CN109541659A - A kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou - Google Patents
A kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou Download PDFInfo
- Publication number
- CN109541659A CN109541659A CN201811240533.1A CN201811240533A CN109541659A CN 109541659 A CN109541659 A CN 109541659A CN 201811240533 A CN201811240533 A CN 201811240533A CN 109541659 A CN109541659 A CN 109541659A
- Authority
- CN
- China
- Prior art keywords
- carrier wave
- residual quantity
- pseudo
- carrier
- moment
- 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.)
- Pending
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
-
- 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 ground strengthening system carrier phase smoothing pseudo-range method based on Beidou that the invention discloses a kind of, in order to detect carrier phase with the presence or absence of cycle slip, carrier wave residual quantity is calculated according to pseudorange and carrier phase observation data, and determines carrier wave residual quantity cycle slip decision threshold value using Gaussian plavini；Carrier phase smoothing pseudo-range precision is influenced in order to reduce abnormal E layer interference, by calculating pseudo-code-carrier wave irrelevance with automatic adjusument Hatch filter smoothing window time length, reduce weight of the carrier phase in smoothing filter when ionosphere occurs abnormal.The present invention can effectively improve pseudorange smoothing precision, while can be improved airborne end position computational accuracy.
Description
Technical field
The invention belongs to satellite-based navigations to enhance system regions, and in particular to a kind of ground strengthening system carrier wave based on Beidou
Carrier phase smoothed pseudorange method.
Background technique
The precision approach of aircraft and landing are the stages the most key in flight course, to navigation system precision with it is intact
Property it is more demanding, using Beidou as a kind of main navigation equipment be applied to aircraft into being closely the following civil aviation with landing
The development trend of navigation.Civil aviation is navigated the Beidou standard positioning services that use, it is difficult to meet it in positioning accuracy, continuous
Property, integrity and availability etc. demand, therefore there are the various enhancing systems based on Beidou, wherein ground enhancing system
System (Ground Based Augmentation System, GBAS) improves satellite navigation precision by Differential positioning, and increases
A series of integrity monitoring algorithms are added, flying for the corresponding airborne equipment of configuration within the scope of the airspace of termination environment can be covered for airport
Machine, which provides I class (CAT-I) even higher grade precision approach, the landing guidance service U.S., Europe, Japan etc., successively to be carried out
Based on the ground strengthening system research work of global positioning system (global positioning system, GPS), Sino-U.S.
Honeywell company, state develop meet CAT-I class precision approach GBAS in 2009 obtain system design verification, Australia are big for the first time
Leah Sydney Airport was mounted with the SLS-4000 type GBAS that Honeywell is developed in 2009.The Beidou satellite navigation system in China
System (Beidou Navigation System, BDS) ends 2012 and has been provided with to Asian-Pacific area offer passive location, navigation
With time service service, China in 2014 formally starts the ground strengthening system engineering construction based on BDS, use has been put at present,
150 frame base stations have been built in the whole nation, have been capable of providing the positioning service of meter accuracy.Domestic scientific research institutes is positive at present
Carry out the correlative studys such as Differential positioning and the integrity monitoring based on Beidou to work.
Ground strengthening system reference receiver can real-time reception satellite-signal and according to the orbit parameter of satellite calculate
The spatial position coordinate of satellite is obtained, it is available using the spatial position coordinate of satellite and the precise position information of base station
The geometric distance value of base station and satellite, the pseudo-range information broadcast with satellite may further obtain pseudo range difference correction value.By
In the wavelength about 300m of a C/A code, measures noise error and be generally the 1% of wavelength, as 3m, while Multipath Errors meeting
Pseudorange measurement accuracy is influenced, and although carrier-phase measurement contains integer ambiguity, but it is very smooth, precision is up to
Millimeter magnitude.Carrier phase smoothing pseudo-range mutually ties pseudorange without integer ambiguity and the high-precision feature of carrier phase observed quantity
It closes, pseudorange measurement accuracy can be effectively improved.Method currently used for pseudorange smoothing mainly has Hatch filter and Kalman filter
Wave device, both methods can realize the smooth of pseudorange, but grind to anomalous of the ionosphere in smoothing process and phase cycle slip
Study carefully less.
Summary of the invention
Goal of the invention: in view of the deficiencies of the prior art, the present invention proposes a kind of ground strengthening system carrier wave based on Beidou
Carrier phase smoothed pseudorange method calculates carrier wave residual quantity using pseudorange and carrier phase observation data, to judge whether carrier phase deposits
In cycle slip, further when carrier phase occurs without cycle slip, pseudo-code-carrier wave is calculated according to pseudorange and carrier phase observation data and is deviateed
Degree judges ionosphere with the presence or absence of exception, if ionosphere is abnormal, automatic adjusument Hatch filter smoothing with this
Window time size overcomes abnormal E layer interference to influence pseudorange smoothing precision.
Technical solution: a kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou of the present invention,
The following steps are included:
Step 1, according to Beidou satellite navigation system (Beidou Navigation System, BDS) receiver pseudorange with
Carrier phase observation data calculates carrier wave residual quantity, and is compared with the carrier wave residual quantity threshold value being calculated, if carrier wave residual quantity
Greater than carrier wave residual quantity threshold value, illustrates that cycle slip occurs for carrier phase, then filter is initialized, otherwise according to pseudorange and carrier phase
Observation calculates pseudo-code-carrier wave and deviates angle value, and is compared with the pseudo-code of setting-carrier wave irrelevance threshold value；
Step 2, if pseudo-code-carrier wave irrelevance is greater than threshold value, illustrate that ionosphere is abnormal, at this time smooth window
Time is T1, if pseudo-code-carrier wave irrelevance is not more than threshold value, illustrates that ionosphere is more steady, smooth window is arranged at this time
Time is T2, is carried out using Hatch filter to pseudorange smooth；
In step 1, carrier wave residual quantity temp is calculated according to the following formula:
Temp=| λ (φk-φk-1)-(ρk-ρk-1) |,
In formula, λ is carrier wavelength, φkAnd φk-1The respectively carrier phase observation data at epoch k moment and k-1 moment
Carrier phase observation data, ρkAnd ρk-1The respectively Pseudo-range Observations of the Pseudo-range Observations at k moment and k-1 moment.
In step 1, carrier wave residual quantity threshold value is calculated according to the following method:
The carrier wave residual quantity of each epoch-making moment of every satellite is calculated in step 1-1；
Step 1-2, divides carrier wave residual quantity section by satellite elevation angle, is divided with 10 ° for a section, and calculate separately
The mean μ of each section intercarrier residual quantityelevWith standard deviation sigmaelev；
Step 1-3 is fitted other angle mean values and standard deviation, expression formula using 5 rank multinomials are as follows:
Y=A5x5+A4x4+A3x3+A2x2+A1x+A0,
In formula, AiTo need i-th of parameter being fitted, i value is that 0~5, x is input satellite elevation angle, and value is respectively
5 °, 15 °, 25 °, 35 °, 45 °, 55 °, 65 °, 75 °, 85 °, y are the carrier wave residual quantity mean value or standard deviation for needing to be fitted；
The carrier wave residual quantity that step 1-1 is obtained is normalized in step 1-4；
Step 1-5, the carrier wave residual quantity after statistics normalization, carrier wave residual quantity distribution histogram after drafting normalization, and according to
Carrier wave differential data number and carrier wave residual quantity total number in each spaced points calculate its probability density value, i.e., are contained using interval
Thus wave differential data number obtains its probability density value divided by carrier wave residual quantity total number；
Step 1-6 calculates coefficient of expansion f；
Step 1-7, according to obtained coefficient of expansion f and mean μelevWith standard deviation sigmaelevObtain this group of sample data
Carrier wave residual quantity threshold T hresholdelev:
Thresholdelev=μelev±6fσelev。
In step 1-4, sample parameter is normalized using following formula:
In formula, x indicates carrier wave residual quantity sampled data,Carrier wave quantity value after indicating normalization；
Step 1-6 includes: close according to the probability of the step 1-5 probability density distribution situation drafting sample data being calculated
Distribution map is spent, and draws standardized normal distribution probability density curve wherein, it is then bent to the probability density of standardized normal distribution
Line is expanded, until the sample data of the probability density curve two sides of the obtained complete envelope sample data of curve is expanded,
To obtain coefficient of expansion f.
In step 1, pseudo-code-carrier wave irrelevance is calculated according to the following formula:
ρk=ρIF,k+Ik+ερ,k,
φk=ρIF,k-Ik+λN+εφ,k,
ρIF,k=rk+c[δtu,k-δts,k]+Tk,
In formula, ρIF,kPseudorange for the k moment without ionosphere effect, rkFor the true geometric distance in k moment star station, c is light
Speed, δ tu,kWith δ ts,kRespectively k reception machine clock deviation and satellite clock correction, IkAnd TkRespectively k moment ionosphere delay and convection current
Layer delay, λ is wavelength, and N is integer ambiguity, ερ,kAnd εφ,kRespectively k reception generator terminal pseudorange and phase observations error, packet
Include Multipath Errors；
Define zkIndicate the Pseudo-range Observations ρ at k momentkWith carrier phase observation data φkDifference:
zk=ρk-φk
=2Ik+ερ,k-εφ,k-λ·N
It setting in observation period, receiver locks always, and carrierfree losing lock and mistake week, integer ambiguity N value remain unchanged,
With season δ εk=ερ,k-εφ,k, then have:
In formula, dzkIndicate pseudo-code to be estimated-carrier wave irrelevance, δ εkIndicate pseudorange noise and Carrier Phase Noise difference component,Indicate the ionosphere delay rate that estimation obtains, the factors such as size and satellite elevation angle, space electronic concentration value are related, Ts=
1s indicates two neighboring interval time epoch；
In order to inhibit pseudorange noise, multipath measurement error etc. to influence pseudo-code-carrier wave irrelevance estimated accuracy, using two
Rank linearly invariant low-pass filter filters out dzkHigh-frequency noises, calculation formula are as follows:
In formula, d1,kWith d1,k-1For process intermediate variable, DvgckWith Dvgck-1Indicate puppet of the k moment after low-pass filtering
Code-carrier wave irrelevance and pseudo-code-carrier wave irrelevance of the k-1 moment after low-pass filtering；τ1=τ2=30s indicates unit observation
The length at moment.
In step 1, according to many experiments, setting pseudo-code-carrier wave irrelevance threshold value is 0.02m/s.
In step 2, according to many experiments, setting T1 is 20s, T2 100s.
The utility model has the advantages that
1, carrier phase cycle slip decision threshold value proposed by the present invention carries out sample data using Gaussian plavini
Envelope reduces integrity false alarm rate；
2, the invention proposes anomalous of the ionosphere is monitored using pseudo-code-carrier wave irrelevance, to realize Hatch filter
The automatic adjusument of smooth window time span；
3, the present invention influences pseudorange smoothing precision to reduce abnormal E layer interference, when proposing a kind of smooth window
Between the variable mentality of designing of length, by reducing time span value to reach the weight for reducing carrier phase in filter.
The invention proposes a kind of based on pseudo-code-carrier wave irrelevance adaptive H atch filter, and this method is according to puppet
Code-carrier wave deviates angle value and judges ionosphere with the presence or absence of exception, if ionosphere is abnormal, by reducing Hatch filtering
The device smooth window time reduces weight of the carrier phase in filter to reach, so as to overcome abnormal E layer interference pair
Pseudorange smoothing precision influences, while the present invention determines that method is studied to carrier phase Detection of Cycle-slip and its threshold value, root
Carrier wave residual quantity is calculated according to pseudorange and carrier phase observation data and obtains carrier wave residual quantity threshold value using the determination of Gaussian plavini.
Detailed description of the invention
The present invention is done with reference to the accompanying drawings and detailed description and is further illustrated, it is of the invention above-mentioned or
Otherwise advantage will become apparent.
Fig. 1 is carrier wave residual quantity threshold value product process.
Fig. 2 is carrier wave residual quantity with satellite elevation angle change curve.
Fig. 3 is carrier wave residual quantity standard deviation with satellite elevation angle change curve.
Fig. 4 is sample data after normalization with satellite elevation angle distribution curve.
Fig. 5 is sample data distribution histogram after normalization.
Fig. 6 is carrier wave residual quantity distribution probability density curve.
Fig. 7 is carrier wave residual quantity and its threshold curve.
Fig. 8 is adaptive smooth window calculation process.
Fig. 9 is carrier phase smoothing pseudo-range algorithm flow.
Figure 10 a is No. 4 satellite experiment results.
Figure 10 b is No. 7 satellite experiment results.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention provides a kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou,
Fig. 1 is carrier wave residual quantity threshold value product process, comprising the following steps:
Step 1, receiver acquires satellite-signal, and the carrier wave residual quantity of every satellite is thus calculated, and Fig. 2 is one section of acquisition
The carrier wave residual quantity that time is calculated is with satellite elevation angle change curve, and black dotted line indicates satellite carrier residual quantity in figure, and black is empty
Line indicates the threshold value being calculated using Gaussian plavini；
Step 2, parameter section is divided by satellite elevation angle, with 10 ° for an interval division sampled data, and calculated separately not
With the mean μ of sample parameter in sectionelevWith standard deviation sigmaelev, specific interval division be (0 °, 10 °] ∪ (10 °, 20 °] ∪
(20°,30°]…(80°,90°]；
Step 3, other angle mean values and standard deviation, expression formula are fitted using 5 rank multinomials are as follows:
Y=A5x5+A4x4+A3x3+A2x2+A1x+A0
In formula, Ai(i=0,1,2,3,4,5) is the parameter for needing to be fitted, and x is input satellite elevation angle, and value is respectively
5 °, 15 °, 25 °, 35 °, 45 °, 55 °, 65 °, 75 °, 85 °, y are the carrier wave residual quantity mean value or standard deviation for needing to be fitted.
Fig. 3 is carrier wave residual quantity standard deviation with satellite elevation angle change curve, and black circle is the standard deviation in each section in figure, black
Color solid line is the carrier wave residual quantity standard deviation that obtains after high order fitting with elevation angle change curve, and black dotted lines are to pass through
The carrier wave residual quantity standard deviation curve obtained after Gaussian expansion, coefficient of expansion f=1.4256.
Step 4, sample parameter is normalized, specific calculating process, which subtracts sampled data in step 3, to be acquired
Mean μelev, then divided by the standard deviation sigma under respective angleselev
In formula, x indicates carrier wave residual quantity sampled data, μelevAnd σelevIt is obtained by step 3 fitting,After indicating normalization
Carrier wave quantity value.
Fig. 4 be sample data by normalization after with satellite elevation angle distribution curve, as seen from the figure, by normalization after
The variation of carrier wave residual quantity amplitude it is steady, mean μ=- 0.028, σ=1.056, this also further illustrates high order polynomial in step 3
The correctness of formula fitting result.
Step 5, normalized parameter distribution statistics draw the distribution histogram of normalization data, and according to each spaced points
Interior sample data and total number of samples amount calculates its probability density value, and Fig. 5 is sample data distribution histogram after normalization；
Step 6, expansion factor is calculated, sample data is drawn according to the probability density distribution situation that step 5 is calculated
Probability density distribution figure, and standardized normal distribution probability density curve is drawn wherein, then to the probability of standardized normal distribution
Density curve is expanded, until expanding the sample of the probability density curve two sides of the obtained complete envelope sample data of curve
Data, so that obtaining the coefficient of expansion is f, as shown in fig. 6, black dotted line is sample actual probability distribution curve in figure, black is real
Line is the Gaussian Profile probability density curve for obeying N (0,1), and black dotted lines are to obey N (0,1.4256) after Gauss expands
Gaussian Profile probability density curve, thus obtain the coefficient of expansion be f=1.4256；
Step 7, step 7 generates threshold value of warning, and is calculated according to polynomial interopolation in obtained coefficient of expansion f and step 3
Obtained mean μelevWith standard deviation sigmaelevObtain the threshold T hreshold of this group of sample dataelev
Thresholdelev=μelev±6fσelev
Fig. 7 is the carrier wave residual quantity of GBAS No. 14 satellites of work a period of time with observation time change curve, shows threshold value
To be calculated using process proposed herein.
As shown in figure 8, the present invention provides a kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou,
Fig. 8 is adaptive smooth window calculation process, comprising the following steps:
(1) pseudorange is exported according to BDS receiver and carrier phase calculates pseudo-code-carrier wave irrelevance, whether monitoring ionosphere
There are exceptions, if ionosphere is abnormal, the setting smooth window time is 20s, and otherwise the smooth window time is set as 100s；
(2) pseudorange is carried out using Hatch filter smoothly, obtaining relatively smooth pseudorange value；
(3) integrity monitoring is carried out to visible satellites all in an epoch, forms the merging of usable satellite collection and is calculated
Pseudo range difference corrected value.
As shown in figure 9, the present invention provides a kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou,
Fig. 9 is carrier phase smoothing pseudo-range algorithm flow, comprising the following steps:
(1) carrier wave residual quantity is calculated according to BDS receiver pseudorange and carrier phase observation data, and is carried out with the threshold value of setting
Compare, if cycle slip occurs for carrier phase, initializes filter；
(2) it calculates pseudo-code-carrier wave and deviates angle value, and be compared with the threshold value of warning that it is arranged；
(3) if ionosphere is abnormal smooth window selection of time be 20s, otherwise be arranged the smooth window time be
100s carries out pseudorange using Hatch filter smooth；
(4) integrity of all satellites in an epoch of observation is monitored, forms usable satellite set and its pseudorange
Differential corrections.
Embodiment
The prototype version GBAS base station established below using Chinese electric research institute, section is verified the present invention and proposed as experimental subjects
Differential positioning method accuracy.Prototype version GBAS ground system includes 4 stage fiducial receivers, 1 GNSS signal source, 1
Platform data processing system, the radio station (Very High Frequency, VHF Data Broadcasting) VDB and antenna,
In, GNSS signal source, which can simulate, generates GPS/BDS signal, and can simulate aircraft into nearly track；Being erected at roof antenna can
For receiving GPS/BDS signal；The radio station VDB is used to broadcast the differential data and integrity parameter broadcast with satellite receiver, together
When, custom system includes that 1 airboarne receiver and corresponding antenna, experimental procedure are as follows:
Step 1, reference receiver being set by 4 receivers, another receiver is set as airborne end mobile receiver,
Antenna is placed at roof position；
Step 2, earth station and airborne end receiver data are acquired respectively, comprising: almanac data, observation data；
Step 3,4 stage fiducial receiver data are handled using ground station software, saves the pseudorange of Observable satellite
Differential corrections value, while airborne end positioning calculation is carried out, it reads pseudo range difference correction value and carries out error correction, export final position
Confidence breath.
Multiple groups experimental data is acquired, wherein one group of data has carried out detailed analysis for selection, and Figure 10 a and Figure 10 b are ground
It stands pseudo range difference value correlation curve, wherein black dotted lines are pseudo range difference value when carrierfree is smooth, and solid black lines are to have carrier wave
Pseudo range difference value when smooth, Figure 10 a is No. 4 satellite experiments as a result, Figure 10 b is No. 7 satellite experiment results.
The ground strengthening system carrier phase smoothing pseudo-range method based on Beidou that the present invention provides a kind of, specific implementation should
There are many method and approach of technical solution, the above is only a preferred embodiment of the present invention, it is noted that for this technology
For the those of ordinary skill in field, various improvements and modifications may be made without departing from the principle of the present invention, this
A little improvements and modifications also should be regarded as protection scope of the present invention.Existing skill can be used in each component part being not known in the present embodiment
Art is realized.
Claims (8)
1. a kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou, which comprises the following steps:
Step 1, carrier wave residual quantity is calculated according to Beidou satellite navigation system receiver pseudorange and carrier phase observation data, and with calculating
Obtained carrier wave residual quantity threshold value is compared, if carrier wave residual quantity is greater than carrier wave residual quantity threshold value, illustrates carrier phase
Cycle slip then initializes filter, otherwise calculates pseudo-code-carrier wave according to pseudorange and carrier phase observation data and deviates angle value, and with set
The pseudo-code set-carrier wave irrelevance threshold value is compared；
Step 2, if pseudo-code-carrier wave irrelevance is greater than threshold value, illustrate that ionosphere is abnormal, at this time the smooth window time
Illustrate that ionosphere is more steady if pseudo-code-carrier wave irrelevance is not more than threshold value for T1, the smooth window time is set at this time
For T2, pseudorange is carried out using Hatch filter smooth.
2. the method according to claim 1, wherein calculating carrier wave residual quantity according to the following formula in step 1
Temp:
Temp=| λ (φk-φk-1)-(ρk-ρk-1) |,
In formula, λ is carrier wavelength, φkAnd φk-1The respectively carrier wave phase of the carrier phase observation data at epoch k moment and k-1 moment
Position observation, ρkAnd ρk-1The respectively Pseudo-range Observations of the Pseudo-range Observations at k moment and k-1 moment.
3. according to the method described in claim 2, it is characterized in that, carrier wave residual quantity is calculated according to the following method in step 1
Threshold value:
The carrier wave residual quantity of each epoch-making moment of every satellite is calculated in step 1-1；
Step 1-2, divides carrier wave residual quantity section by satellite elevation angle, is divided with 10 ° for a section, and calculate separately each
The mean μ of section intercarrier residual quantityelevWith standard deviation sigmaelev；
Step 1-3 is fitted other angle mean values and standard deviation, expression formula using 5 rank multinomials are as follows:
Y=A5x5+A4x4+A3x3+A2x2+A1x+A0,
In formula, AiTo need i-th of parameter being fitted, i value be that 0~5, x is to input satellite elevation angle, value is respectively 5 °,
15 °, 25 °, 35 °, 45 °, 55 °, 65 °, 75 °, 85 °, y are the carrier wave residual quantity mean value or standard deviation for needing to be fitted；
The carrier wave residual quantity that step 1-1 is obtained is normalized in step 1-4；
Step 1-5, the carrier wave residual quantity after statistics normalization, draws carrier wave residual quantity distribution histogram after normalization, and according to each
Carrier wave differential data number and carrier wave residual quantity total number in spaced points calculate its probability density value, i.e., poor using interval intercarrier
Data amount check is measured divided by carrier wave residual quantity total number, thus obtains its probability density value；
Step 1-6 calculates coefficient of expansion f；
Step 1-7, according to obtained coefficient of expansion f and mean μelevWith standard deviation sigmaelevObtain the carrier wave of this group of sample data
Residual quantity threshold T hresholdelev:
Thresholdelev=μelev±6fσelev。
4. according to the method described in claim 3, it is characterized in that, being carried out using following formula to sample parameter in step 1-4
Normalization:
In formula, x indicates carrier wave residual quantity sampled data,Carrier wave quantity value after indicating normalization.
5. according to the method described in claim 4, it is characterized in that, step 1-6 include: be calculated according to step 1-5 it is general
Rate Density Distribution situation draws the probability density distribution figure of sample data, and it is bent to draw standardized normal distribution probability density wherein
Then line expands the probability density curve of standardized normal distribution, until expanding the obtained complete envelope sample of curve
The sample data of the probability density curve two sides of data, to obtain coefficient of expansion f.
6. according to the method described in claim 5, it is characterized in that, it is inclined to calculate pseudo-code-carrier wave according to the following formula in step 1
From degree:
ρk=ρIF,k+Ik+ερ,k,
φk=ρIF,k-Ik+λN+εφ,k,
ρIF,k=rk+c[δtu,k-δts,k]+Tk,
In formula, ρIF,kPseudorange for the k moment without ionosphere effect, rkFor the true geometric distance in k moment star station, c is the light velocity, δ
tu,kWith δ ts,kRespectively k reception machine clock deviation and satellite clock correction, IkAnd TkRespectively k moment ionosphere delay and troposphere are prolonged
Late, λ is wavelength, and N is integer ambiguity, ερ,kAnd εφ,kRespectively k reception generator terminal pseudorange and phase observations error；
Define zkIndicate the Pseudo-range Observations ρ at k momentkWith carrier phase observation data φkDifference:
zk=ρk-φk
=2Ik+ερ,k-εφ,k-λ·N
It sets in observation period, receiver locks always, and carrierfree losing lock and mistake week, integer ambiguity N value remain unchanged, simultaneously
Enable δ εk=ερ,k-εφ,k, then have:
In formula, dzkIndicate pseudo-code to be estimated-carrier wave irrelevance, δ εkIndicate pseudorange noise and Carrier Phase Noise difference component,Table
Show the ionosphere delay rate that estimation obtains, Ts=1s indicates two neighboring interval time epoch；
Constant low-pass filter filters out dz when using second-order linearitykHigh-frequency noises, calculation formula are as follows:
In formula, d1,kWith d1,k-1For process intermediate variable, DvgckWith Dvgck-1Indicate pseudo-code-of the k moment after low-pass filtering
Carrier wave irrelevance and pseudo-code-carrier wave irrelevance of the k-1 moment after low-pass filtering；τ1=τ2=30s, when indicating unit observation
The length at quarter.
7. according to the method described in claim 6, it is characterized in that, in step 1, setting pseudo-code-carrier wave irrelevance threshold value is
0.02m/s。
8. the method according to the description of claim 7 is characterized in that setting T1 is 20s, T2 100s in step 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811240533.1A CN109541659A (en) | 2018-10-24 | 2018-10-24 | A kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811240533.1A CN109541659A (en) | 2018-10-24 | 2018-10-24 | A kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109541659A true CN109541659A (en) | 2019-03-29 |
Family
ID=65844733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811240533.1A Pending CN109541659A (en) | 2018-10-24 | 2018-10-24 | A kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109541659A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596732A (en) * | 2019-10-15 | 2019-12-20 | 中国电子科技集团公司第二十八研究所 | GBAS ionosphere anomaly detection method based on LMS adaptive filtering |
| CN110988929A (en) * | 2019-12-21 | 2020-04-10 | 中国电子科技集团公司第二十研究所 | GBAS system performance evaluation method and device under influence of ionized layer |
| CN111007541A (en) * | 2019-12-18 | 2020-04-14 | 中国电子科技集团公司第二十研究所 | Simulation performance evaluation method for satellite navigation foundation enhancement system |
| CN112731472A (en) * | 2020-12-18 | 2021-04-30 | 东南大学 | Improved inter-satellite ranging method based on pseudo code auxiliary carrier |
| CN112799110A (en) * | 2020-12-23 | 2021-05-14 | 中国电力工程顾问集团西北电力设计院有限公司 | Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment |
| CN112987049A (en) * | 2021-02-10 | 2021-06-18 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Rocket fairing debris positioning and tracking system |
| CN113029139A (en) * | 2021-04-07 | 2021-06-25 | 中国电子科技集团公司第二十八研究所 | Airport flight area vehicle differential Beidou/SINS combined navigation method based on motion detection |
-
2018
- 2018-10-24 CN CN201811240533.1A patent/CN109541659A/en active Pending
Non-Patent Citations (2)
| Title |
|---|
| 杨伟新: "城市环境下基于视觉辅助的GPS多路径检测与抑制技术研究", 《中国优秀硕士学位论文全文数据库 基础科学辑》 * |
| 胡杰 等: "载波相位平滑伪距在GPS/SINS紧组合导航系统中的应用", 《导航定位与授时》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596732B (en) * | 2019-10-15 | 2021-08-06 | 中国电子科技集团公司第二十八研究所 | GBAS ionosphere anomaly detection method based on LMS adaptive filtering |
| CN110596732A (en) * | 2019-10-15 | 2019-12-20 | 中国电子科技集团公司第二十八研究所 | GBAS ionosphere anomaly detection method based on LMS adaptive filtering |
| CN111007541B (en) * | 2019-12-18 | 2021-05-04 | 中国电子科技集团公司第二十研究所 | Simulation performance evaluation method for satellite navigation foundation enhancement system |
| CN111007541A (en) * | 2019-12-18 | 2020-04-14 | 中国电子科技集团公司第二十研究所 | Simulation performance evaluation method for satellite navigation foundation enhancement system |
| CN110988929B (en) * | 2019-12-21 | 2020-09-22 | 中国电子科技集团公司第二十研究所 | GBAS system performance evaluation method and device under influence of ionized layer |
| CN110988929A (en) * | 2019-12-21 | 2020-04-10 | 中国电子科技集团公司第二十研究所 | GBAS system performance evaluation method and device under influence of ionized layer |
| CN112731472A (en) * | 2020-12-18 | 2021-04-30 | 东南大学 | Improved inter-satellite ranging method based on pseudo code auxiliary carrier |
| CN112799110A (en) * | 2020-12-23 | 2021-05-14 | 中国电力工程顾问集团西北电力设计院有限公司 | Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment |
| CN112799110B (en) * | 2020-12-23 | 2023-12-26 | 中国电力工程顾问集团西北电力设计院有限公司 | Doppler-considered Beidou corrected pseudo-range single-point positioning method, system and equipment |
| CN112987049A (en) * | 2021-02-10 | 2021-06-18 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Rocket fairing debris positioning and tracking system |
| CN112987049B (en) * | 2021-02-10 | 2023-08-08 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Rocket radome remains positioning and tracking system |
| CN113029139A (en) * | 2021-04-07 | 2021-06-25 | 中国电子科技集团公司第二十八研究所 | Airport flight area vehicle differential Beidou/SINS combined navigation method based on motion detection |
| CN113029139B (en) * | 2021-04-07 | 2023-07-28 | 中国电子科技集团公司第二十八研究所 | Airport flight area vehicle differential Beidou/SINS combined navigation method based on motion detection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109541659A (en) | A kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou | |
| CN110749909B (en) | Aircraft position high-precision positioning method based on multi-constellation network post difference | |
| CN104102822B (en) | A kind of multifrequency GNSS observations stochastic behaviour modeling method | |
| US20200041658A1 (en) | Gnss receiver with a capability to resolve ambiguities using an uncombined formulation | |
| CN108828627A (en) | A kind of GBAS integrity based on Gauss plavini is warned threshold estimation method | |
| CN104597465A (en) | Method for improving convergence speed of combined precise point positioning of GPS (Global Position System) and GLONASS | |
| Jiang et al. | LEO Doppler-aided GNSS position estimation | |
| CN103363994A (en) | Precise satellite orbit determination technology only based on radio carrier phase observation | |
| CN107076856A (en) | The method that the collaboration of the Wrong localization of satellite-based navigation system is determined | |
| CN113109840A (en) | Ionosphere TEC real-time measurement method based on GNSS receiver | |
| CN112285749A (en) | Method and device for processing original observation data of global navigation satellite system and storage medium | |
| Zhang et al. | Emitter localization algorithm based on passive synthetic aperture | |
| Circiu et al. | Improved airborne multipath modelling | |
| Xu et al. | NLOS and multipath detection using Doppler shift measurements | |
| WO2024016922A1 (en) | Method and apparatus for measuring relative positions of spacecrafts on basis of gnss differential | |
| Hejc et al. | Bayesian sensor fusion of Wi-Fi signal strengths and GNSS code and carrier phases for positioning in urban environments | |
| US11361667B2 (en) | Systems and methods for exploiting ADS-B frequency of arrival for flight surveillance, cyber security and meteorology | |
| Podkorytov et al. | The reduction of computational cost in GNSS data network processing | |
| Deng et al. | Noncooperative LEO satellite orbit determination based on single pass Doppler measurements | |
| Yong et al. | ADS-B and SSR data fusion and application | |
| CN109490828A (en) | Localization method based on homologous baseline array | |
| Kube et al. | GNSS-based curved landing approaches with a virtual receiver | |
| Muthuraman et al. | Coarse time navigation: Equivalence of algorithms and reliability of time estimates | |
| CN106226799A (en) | A kind of mobile terminal realizing rapid frequency scanning | |
| Beldjilali et al. | Real time software based L1 C/A GPS receiver |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190329 |