CN109782305B - Method for generating RTK message by receiver optimization strategy under multi-reference condition - Google Patents
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Abstract
The invention provides a method for generating an RTK message by a receiver optimization strategy under a multi-reference condition, which can optimize one reference receiver with high data quality and balanced state stability indexes from a plurality of reference receivers of a reference station as a reference source for transmitting carrier phase differential messages and ensure that a mobile station receives the differential messages with optimal data quality, thereby ensuring the integrity of the reference station and the positioning accuracy and the positioning success rate of the mobile station. The invention realizes that one reference receiver is preferably selected as the reference source of the carrier phase difference message on the basis of the hardware of the reference station consisting of a plurality of reference receivers, so that the mobile station can carry out RTK positioning, the problem of integrity can be solved, the mobile station can carry out RTK positioning, the positioning precision is improved, and the invention can better improve and effectively guarantee the high-precision positioning requirement in the aircraft landing or other industrial fields.
Description
Technical Field
The invention relates to a reference source optimization method, and belongs to the field of satellite navigation carrier phase high-precision relative positioning.
Background
The conventional RTK positioning can be realized by using a configuration of one receiver for each of the base station and the rover station, but when the integrity of the navigation system is at risk or the base receiver of the base station fails, the hardware configuration mode may result in a great loss of the fixing rate and the positioning accuracy of the RTK positioning, and even if the positioning mode directly exits the RTK positioning, the positioning mode is degraded. However, in the fields of aircraft where the scene guidance and landing are closely related to life safety, conventional configurations obviously fail to meet functional performance indicators such as integrity, availability, and continuity. Therefore, a reference station consisting of a plurality of reference receivers (e.g., LAAS and GBAS) is generated. The base station broadcasts pseudo-range differential enhancement information to the outside for the mobile station to carry out pseudo-range differential positioning. Although the reference station of the type has functional performance indexes such as integrity, continuity and availability, the reference station only has the capability of broadcasting pseudo-range differential enhanced messages, the accuracy of a pseudo-range differential positioning mode is in a meter level, obviously, the pseudo-range differential positioning mode cannot be compared with an RTK positioning mode with the positioning accuracy in a sub-meter level, in order to improve the positioning accuracy of a mobile station, a reference station formed by a plurality of reference receivers necessarily broadcasts carrier phase differential messages, but the introduced problem is that the plurality of reference receivers are monitored and isolated through an integrity algorithm under normal conditions, and how to select the reference receivers as reference sources of the carrier phase differential messages in the reference receivers and how to avoid unnecessary switching of the reference receivers is a problem which must be considered.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a carrier phase differential multi-reference receiver optimization method, which can optimize one reference receiver with high data quality and balanced state stability indexes (the measurement residual error is superior to the average value and the optimized satellite search score is the highest) from a plurality of reference receivers of a reference station as a reference source for transmitting carrier phase differential messages, and ensure that a mobile station receives the differential messages with the optimal data quality, thereby ensuring the integrity of the reference station and the positioning accuracy and the positioning success rate of the mobile station.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
1) Respectively carrying out SQM, DQM, MQM and residual error monitoring on each reference receiver, marking and isolating corresponding fault satellite channels, and withdrawing from use by more than 2 satellites marked by the reference receivers;
2) Judging whether the number of the satellites searched at the four frequency points of the BDS/GPS dual system of each reference receiver is not less than 4, if so, the receiver exits;
3) Judging whether the difference of the number of double-frequency point satellite searches of each navigation system exceeds 3 satellites or not; if more than 3, the receiver exits;
4) Calculating mean value mu and standard of each double-frequency point searching star number of BDS/GPS double systemDifference sigma, counting mu of each navigation system of each reference receiver BDS -2σ BDS And mu GPS -2σ GPS ；
5) Computing residual averages for single reference receiver locked satellites
Wherein n is the number of satellites locked by the reference receiver, residual sat i Is the residual value of the satellite; computing the mean of all available reference receiver residuals
Wherein m is the number of available reference receivers; if the mean value of the residual errors of a single reference receiver locking satellite of a certain reference receiver is larger than the mean value of the residual errors of all the available reference receivers, the receiver exits;
6) Mu.s of BDS -2σ BDS And mu GPS -2σ GPS If the maximum value of the reference signal is on the same reference receiver, selecting the reference receiver; otherwise, mu of each reference receiver is calculated BDS -2σ BDS And mu GPS -2σ GPS The mean value and the variance of the sum are respectively marked as alpha and beta, alpha-2 beta is calculated, and a reference receiver of the maximum value of the alpha-2 beta is selected;
7) If the reference receiver has a plurality of reference receivers with the same maximum value of alpha-2 beta, the reference receiver with the minimum residual average value of the locked satellite is preferred;
8) Accumulating the data of the set epoch number, and if the optimized receiver can continuously meet the steps 1) to 3), not switching the reference receiver; otherwise, returning to the step 1) to select a reference receiver again;
9) Real-time statistics of mean value mu of alpha-2 beta of each reference receiver state And standard deviation σ state ；
10 After setting the epoch number, assume the mean μ state And standard deviation σ state The Gaussian distribution is conformed, and the normalization is carried out;
11 Not switching the reference receiver if the normalized value of each epoch falls within the standard Gaussian distribution 2 sigma interval, otherwise returning to the step 1) to select a certain reference receiver again.
The beneficial effects of the invention are: the method has the advantages that one reference receiver is preferably selected as a reference source of the carrier phase difference message on the basis of hardware of a reference station consisting of a plurality of reference receivers, so that the mobile station can perform RTK positioning, the problem of integrity can be solved, the mobile station can perform RTK positioning, the positioning precision is improved, and effective guarantee can be better improved for high-precision positioning requirements in aircraft landing or other industrial fields.
Drawings
Fig. 1 is a schematic diagram of a carrier phase differential packet generation method;
FIG. 2 is a schematic diagram of a preferred method of carrier phase split multiple reference receiver;
FIG. 3 is a schematic diagram of a reference receiver preferred strategy;
FIG. 4 is a diagram of B1 pseudorange bias 300 meters elevation fix result (without optimization method);
FIG. 5 is a schematic diagram of the height positioning results after strategy introduction;
FIG. 6 is a schematic diagram of the results of 2-star added carrier cycle hopping and mobile station positioning;
FIG. 7 is a schematic diagram of the height positioning results after strategy introduction.
Detailed Description
The present invention will be further described with reference to the following drawings and examples, which include, but are not limited to, the following examples.
The invention is based on a differential reference station composed of a plurality of reference receivers, selects a reference receiver with excellent performance and stable state from the plurality of reference receivers as a preferred method of a reference source, packs and broadcasts the data of the reference receiver, and is used for a mobile station to carry out carrier phase differential positioning (hereinafter referred to as RTK positioning).
The invention mainly comprises the following contents:
method for generating carrier phase difference packet
The data quality in the carrier phase differential packet generated by the ground reference station and the number of the included satellites play an important role in improving the precision. The mechanism mainly comprises three steps of integrity monitoring, residual error monitoring and a statistic-based optimal strategy, and a carrier-phase differential message generation mechanism is shown in figure 1.
a) And (5) monitoring the integrity.
Integrity monitoring is performed on the original observations and ephemeris of the locked satellites that can be output by the reference receiver, and used integrity algorithms are Signal Quality Monitoring (SQM), data Quality Monitoring (DQM) and Measurement Quality Monitoring (MQM), respectively.
Wherein, signal Quality Monitoring (SQM) mainly detects and identifies anomalies in received GPS/BDS ranging signals, which mainly consists of three parts: correlation peak monitoring, signal power monitoring and code carrier split monitoring.
Data Quality Monitoring (DQM) is mainly to monitor the reliability of satellite navigation message data received by a receiver. The data center of the ground augmentation system mainly detects the correctness of the updated GPS satellite ephemeris and the clock data of the satellites through a data quality monitoring algorithm.
Measurement Quality Monitoring (MQM) is mainly to monitor measurement step and impulse changes due to clock anomalies and reference receiver faults by using the consistency of multiple epoch pseudorange and carrier phase measurements, and mainly comprises 3 parts: receiver lock time monitoring, carrier acceleration ramp step monitoring and innovative monitoring of carrier smooth code pseudoranges.
b) And (5) residual error monitoring.
The accuracy of the original observations is monitored by computing satellite residuals and if a certain satellite residual is greater than a threshold (250 meters), it is determined that the satellite of the receiver is not available.
The residual (residual) calculation formula is as follows:
where r is the true range, ρ is the pseudorange,
is the clock error of the satellite or the like,
is the reference receiver clock error.
c) Fault isolation
If the corresponding frequency point of each receiver has more than 2 satellites marked with abnormity, the corresponding frequency point of the receiver is judged as unavailable for the receiver
d) A statistically based preference strategy.
The strategy is used to select a receiver with a large number of satellites and excellent data quality from a plurality of reference receivers as a reference to ensure the RTK positioning accuracy and the positioning success rate of the mobile station, and will be described in detail in the second part of this section.
e ) Handover suppression strategy
This strategy can suppress unnecessary switching between reference receivers. Due to hardware of each reference receiver or other reasons, measurement values of different receivers for the same epoch of the same satellite are different, and once the reference receivers are switched, carrier whole-week and fractional-week hopping of a dual-frequency carrier phase difference message broadcasted by a reference station can be caused, so that the positioning result of a mobile station is hopped, and the positioning accuracy can exceed an index under severe conditions, so that the reference receivers with optimal performance and stable state need to be selected. The handover suppression strategy solves the problem of selecting a reference receiver with a stable state, and is described in detail in the third part of this chapter. If the switching judgment condition occurs, the first step of the preferred strategy is jumped to and the execution is started.
(II) statistically based preference strategy
After the integrity monitoring and the residual error monitoring, the reference receiver with the optimal state needs to be selected preferably through the correlation result. A core point of the patent is to provide a corresponding strategy to ensure that the selected reference receiver has good data quality and a large number of satellites are searched.
In order to comprehensively consider the capability of the ground reference station multi-reference receiver for operating the GPS and BDS systems, when the reference receiver is optimized, the satellite searching condition of the dual systems of each reference receiver and the quality of data measurement need to be comprehensively judged, only the reference receiver with the maximum dual-frequency comprehensive satellite searching number of the BDS and the GPS and the optimal data quality can be used as the reference position of RTK, and the original observed quantity of the reference receiver is packaged and is used as a carrier phase difference packet to be broadcast to a mobile station.
The statistically based preferred strategy is as follows:
1) The number of each satellite search of four frequency points of a BDS/GPS dual system is not less than 4;
2) The difference of the number of double-frequency point satellite searches of each navigation system is not more than 3 satellites;
3) Calculating the mean value mu and the standard deviation sigma of the number of the double-frequency point satellite searches of the BDS/GPS double system, and counting the mu of each navigation system of each reference receiver BDS -2σ BDS And mu GPS -2σ GPS ；
4) The residual error average value of each available reference receiver locking satellite is less than or equal to the residual error average value of all available reference receivers;
the mean residual value of a single reference receiver locked satellite is calculated as follows:
wherein n is the number of satellites locked by the reference receiver, residual sat i For the residual value of the satellite, the calculation formula is referred to as residual monitoring.
The average of all available reference receiver residuals is calculated as follows:
where m is the number of available reference receivers.
5) Mu.s of BDS -2σ BDS And mu GPS -2σ GPS If the maximum value of the reference receiver is on the same reference receiver, selecting the reference receiver; otherwise, the mu of each reference receiver is obtained BDS -2σ BDS And mu GPS -2σ GPS And respectively recording the mean value and the variance of the sum as alpha and beta, calculating alpha-2 beta, and selecting the reference receiver with the maximum value of the alpha-2 beta.
6) If the maximum values of a plurality of reference receivers alpha-2 beta are the same at the same time, the reference receiver with the minimum residual average value of the locked satellite is preferred.
(III) multi-reference receiver switching suppression strategy
The reference station is composed of a plurality of reference receivers, each reference receiver causes different measurement errors due to equipment hardware or other reasons, and therefore the measurement result of each reference receiver for each satellite is different at the same time. Therefore, once the switching of the reference receiver occurs, the carrier of the dual-frequency carrier phase difference message broadcast by the reference station may jump for the whole number of weeks and the decimal week, thereby causing the jump of the positioning result of the mobile station, and in a severe case, the positioning accuracy may exceed the index.
In the step (ii), how to select the receiver with the optimal state at this time is emphasized, but in order to avoid carrier cycle slip caused by unnecessary switching of the reference receiver, the reference receiver with excellent state and stable state should be selected in a balanced manner and preferably used as a reference source of carrier phase difference of the ground station, and the two receivers complement each other to ensure excellent precision index and integrity performance of real-time dynamic differential positioning. It is therefore also another core of the invention how to avoid unnecessary switching of multiple reference receivers.
Inhibition strategy:
1) At least the cumulative data 600 epoch (reference receiver output frequency: 1 Hz), if the receivers selected in 600 epochs can continuously meet the first 3 steps of the preference strategy based on statistics, the reference receivers are not switched, and the next step is carried out; otherwise, skipping to the step 1 of the preferred strategy;
2) Real-time statistics of individual reference receiversMean value μ of α -2 β (calculation see sixth step of the statistically based preferred strategy) state Sum standard deviation σ s tate ；
3) After 600 epochs, assume the mean μ of the third step statistics state And standard deviation σ state The gaussian distribution is conformed and normalized.
4) And if the normalized value of each epoch falls within the standard Gaussian distribution 2 sigma interval, switching is not carried out, otherwise, a certain reference receiver is optimized again according to an optimization strategy.
The embodiment of the invention relates to a reference station device consisting of a plurality of reference receivers, the reference receivers with the optimal state and the most stable state and excellent comprehensive performance index are preferably selected from the plurality of reference receivers as reference sources, and then the data of the reference receivers are packaged and broadcasted.
The implementation steps of the invention are as follows:
1) Respectively carrying out SQM, DQM, MQM and residual error monitoring on 4 reference receivers to carry out fault monitoring and isolate corresponding fault satellite channels, and if more than 2 satellites are marked, judging that the frequency point of the reference receiver is unavailable, and exiting the reference receiver; otherwise, the next step is carried out;
2) Judging whether the number of the satellites searched at the four frequency points of the BDS/GPS dual system of each reference receiver is lower than 4, and if the number of the satellites searched at the four frequency points of each reference receiver is lower than 4, the receiver exits; otherwise, the next step is carried out;
3) Judging whether the difference of the number of the double-frequency point satellite searches of each navigation system exceeds 3 satellites or not; if more than 3, the receiver exits; otherwise, the next step is carried out;
4) Calculating the mean value mu and the standard deviation sigma of the number of double-frequency point satellite searches of the BDS/GPS double system, and counting the mu of each navigation system of each reference receiver BDS -2σ BDS And mu GPS -2σ GPS ；
5) The residual error average value of each available reference receiver locking satellite is less than or equal to the residual error average value of all available reference receivers; if the residual error is larger than the average value of all the available reference receivers, the receiver exits; otherwise, the next step is carried out;
the mean residual value of a single reference receiver locked satellite is calculated as follows:
wherein n is the number of satellites locked by the reference receiver, residual sat i For the residual value of the satellite, the calculation formula is referred to as residual monitoring.
The average of all available reference receiver residuals is calculated as follows:
where m is the number of available reference receivers.
6) Mu.f BDS -2σ BDS And mu GPS -2σ GPS If the maximum value of the reference receiver is on the same reference receiver, selecting the reference receiver; otherwise, the mu of each reference receiver is obtained BDS -2σ BDS And mu GPS -2σ GPS Respectively recording the mean value and the variance of the sum as alpha and beta, and calculating alpha-2 beta, and then selecting a reference receiver with the maximum value of alpha-2 beta;
7) If the situation that the maximum values of a plurality of reference receivers are the same at the same time exists in the reference receiver, the reference receiver with the minimum residual average value of the locked satellite is preferred;
8) At least the cumulative data 600 epoch (reference receiver output frequency: 1 Hz), the preferred receiver in 600 epochs will not switch the reference receiver if the first 3 steps can be continuously satisfied; otherwise, selecting a reference receiver again through the preferred strategy, and jumping to the step 1;
9) Real-time statistics of mean value mu of alpha-2 beta of each reference receiver state Sum standard deviation σ state ；
10 At 600 epochAfter that, assume the mean value μ state And standard deviation σ state The gaussian distribution is conformed and normalized.
11 Not switching if the normalized value of each epoch falls within the standard Gaussian distribution 2 sigma interval, otherwise, jumping to the step 1 to preferably select a certain reference receiver again.
In the embodiment of the invention, the mobile station keeps a static state, and the mobile station positions are (34.2378728571, 108.909674311, 388.0335).
And 4 reference receivers (reference stations) and a mobile receiver (mobile station) are adopted, if the optimal method is not added, and the deviation of +300 meters is added to the pseudo ranges of two star B1 frequency points locked by a reference source, so that pseudo-range residual errors are increased.
As can be seen from fig. 4, there is a jump in height of approximately 2-3 meters. When the positioning mode is counted, the RTK fixed solution success rate is reduced to 98.22%, and the mean value and the standard deviation of positioning are shown in Table 1
TABLE 1 B1 pseudorange bias 300 m longitude and latitude high position mean and standard deviation
Four reference receivers (reference stations) and one mobile receiver (mobile station) are used. Before fault-filling, the reference receiver 1 is the reference for the RTK. And adding a deviation of +300 meters to the pseudo ranges of the two star B1 frequency points locked by the reference receiver 1, so that the strategy judges the reference receiver 1 to be abnormal and simultaneously selects the reference receiver 2 as a reference for carrier phase difference. As shown in table 2.
Table 2 post-strategy introduction reference receiver selection results
Under the strategy proposed herein, taking the high degree positioning result as an example, the positioning result of the mobile station is shown in fig. 5.
As can be seen from fig. 5, no jump in the height value occurs. The positioning mode is counted, the RTK fixation solution success rate is 100%, and the mean value and the standard deviation of the positioning are shown in Table 3.
TABLE 3 Lag and Law height positioning mean and standard deviation after strategy introduction
| Mean value | Standard deviation of |
| 34.2378728306026 | 1.2108486574906E-8 |
| 108.909674274428 | 1.5773786094586E-8 |
| 388.0250883984521 | 0.0037271655203 |
When the reference receiver is switched, a certain degree of carrier cycle slip is caused, and therefore, the cycle slip simulates the switching situation of the reference receiver to a reference source.
The release preference method is set to randomly add 2 stars to the reference source for whole and small weeks with an RTK fixed release success rate of 99.94%. The overall positioning results are as follows, with the heights shown in fig. 6.
Table 4 mobile station positioning results
| Mean | Standard Deviation |
| 34.237872858813 | 1.2090192902624E-7 |
| 108.9096742809958 | 1.3355133880312E-7 |
| 388.0163054695202 | 0.0366298572962 |
The preferred method logic was started, the same fault injection method, and the simulation results are shown in FIG. 7.
As can be seen from fig. 7, no jump in the height value occurs. The positioning mode is counted, the RTK fixed solution success rate is 100%, and the mean and standard deviation of positioning are shown in table 5.
TABLE 5 Lag and Law height positioning mean and standard deviation after strategy introduction
| Mean value | Standard deviation of |
| 34.2378728306026 | 1.2108486574906E-8 |
| 108.909674274428 | 1.5773786094586E-8 |
| 388.0250883984521 | 0.0037271655203 |
By the carrier phase difference multi-reference receiver optimization method, the reference receiver with the optimal state and the most stable balance is screened out under the multi-reference condition to serve as a reference source and then is broadcast to the mobile station for RTK positioning, the broadcast message is guaranteed to have certain integrity and precision, the positioning result of the mobile station is more reliable, and the positioning precision of the mobile station is improved.
Claims (1)
1. A method for generating an RTK message by a receiver with an optimal strategy under a multi-reference condition is characterized by comprising the following steps:
1) Respectively carrying out SQM, DQM, MQM and residual error monitoring on each reference receiver, marking and isolating corresponding fault satellite channels, and quitting the use of more than 2 satellites by the marked reference receivers;
2) Judging whether the number of the four-frequency points of the BDS/GPS dual system of each reference receiver is not less than 4, and if the number of the four-frequency points of the BDS/GPS dual system of each reference receiver is less than 4, the receiver exits;
3) Judging whether the difference of the number of the double-frequency point satellite searches of each navigation system exceeds 3 satellites or not; if more than 3, the receiver exits;
4) Calculating the mean value mu and the standard deviation sigma of the number of the double-frequency point satellite searches of the BDS/GPS double system, and counting the mu of each navigation system of each reference receiver BDS -2σ BDS And mu GPS -2σ GPS ；
5) Computing mean residual values for single reference receiver locked satellites
Where n is the reference receiver lockNumber of satellites, residual sat i Is the residual value of the satellite; computing the mean of all available reference receiver residuals
Wherein m is the number of available reference receivers; if the mean value of the residual errors of a single reference receiver locking satellite of a certain reference receiver is larger than the mean value of the residual errors of all the available reference receivers, the receiver exits;
6) Mu.f BDS -2σ BDS And mu GPS -2σ GPS If the maximum value of the reference receiver is on the same reference receiver, selecting the reference receiver; otherwise, mu of each reference receiver is calculated BDS -2σ BDS And mu GPS -2σ GPS Respectively recording the mean value and the variance of the sum as alpha and beta, calculating alpha-2 beta, and selecting a reference receiver with the maximum value of the alpha-2 beta;
7) If the maximum values of a plurality of reference receivers alpha-2 beta are the same at the same time, the reference receiver with the minimum residual average value of the locked satellite is preferred;
8) Accumulating the data of the set epoch number, and if the optimized receiver can continuously meet the steps 1) to 3), not switching the reference receiver; otherwise, returning to the step 1) to select a reference receiver again;
9) Real-time statistics of mean value mu of alpha-2 beta of each reference receiver state And standard deviation σ state ；
10 After setting the epoch number, assume the mean μ state And standard deviation σ state Normalizing the Gaussian distribution;
11 Not switching the reference receiver if the normalized value of each epoch falls within the standard Gaussian distribution 2 sigma interval, otherwise returning to the step 1) to select a certain reference receiver again.
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