting system sexual deviation, this point is also by it
The inside and outside statistic met is almost the same to be verified.In addition, the interior precision of exterior coincidence of robust variance component estimation is respectively less than it
His scheme, the validity according to parameter estimation is available, and robust variance component estimation is optimal in these four schemes.
Table 1
2), static simulation dynamic is tested
Fig. 3 is the direction One-Point Location N, E true error.It is 152d, Shi Changwei using the station Jiangsu CORS year day of year
12h, GPS the and BDS single-frequency that frequency is 1Hz observe data and carry out static simulation dynamic test.In addition to the bad sight such as a small amount of rough error
Measured value causes except spine and bounce, and the position error of One-Point Location all directions is all within 5m.
Fig. 4 is that each resolving scheme X-direction tests the speed true error.As can be seen from the figure variance components estimate is by bad observation
There is the Velocity Estimation for deviating considerably from true value in the influence of value, can largely be inhibited by Robust filter, so that
The valuation of robust component of variance is improved.Thus illustrate, variance components estimate is more sensitive to bad observation, by with
Robust filter combination robust performance is promoted.
The following table 2 is each scheme true error statistical form.Performance and the table 1 for wherein respectively resolving scheme statistic are almost the same, resist
Poor variance components estimate is still the optimal estimation in four kinds of method for parameter estimation.The difference is that velocity error amount has compared with table 1
Increased, this shows that the quality of rate accuracy and raw observation is closely related, therefore robust is added in variance components estimate
Estimation is necessary.
Table 2
3), exercise test
Fig. 5 is the range rate error of each resolving scheme synthesis.By installing NovAtel company, Canada on motor vehicle
SPAN series high-precision optical fiber closed loop INS Integrated Navigation System and Ublox NEO-M8T single frequency receiving module, the two share
Same satellite antenna carries out Dynamic Data Acquiring test in Nanjing City.Inertial Explorer is post-processed using high-precision
The speed that software resolves integrated navigation calculates the speed work of the single-frequency data of Ublox acquisition as reference value and each resolving scheme
Difference.From the range rate error figure of Fig. 5 as can be seen that in addition to during the tunnel of 553~581 epoch and starting parking, satellite-signal
It is outer to be blocked interference, the resulting Velocity Estimation error in other sections can guarantee within 1.
The following table 3 is each resolving scheme error statistics table.From table 3 it is observed that the performance of each statistic and table 1,2 base of table
This is consistent, to also further demonstrate general rule therein.
Embodiment 3
A kind of Global Navigation Satellite System, including receiver, it is characterized in that: the system comprises be based on robust component of variance
The code pseudorange of estimation/Doppler combines speed-measuring method.Satellite data, which is acquired, by receiver passes through reception when velocity calculated
The observation data of machine output, are resolved in computing platform (such as computer, mobile phone) and are exported or shown velocity information.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (9)
1. the code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method, it is characterised in that: including walking as follows
It is rapid: (1) to establish test the speed function model and stochastic model；(2) the robust stochastic model for being able to suppress rough error influence is obtained；(3) will
Code pseudorange and the function model that tests the speed of Doppler combine the model that tests the speed with robust stochastic model composition；(4) satellite receiver is solved
Movement velocity.
2. the code pseudorange according to claim 1 based on robust variance component estimation/Doppler combines speed-measuring method, special
Sign is: establishing and tests the speed function model and stochastic model is the observation according to code pseudorange, Doppler, carrier-to-noise ratio, elevation of satellite
What information was established.
3. the code pseudorange according to claim 1 based on robust variance component estimation/Doppler combines speed-measuring method, special
Sign is: the robust stochastic model is that the robust for being able to suppress rough error influence is obtained using the method for least square Robust filter
Stochastic model.
4. the code pseudorange according to claim 1 based on robust variance component estimation/Doppler combines speed-measuring method, special
Sign is: the movement velocity for solving the satellite receiver is iteratively solved using the method for variance components estimate.
5. the code pseudorange according to claim 2 based on robust variance component estimation/Doppler combines speed-measuring method, special
Sign is, comprises the following specific steps that:
The function model to test the speed and random mould are established using code pseudorange, Doppler, carrier-to-noise ratio, elevation of satellite observation information respectively
Type comprises the following specific steps that:
A), the change rate that yard pseudorange and carrier wave are acquired by way of difference between epoch, as shown in formula (1):
In formula, ρ andRespectively code pseudorange and its change rate,WithRespectively carrier phase and its change rate, D are Doppler's sight
Measured value, Δ t is Differential time, wherein every subscript k, k+1 is respectively+1 moment of kth moment and kth.
B), the function model to test the speed is established using code pseudorange and doppler measurement, generally GNSS observational equation such as formula (2) institute
Show:
In formula, ρ is receiver code Pseudo-range Observations,For receiver carrier phase observation data, N0For integer ambiguity, λ is carrier wave
Wavelength, R are receiver and intersatellite true geometric distance, and c is the light velocity, and δ t is clock deviation, δ ρionFor ionosphere delay, δ ρtrop
For tropospheric delay, ερWithFor comprising other error terms including orbit error, multipath effect, observation noise, wherein respectively
The subscript s and subscript r of item respectively represent satellite and receiver；
It to the derivation of time t and is linearized according to GNSS observational equation, as shown in formula (3):
It is every in formulaIndicate the change rate of t at any time, and
In formula, rs、For the satellite position under ECEF (Earth-Centered, Earth-Fixed) coordinate system, speed column vector,
rr、For receiver location, speed column vector, R under ECEF coordinate system0For by receiver rough coordinates rr0The receiver that acquires with
Intersatellite geometric distance,For receiver outline speed, x, y and z are projection of the position vector under ECEF coordinate system, vx、vy
And vzFor projection of the velocity vector under ECEF coordinate system.The Function Modules that test the speed accordingly can be obtained in combinatorial formula (1), (3) and (4)
Type；
C), the stochastic model to test the speed is established using observation informations such as carrier-to-noise ratio, elevation of satellite, as shown in formula (5):
In formula, σ is covariance, and E indicates that elevation of satellite, subscript i indicate satellite number, and S is zoom factor, constant term a0、a1With
E0It is defined by the following table 1:
Wherein, zoom factor S is defined by satellite carrier-to-noise ratio, as shown in formula (6):
In formula, C/N0Indicate satellite carrier-to-noise ratio, int (*) is bracket function.The elder generation to test the speed can determine by formula (5), (6) and table 1
Test stochastic model.
6. the code pseudorange according to claim 3 based on robust variance component estimation/Doppler combines speed-measuring method, special
Sign is: the robust stochastic model for being able to suppress rough error influence is obtained using the method for least square Robust filter, including as follows
Specific steps:
A), residual vector and corresponding association's factor are acquired by least-squares estimation, as shown in formula (7):
In formula, B is design matrix, and P is Posterior weight, and l is observation vector, and Q is that observation assists factor,Parameter to be estimated, V are residual
Difference vector, QvvFactor is assisted for residual error；
B), the IGG III equivalence weight scheme proposed by Zhou Jiangwen obtains the robust stochastic model for being able to suppress rough error influence, such as
Shown in formula (8):
In formula,For standardized residual, k0And k1For constant, general k0∈ [1.0~1.5], k1∈ [2.5~8.0],For robust
Equivalence weight, subscript i represent i-th of observation.
7. the code pseudorange according to claim 4 based on robust variance component estimation/Doppler combines speed-measuring method, special
Sign is: the function model that tests the speed of code pseudorange and Doppler being combined the model that tests the speed with robust stochastic model composition, using variance
The movement velocity of the method iterative solution satellite receiver of component estimation, comprises the following specific steps that:
A), the function model that tests the speed of code pseudorange and Doppler are combined into the model that tests the speed with robust stochastic model composition, such as formula (9) institute
Show:
In formula, every subscript 1 and 2 respectively represents yard pseudorange and Doppler, the corresponding combination item that N and W are respectively represented；
B), using the weight of all kinds of observations of method iteration adjustment of variance components estimate, as shown in formula (10):
In formula, tr (*) representing matrix seeks mark, and E (*) expression takes expectation, and n is observation number,The estimation of variance is weighed for unit
Value, V is residual vector,For robust equivalence weight, every subscript 1 and 2 respectively represents yard pseudorange and Doppler.By solution side
Journey group (10) formula, obtains variance of unit weightValuationSubstitution formula (11) obtains all kinds of observations adjusted
It is worth weight:
In formula,Indicate the weight that single iteration adjusts, C is constant, can fix selectionAny of, every subscript
1 and 2 respectively represent yard pseudorange and Doppler；
C), using through the variance components estimate movement velocity adjusted for combining the model solution satellite receiver that tests the speed, such as formula
(12) shown in:
In formula,For the velocity vector of estimation, subscript -1 represents matrix inversion operation；
Repeat step a), b), c) until the valuation of all kinds of variance of unit weights is equal or its is equal through hypothesis testing, Ji Keqiu
Obtain the final movement velocity of receiver.
8. the code pseudorange according to claim 6 based on robust variance component estimation/Doppler combines speed-measuring method, special
Sign is: when carrying out the movement velocity step using the method iterative solution satellite receiver of variance components estimate, if by 4
Still be unable to satisfy when~5 loop iterations variance of unit weight valuation it is equal or by assuming that examine, then jump out circulation, directly adopt
Robust solution is as final calculation result.
9. a kind of Global Navigation Satellite System, including receiver, it is characterized in that: the system is used as claim 1-7 is any
The code pseudorange based on robust variance component estimation/Doppler combines speed-measuring method；Satellite data is acquired by receiver, when
When velocity calculated, the observation data exported by receiver are resolved in computing platform and are exported or shown velocity information.
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