CN109917436A

CN109917436A - Satellite/inertia combined real-time precise relative motion datum positioning method

Info

Publication number: CN109917436A
Application number: CN201910348036.1A
Authority: CN
Inventors: 董毅; 吴杰; 王鼎杰; 李青松
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2019-04-28
Filing date: 2019-04-28
Publication date: 2019-06-21
Anticipated expiration: 2039-04-28
Also published as: CN109917436B

Abstract

The application relates to a satellite/inertia combination real-time precise relative motion datum positioning method in the technical field of satellite/inertia combination positioning. The method comprises the following steps: acquiring a position increment sequence and first original observation data of a time differential carrier phase sent by a moving reference station, determining an asynchronous real-time dynamic relative position according to the first original observation data and received second original observation data, and acquiring a combined relative position of the moving reference station according to the position increment sequence and the relative position; and obtaining a first position increment of the moving reference station according to the position increment sequence, obtaining an inertial positioning position increment of an updating period, obtaining a second position increment of the moving reference station from the current satellite navigation sampling time to the current inertial navigation sampling time according to the first position increment, and positioning the moving reference station according to the combined relative position, the inertial positioning position increment and the second position increment. By adopting the method, the navigation data can be obtained by high-frequency calculation, so that the navigation requirement of a high-speed carrier is met.

Description

A kind of relatively dynamic origin reference location method of satellite/inertia combination real-time accurate

Technical field

This application involves satellite/inertia combined orientation technology fields, combine essence in real time more particularly to a kind of satellite/inertia Close relatively dynamic origin reference location method, apparatus, positioning device and storage medium.

Background technique

The relative position information of real-time accurate is extremely important for some applications, such as intelligent transportation, precision agriculture, aircraft Landing, formation flight etc., real-time accurate relative positioning mainly uses the RTK (Real-Time based on satellite navigation at present Kinematic, in real time dynamically) technology, the positioning precision of Centimeter Level can be obtained.However, being limited to GNSS hardware technology Development, common defending lead receiver sample rate be less than 50Hz, even high dynamic receiver, highest sample rate is still limited in 100Hz or less.The data updating rate for being based purely on the real-time relative positioning of satellite remains difficult the navigation for meeting some high speed carriers Demand may cause the decline of control performance or even cause some unpredictalbe consequences.

Summary of the invention

Based on this, it is necessary in view of the above technical problems, provide one kind and be able to solve satellite-based real-time relative positioning Data updating rate be difficult to meet the relatively dynamic origin reference location sides of satellite/inertia combination real-time accurate of high speed carrier navigation needs Method.

A kind of relatively dynamic origin reference location method of satellite/inertia combination real-time accurate, which comprises

Obtain the positional increment sequence of the time difference carrier phase in the default historical time intervals that dynamic base station is sent With the first original observed data；

According to the second original sight received in first original observed data and the default historical time intervals Measured data is determined when fashion leads the asynchronous real-time dynamic relative position of sampling instant；

According to the positional increment sequence of the time difference carrier phase and the asynchronous real-time dynamic relative position, obtain When fashion leads the combination relative position that sampling instant is directed to the dynamic base station；

According to the positional increment sequence of the time difference carrier phase, obtains leading when fashion and move benchmark described in sampling instant The first position increment stood；

The inertial positioning positional increment for obtaining the update cycle of current inertial navigation sampling instant increases according to the first position Amount obtains the dynamic base station from described when fashion leads sampling instant to the increasing of the second position of the current inertial navigation sampling instant Amount；

According to the combination relative position, the inertial positioning positional increment and the second position increment, to described Dynamic base station carries out relative positioning.

In one of the embodiments, further include: the positional increment between the adjacent epoch that dynamic base station is successively sent is obtained, Positional increment between the adjacent epoch successively sent is arranged sequentially in time, obtains default historical time intervals The positional increment sequence of interior time difference carrier phase；Wherein, the positional increment between the adjacent epoch is the dynamic benchmark Basis of standing, which is defended, leads what observation data were calculated.

In one of the embodiments, further include: to each in the positional increment sequence of the time difference carrier phase Positional increment between adjacent epoch is summed, and the first position for obtaining moving base station in the default historical time intervals increases Amount；Vector operation is carried out according to the first position increment and the asynchronous real-time dynamic relative position, obtains adopting when fashion is led The sample moment is directed to the combination relative position of the dynamic base station.

In one of the embodiments, further include: according to the positional increment sequence of the time difference carrier phase and respectively The corresponding time relationship of a epoch establishes the increment relation model of the corresponding relationship of the 4th positional increment and time interval；Wherein, The time interval is when fashion leads the difference of the initial time of sampling instant and the default historical time intervals；It ought be fashionable It leads sampling instant and inputs the increment relation model, the first position for obtaining leading dynamic base station described in sampling instant when fashion increases Amount.

In one of the embodiments, further include: use least square method, set to the increment relation model and in advance The sliding polynomial function set is fitted, and determines each term coefficient of the sliding polynomial function；The current inertial navigation is adopted The sample moment inputs the sliding polynomial function, obtains the 5th positional increment；According to the 5th positional increment and described first The difference of positional increment obtains the second position increment of current inertial navigation sampling instant.

In one of the embodiments, further include: by the combination relative position and the inertial positioning positional increment into After row summation operation, makees difference operation with the second position increment, moved the real time position of base station relatively.

In one of the embodiments, further include: obtain the data transmission delay of the dynamic base station.

A kind of relatively dynamic reference location device of satellite/inertia combination real-time accurate, described device include:

Data reception module obtains the time difference carrier phase in the default historical time intervals that dynamic base station is sent Positional increment sequence and the first original observed data；

Asynchronous relative position determining module, according to first original observed data and the default historical time intervals The second original observed data inside received is determined when fashion leads the asynchronous real-time dynamic relative position of sampling instant；

Integrated positioning module, according to the positional increment sequence of the time difference carrier phase and the asynchronous real-time dynamic Relative position obtains leading the combination relative position that sampling instant is directed to the dynamic base station when fashion；

It defends and leads incremental forecasting module, according to the positional increment sequence of the time difference carrier phase, obtain leading when fashion The first position increment of base station is moved described in sampling instant；

Inertial navigation incremental forecasting module obtains the inertial positioning positional increment of the update cycle of current inertial navigation sampling instant, root According to the first position increment, the dynamic base station is obtained from described when fashion is led sampling instant and sampled to the current inertial navigation The second position increment at quarter；

Locating module increases according to the combination relative position, the inertial positioning positional increment and the second position Amount, positions the dynamic base station.

A kind of positioning device, including memory and processor, the memory are stored with computer program, the processor It is performed the steps of when executing the computer program

A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor It is performed the steps of when row

Obtain the positional increment sequence of the time difference carrier phase in the default historical time intervals that dynamic base station is sent With the first original location data；

It is original fixed according to received in the described first original location data and the default historical time intervals second Position data are determined when fashion leads the asynchronous real-time dynamic relative position of sampling instant；

According to the combination relative position, the inertial positioning positional increment and the second position increment, to described Dynamic base station is positioned.

Above-mentioned satellite/inertia combination real-time accurate moves origin reference location method, apparatus, computer equipment and storage relatively and is situated between Matter, by obtain the time difference carrier phase in the default historical time intervals that dynamic base station is sent positional increment sequence and First original observed data, so that it is determined that dynamic location data of the base station within the historical juncture, based on data to dynamic base station Location parameter is predicted, specifically according to second received in the first original observed data and default historical time intervals Original observed data is determined when fashion leads the asynchronous real-time dynamic relative position of sampling instant, on the other hand, according to time difference The positional increment sequence of carrier phase and asynchronous real-time dynamic relative position obtain being directed to dynamic benchmark when fashion leads sampling instant Then the combination relative position stood according to the positional increment sequence of time difference carrier phase, obtains leading sampling instant when fashion The first position increment of the dynamic base station obtains the inertial positioning positional increment of the update cycle of current inertial navigation sampling instant, According to first position increment, dynamic base station is obtained from when fashion leads sampling instant to the increasing of the second position of current inertial navigation sampling instant Therefore amount can carry out course prediction to any time, can be when being not received by dynamic base station data, to dynamic base station Location prediction is carried out, so that the turnover rate of location data is improved, further according to combination relative position, inertial positioning positional increment And second position increment, dynamic base station is positioned, since calculating process is very fast, high-frequency may be implemented, phase is calculated For moving the real time position of benchmark, to meet the navigation needs of high speed carrier.

Detailed description of the invention

Fig. 1 is the application scenario diagram of the relatively dynamic origin reference location method of one embodiment Satellite/inertia combination real-time accurate；

Fig. 2 is the flow diagram of the relatively dynamic origin reference location method of one embodiment Satellite/inertia combination real-time accurate；

Fig. 3 is the flow diagram for moving base station in one embodiment and calculating the positional increment step between adjacent epoch；

Fig. 4 is the schematic diagram that base station and movement station communication are moved in one embodiment；

Fig. 5 is the schematic diagram that base station and movement station communication time-delay are moved in an embodiment；

Fig. 6 is the flow diagram that second position incremental steps are calculated in one embodiment；

Fig. 7 is the schematic flow of the relatively dynamic origin reference location method of another embodiment Satellite/inertia combination real-time accurate Figure；

Fig. 8 is that east northeast ground error changes with time schematic diagram in an embodiment；

Fig. 9 is the structural block diagram of the relatively dynamic reference location device of one embodiment Satellite/inertia combination real-time accurate；

Figure 10 is the internal structure chart of positioning device in one embodiment.

Specific embodiment

It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not For limiting the application.

The relatively dynamic origin reference location method of satellite/inertia combination real-time accurate provided by the present application, can be applied to such as Fig. 1 institute In the application environment shown.Wherein, movement station 102 is communicated by network with dynamic base station 104.Movement station 102 and dynamic benchmark Standing can carry out communication connection with GPS/ big-dipper satellite 106.Wherein, movement station 102 and dynamic base station 104 can be, but not limited to It is the mobile devices such as various intelligent vehicles, aircraft, high-speed rail.

Specifically, including Inertial Measurement Unit in movement station 102, defending and lead receiver etc., Inertial Measurement Unit can be carried out Mechanization, so as to measure the positional increment in any time period.It defends and leads receiver and can receive GPS/ big-dipper satellite 106 Navigation data.In addition, movement station 102 is additionally provided with communication unit and cache unit, communication unit and dynamic base station 104 into Row communication connection.

Include Inertial Measurement Unit in dynamic base station 104, defend and lead receiver etc., Inertial Measurement Unit can carry out mechanics volume Row, so as to measure the positional increment in any time period.It defends and leads receiver and can receive the navigation of GPS/ big-dipper satellite 106 Data.It also include communication unit in dynamic base station 104, to be communicated by communication unit with movement station 102.

Movement station 102 receives the default of the dynamic transmission of base station 104 when carrying out Precise Relative Positioning to dynamic base station 104 The positional increment sequence and the first original observed data of time difference carrier phase in historical time intervals, movement station 102 According to the second original observed data received in the first original observed data and default historical time intervals, determine when fashion is led The asynchronous real-time dynamic relative position of sampling instant, movement station 102 according to the positional increment sequence of time difference carrier phase and Asynchronous real-time dynamic relative position obtains leading the combination relative position that sampling instant is directed to dynamic base station 104 when fashion.It is mobile 102 are stood according to the positional increment sequence of time difference carrier phase, obtains leading first that base station 104 is moved in sampling instant when fashion Positional increment, the inertial positioning positional increment for obtaining the update cycle of current inertial navigation sampling instant are obtained according to first position increment To dynamic base station 104 from when the fashionable second position increment for leading sampling instant to current inertial navigation sampling instant.102 basis of movement station Relative position, inertial positioning positional increment and second position increment are combined, relative positioning is carried out to dynamic base station 104.

In one embodiment, as shown in Fig. 2, to provide a kind of relatively dynamic benchmark of satellite/inertia combination real-time accurate fixed Position method is applied to be illustrated for the movement station in Fig. 1 in this way, comprising the following steps:

Step 202, the position of the time difference carrier phase in the default historical time intervals that dynamic base station is sent is obtained Increment sequence and the first original observed data.

Time difference carrier phase (time-differenced carrier phase, TDCP) technology is a kind of place in real time Manage the location technology that survey station carrier phase carries out time difference, the dynamic base station in survey station i.e. this step.Dynamic defending for base station is led For receiver when receiving observation data, sampling can be determined to obtain TDCP data by carrying out navigation calculation to observation data The positional increment of TDCP in interval.

Preset historical time intervals refer to the period recorded with the time of movement station, in historical time intervals Interior, movement station persistently receives the positional increment data for the TDCP that dynamic base station is sent, to obtain dynamic base station by caching TDCP positional increment sequence.

First original observed data refers to that dynamic base station leads the observation data that receiver receives by defending.

Step 204, according to the second original sight received in the first original observed data and default historical time intervals Measured data is determined when fashion leads the asynchronous real-time dynamic relative position of sampling instant.

Defend lead sampling instant refer to by satellite receiver acquire observation data at the time of.

Second original observed data refers to that movement station leads the observation data that receiver receives by defending, asynchronous dynamic in real time State (Asynchronous Real-time Kinematic, ARTK) technology is a kind of real time positioning technology, and movement station is receiving To after the first original observed data and the second original observed data of dynamic base station, using ARTK method, shifting can be calculated Sampling instant is led when fashion and defends the asynchronous real-time dynamic for leading sampling instant with respect to position relative to the dynamic base station received in dynamic station It sets.

Step 206, it according to the positional increment sequence of time difference carrier phase and asynchronous real-time dynamic relative position, obtains When fashion leads the combination relative position that sampling instant is directed to dynamic base station.

Combine relative position be to be generated due to transmission delay, due between movement station and the communication of dynamic base station exist compared with Big time delay, the error generated in order to avoid time delay need to compensate location data, and then can pass through time difference The positional increment sequence of carrier phase and asynchronous real-time dynamic relative position carry out operation, available combination relative position.

Specifically, movement station obtains asynchronous real-time dynamic relative position by navigation calculation, and stored in caching when Between differential carrier phase positional increment sequence, can be calculated combination relative position.

Step 208, it according to the positional increment sequence of time difference carrier phase, obtains leading the dynamic benchmark of sampling instant when fashion The first position increment stood.

Due to the presence of time delay, sampling instant is being led when fashion, the practical position that carried out of dynamic base station is mobile, and movement station is real The observation data for the dynamic base station that border receives really lead sampling instant earlier than when fashion.It therefore, can be according in caching The positional increment sequence of the time difference carrier phase of storage leads sampling to fashion is worked as to the first original observed data sampling instant The positional increment that moment moves base station is calculated, and therefore, first position increment refers to dynamic base station from the first original observation Data sampling instants are extremely when fashion leads the accumulative summation of the positional increment sequence of sampling instant.

Step 210, the inertial positioning positional increment for obtaining the update cycle of current inertial navigation sampling instant, according to first position Increment obtains dynamic base station from the second position increment for leading sampling instant to current inertial navigation sampling instant when fashion.

At the time of current inertial navigation sampling instant refers to that movement station carries out data sampling by Inertial Measurement Unit.

Update cycle refers to the period that Inertial Measurement Unit measures, and is once adopted since Inertial Measurement Unit is every Sample needs once to update navigation data in an i.e. sampling period, therefore is referred to as the update cycle during this, separately Outside, the data updating rate of positioning of the invention was determined according to the update cycle, and the update cycle is shorter, and turnover rate is higher.It updates Period can be taking human as being arranged according to demand, while being also limited the sample frequency of also hardware.

Second position increment is referred to when fashion leads sampling instant to the position of the dynamic base station of current inertial navigation sampling instant Increment.Due to defend lead sampling frequency it is lower, defend and led in the sampling period at one, multiple inertial navigation sampling can be carried out, however Therefore the present embodiment, which can carry out location data update using the frequency of inertial navigation measuring unit, in this way, can be improved The turnover rate of location data.

Step 212, according to combination relative position, inertial positioning positional increment and second position increment, to dynamic base station It is positioned.

Above-mentioned positional shift is obtained by calculation, when receiving the absolute position of dynamic base station, can determine dynamic benchmark The real time position stood.

In the above-mentioned relatively dynamic origin reference location method of satellite/inertia combination real-time accurate, by obtaining dynamic base station transmission The positional increment sequence and the first original observed data of time difference carrier phase in default historical time intervals, so that it is determined that Dynamic location data of the base station in historical time, is predicted, specifically root based on location parameter of the data to dynamic base station According to the second original location data received in the first original observed data and default historical time intervals, determine when fashion is led The asynchronous real-time dynamic relative position of sampling instant, on the other hand, according to the positional increment sequence of time difference carrier phase and Asynchronous real-time dynamic relative position obtains leading the combination relative position that sampling instant is directed to dynamic base station, then, root when fashion According to the positional increment sequence of time difference carrier phase, the first position for obtaining leading dynamic base station described in sampling instant when fashion increases Amount, obtains the inertial positioning positional increment of the update cycle of current inertial navigation sampling instant, according to first position increment, obtains dynamic base The second position increment of sampling instant to current inertial navigation sampling instant be led from when fashion in quasi- station, therefore, can to any time into Row incremental forecasting can carry out location prediction to dynamic base station, to improve positioning when being not received by dynamic base station data The turnover rate of data, further according to combination relative position, inertial positioning positional increment and second position increment, to dynamic benchmark Station is positioned, and since calculating process is very fast, high-frequency may be implemented, navigation data is calculated, to meet high speed carrier Navigation needs.

In one embodiment, movement station obtains the time difference carrier wave in the default historical time intervals that dynamic base station is sent When the positional increment sequence of phase, the positional increment between the adjacent epoch that base station is successively sent can be specifically moved by acquisition, Positional increment between the adjacent epoch successively sent is arranged sequentially in time, obtains the time in default historical time intervals The positional increment sequence of differential carrier phase；Wherein, the positional increment between adjacent epoch is that base station leads observation number according to defending According to what is be calculated.Epoch refers to each sampling instant, and in the present embodiment, epoch refers to that dynamic base station carries out data hair The time point sent.By leading observation data and carrying out navigation calculation to defending, positional increment between available adjacent epoch, then The transmission of the positional increment between adjacent epoch is carried out according to preset communication frequency.The present embodiment, actually any time it Between there is positional increment, and only by calculate epoch between positional increment, on the one hand more agree with practical application, another party Face effectively reduces data volume in the case where guaranteeing the distortionless situation of data, reduces difficulty in computation.

In another embodiment, the position between adjacent epoch is calculated as shown in figure 3, providing and moving base station in one embodiment The flow diagram for setting increment, by taking position incremental computations between two epoch as an example, detailed process is as follows:

Step 302, dynamic base station measures the non-poor carrier phase observation data in the first epoch and the second epoch respectively.

Specifically, dynamic base station is in the first epoch t₀, the non-poor carrier phase observation data for measuring i satellite isWith The non-poor carrier phase observation data of j satellite isIn the second epoch t₁, measure the non-poor carrier phase sight of i satellite Measured value isNon- poor carrier phase observation data with j satellite is

Step 304, difference operator between the star between the first epoch of definition and the second epoch.

Specifically, the mathematical model of difference operator is as follows:

Wherein, subscript i and j represents satellite number, and i satellite is reference star, and reference star refers to the satellite at the highest elevation angle；Under Mark A represents base station；T represents satellite-signal sending instant, such asIt indicates in observation moment t₀When, the signal of corresponding i satellite Sending instant.

Step 306, according to double difference carrier phase between the determining star between the first epoch and the second epoch of difference operator between star Measurement model.

Measurement model is as follows:

Wherein,Indicate the double difference carrier phase observation data between the first epoch and the second epoch；Table Show the double difference geometric distance of different sending instants；Indicate the double difference satellite clock correction of different sending instants；C indicates light Speed；Indicate the double difference noise of the first epoch and the second epoch, unit is rice.

Specifically, the TDCP positional increment between dynamic first epoch of base station and the second epoch lies in double difference geometric distance In, expression formula is as follows:

Wherein, r^j(T₁ ^j) andIt is j satellite in signal sending instant T₁And T₀Three-dimensional location coordinates, rⁱ(T₁ ⁱ) WithIt is i satellite in signal sending instant T₁And T₀Three-dimensional location coordinates, r_A(t₀) indicate that dynamic base station is gone through first First t₀Three-dimensional location coordinates；r_A(t₁) indicate dynamic base station in the second epoch t₁Three-dimensional location coordinates.

Step 308, it is calculated between the first epoch and the second epoch according to measurement model using least square method TDCP positional increment.

Specifically, according to Taylor expansion principle, it willExpression formula in dynamic first epoch of base station t₀Taylor's exhibition It opens to single order item, expanded expression is as follows:

Wherein, u represents unit vector,Unit vector of the dynamic base station of expression to j satellite；Indicate double difference geometry Zeroth order item apart from Taylor expansion；Δr_TDCPOn the basis of stand the first epoch t₀To the second epoch t₁TDCP positional increment.

Connection and solution expanded expression and measurement model, and by taking m satellite as an example, it is as follows to establish model:

Wherein, k=1,2 ..., j ... m-1；k≠i.

Satellite clock correction double differenceIt is calculated according to real-time broadcast ephemeris parameter, TDCP positional increment Δ r_TDCPFor not Know number, according to least-squares estimation, can be obtained

Δr_TDCP=(A^TA)^-1A^TY

Wherein,

In the present embodiment, by being arranged above-mentioned model in dynamic base station, when receiving the first original observed data, The TDCP positional increment between epoch can quickly be calculated

In one embodiment, for simplicity generally using the time of latter epoch as the time of TDCP increment.

In one embodiment, movement station is according to the positional increment sequence and asynchronous real-time dynamic phase of time difference carrier phase To position, obtains leading the step of sampling instant is directed to the combination relative position of dynamic base station when fashion, specifically may is that clock synchronization Between differential carrier phase positional increment sequence in positional increment between each adjacent epoch sum, when obtaining default history Between be spaced in dynamic base station first position increment, vector is carried out according to first position increment and asynchronous real-time dynamic relative position Operation obtains leading the combination relative position that sampling instant is directed to dynamic base station when fashion.In the present embodiment, positioned When, comprehensively consider time difference carrier phase positional increment sequence and asynchronous real-time dynamic relative position, i.e., in view of communication Time delay, can be further improved the accuracy of positioning.

Specifically, the principle for calculating combination relative position is as shown in Figure 4 and Figure 5, the TDCP positional increment between adjacent epoch With Δ r_TDCPIt indicates, moves the asynchronous real-time dynamic relative position Δ r between base station and movement station_ARTKIt indicates, therefore, by Fig. 4 Available expression formula:

Δr_ARTK/TDCP=Δ r_ARTK-Δr_TDCP

Wherein, Δ r_ARTK/TDCPIndicate combination relative position.

Due to the presence of time delay, sampling instant is being led when fashion, as shown in figure 5, needing to time differential carrier phase Positional increment in positional increment sequence between each adjacent epoch is summed, thus using expression formula Δ r_ARTK/TDCP=Δ r_ARTK-Δr_TDCPCombination relative position is calculated.

In one embodiment, movement station is obtained according to the positional increment sequence of the time difference carrier phase when fashion It leads and moves the mode of the first position increment of base station described in sampling instant and may is that position according to the time difference carrier phase The corresponding time relationship for setting increment sequence Yu each epoch establishes the increment of the corresponding relationship of the 4th positional increment and time interval Relational model, wherein time interval is the difference when the fashionable initial time for leading sampling instant and default historical time intervals, will When fashion leads sampling instant input increment relation model, the first position for obtaining leading dynamic base station described in sampling instant when fashion increases Amount.In the present embodiment, the 4th positional increment is the TDCP positional increment of any epoch to initial epoch, and initial epoch refers to pre- If first epoch in historical time intervals.Time interval refers to any epoch to the time interval of initial epoch.Pass through Increment relation model is established, the TDCP positional increment of any time can be quantitatively calculated, be adopted to be calculated and be led when fashion The TDCP positional increment at sample moment, i.e. first position increment.

In another embodiment, movement station according to first position increment, is obtaining dynamic base station from when fashion leads sampling The second position increment of quarter to current inertial navigation sampling instant can be in the following ways: least square method is used, to increment relation Model and pre-set sliding polynomial function are fitted, and determine each term coefficient of sliding polynomial function, will be current Inertial navigation sampling instant input sliding polynomial function, obtains the 5th positional increment；Increased according to the 5th positional increment and first position The difference of amount obtains the second position increment of current inertial navigation sampling instant.In the present embodiment, since the frequency of inertial navigation sampling is higher than When defending the frequency for leading sampling, therefore defend and led in the sampling period at one, include multiple inertial navigation sampling, and positioning, using used Sample frequency output is led, to improve location data renewal frequency.When inertial navigation sample frequency exports, needs to obtain one and defend to lead and adopt The first position increment at sample moment, and the 5th positional increment of the dynamic base station of current inertial navigation sampling instant is calculated, move benchmark The 5th positional increment stood is also one of TDCP positional increment, and the 5th positional increment is obtained using fitting of a polynomial mode , it therefore, can be with higher rate-adaptive pacemaker positional increment data.

In with specific embodiment, as shown in fig. 6, providing a kind of schematic flow for calculating second position incremental steps Figure, the specific steps are as follows:

Step 602, the corresponding time relationship of the positional increment sequence of settling time differential carrier phase and each epoch.

Specifically, the expression formula of corresponding relationship is as follows:

Wherein, epoch is respectively t₀,t₁,...,t_n-1, corresponding TDCP positional increment is respectively Δ r₀,Δr₁,...,Δ r_n-1, step 604, epoch data matrix model is established, according to data matrix model, obtains sliding multinomial coefficient.

Specifically, n data to be substituted into the expression formula of above-mentioned corresponding relationship respectively, epoch data matrix model is obtained:

Y=Ax+e

Wherein,X is wait ask It slides system of polynomials number vector and x=(A can be obtained using least-squares algorithm^TA)^-1A^TY

Step 606, according to sliding multinomial, fitting obtains the TDCP positional increment at current inertial navigation moment.

Specifically, sliding multinomial is f (x)=ax³+bx²+ cx+d, therefore the current inertial navigation sampling instant being calculated TDCP positional increment is f (x_I)=ax_I ³+bx_I ²+cx_I+ d, wherein x_I=t_I-t₀, t_IIndicate current inertial navigation sampling instant.

Step 608, according to the difference of the 5th positional increment and first position increment, the of current inertial navigation sampling instant is obtained Two positional increments.

Specific expression formula are as follows:

Wherein, x_T=t_T-t₀, t_TIt indicates to lead sampling instant, Δ r when fashion_PIndicate second position increment.

In the present embodiment, by the way of fitting of a polynomial, TDCP positional increment is predicted, thus high time delay with And in the case that communication frequency is low, higher location data refresh rate can be still kept.

In addition, movement station can be adopted in the inertial positioning positional increment for the update cycle for obtaining current inertial navigation sampling instant With such as under type: the data of current inertial navigation sampling instant being integrated to previous inertial navigation sampling instant, obtain the increasing of inertial positioning position Amount.

In one embodiment, movement station increases according to combination relative position, inertial positioning positional increment and the second position Amount, positioning to dynamic base station can be in the following way: combination relative position is asked with inertial positioning positional increment After operation, makees difference operation with second position increment, moved base station real time position relatively.

In addition, in one embodiment, it is also necessary to the data transmission delay of dynamic base station is obtained, so as to accurately determine Movement station defend lead sampling time and dynamic base station defend the difference for leading the sampling time, increase convenient for accurately calculating above-mentioned each position Amount.

Hereinafter, being illustrated by a specific embodiment to the above embodiment of the present invention.

In one embodiment, as shown in fig. 7, providing another embodiment Satellite/inertia combination real-time accurate phase To the schematic flow chart of dynamic origin reference location method, the specific steps are as follows:

Step 702, the data transmission delay of dynamic base station and movement station and the data of dynamic base station and movement station are set Send frequency.

It is broadcast specifically, the dynamic original location data of base station first is arranged for 2Hz, minimal time delay 2s；Dynamic base station TDCP positional increment data are broadcast for 10Hz, time delay 0.1s.Movement station defends derivative according to being that 10Hz is sampled, and inertial guidance data is 125Hz sampling.

Step 704, the second original positioning of the first original location data and movement station acquisition that are sent according to dynamic base station Data calculate asynchronous real-time dynamic relative position.

Wherein, the time delay broadcast by the first original location data, can determine the asynchronous time.With certain dynamic test Dynamic base station in t₀The observation data and movement station at=103519.5s moment are in t₁The observation data at=103521.5s moment are Example, wherein carrier phase observation data include the observation data of Beidou three frequency points and GPS two frequency bins.In this example, Beidou, which is total to the TV star, 7, and GPS, which is total to the TV star, 8, therefore asynchronous double-differential carrier phase observation has 37.According to the side ARTK Method is calculated

Step 706, it calculates dynamic base station and is defending the first position increment led in observation data time difference.

Need TDCP positional increment Δ r of the calculating benchmark station between t=103519.5~103521.4_TDCP, it is contemplated that Application in real time, we only calculate the positional increment between adjacent epoch here, broadcast to movement station, movement station caches certain time Positional increment between base station epoch, then the TDCP positional increment for obtaining corresponding to and defending and leading in observation data time difference that adds up.To subtract Few length, we provide TDCP position of the base station between t=103519.5~103519.6 and increase by taking Beidou frequency point as an example here Measure Δ r_TDCP,1Calculating process.

Setting

In formula,WithAs unit of rice.

According to expression formula Δ r_TDCP=(A^TA)^-1A^TY calculates linear equation free term Y

Obtain the TDCP positional increment of Beidou frequency point

Step 708, it according to the positional increment sequence of time difference carrier phase and asynchronous real-time dynamic relative position, obtains When fashion leads the combination relative position that sampling instant is directed to dynamic base station.

Movement station has cached the TDCP positional increment between t=103519.5~103521.4, calculates first position increment It obtainsTherefore it calculates

Step 710, the inertial navigation measuring unit of movement station carries out INS mechanization, obtains current inertial navigation sampling instant more The inertial positioning positional increment in new period.

It is dynamic to stand from measurement updaue moment t_upd=103521.502 inertial navigations are integrated to current INS sampling instant t_INS= 103521.510s obtaining positional increment

Step 712, real time position prediction is carried out to dynamic base station according to the positional increment of time difference carrier phase.

It is calculated by taking x-axis in ECEF coordinate system as an example, y is similar with the calculation of z-axis:

The TDCP positional increment in 103520.0~130521.4 directions x of totally 15 epoch of movement station caching is

X_TDCP=[- 0.175, -0.172, -0.169, -0.162, -0.163, -0.162, -0.153, -0.152,

-0.148,-0.145,-0.146,-0.141,-0.143,-0.139,-0.138]

Select the oldest moment in the buffer area for reference to epoch, i.e. t₀=130520.0, it is available

So as to obtain

The polynomial coefficient of the prediction that the direction x can be obtained according to least square formula is

A=-0.0438884

B=0.2258617

C=-1.7548942

D=0.0009334

It can be obtained and increase from the newest TDCP positional increment moment to the benchmark station location of present mobile stations INS sampling instant Amount are as follows:

Repeat above-mentioned calculating, available y and z-axis direction:

Step 714, according to combination relative position, inertial positioning positional increment and second position increment, to dynamic base station It is positioned.

According to the movement station INS sampling instant mechanization result r being calculated_R,INSThe base station of prediction at this time is exhausted To position, relative positioning result can be obtained:

According to the above results, in the INS sampling instant of each movement station, it can reach relatively fixed with original I NS sample rate Position output turnover rate.

Finally, by that can be obtained under ECEF coordinate system with being converted into base station locality east northeast coordinate systemAs shown in figure 8, horizontal axis represents the time, unit is the second, the longitudinal axis with representing east northeast three directions it is opposite Position error, for the difference of the relative position of the invention calculated and subsequent synchronous RTK, unit is rice.It can be seen from the figure that Under the conditions of set time delay, positioning precision of the invention is up to cm magnitude.

Table 1 has counted the precision of the combination relative positioning of the satellite/inertia under set time delay condition, and three directions are Cm magnitude.Therefore satellite/inertia of the invention combination relative positioning method is feasible, can improve mobile station location in real time more New rate, and can guarantee positioning precision.

Satellite/inertia combines positioning precision under time delay condition set by table 1

It should be understood that although each step in the flow chart of Fig. 2,3,6 and 7 is successively shown according to the instruction of arrow Show, but these steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, this There is no stringent sequences to limit for the execution of a little steps, these steps can execute in other order.Moreover, Fig. 2,3,6 and 7 In at least part step may include that perhaps these sub-steps of multiple stages or stage are not necessarily multiple sub-steps Completion is executed in synchronization, but can be executed at different times, the execution in these sub-steps or stage sequence is not yet Necessarily successively carry out, but can be at least part of the sub-step or stage of other steps or other steps in turn Or it alternately executes.

In one embodiment, as shown in figure 9, to provide a kind of relatively dynamic benchmark of satellite/inertia combination real-time accurate fixed Position device, comprising: data reception module 902, integrated positioning module 906, is defended and leads increment asynchronous relative position determining module 904 Prediction module 908, inertial navigation incremental forecasting module 910 and locating module 912, in which:

Data reception module 902 obtains the time difference carrier wave phase in the default historical time intervals that dynamic base station is sent The positional increment sequence and the first original observed data of position；

Asynchronous relative position determining module 904, according to first original observed data and the default historical time The second original observed data received in interval is determined when fashion leads the asynchronous real-time dynamic relative position of sampling instant；

Integrated positioning module 906, according to the positional increment sequence of the time difference carrier phase and it is described it is asynchronous in real time Dynamic relative position obtains leading the combination relative position that sampling instant is directed to the dynamic base station when fashion；

It defends and leads incremental forecasting module 908, according to the positional increment sequence of the time difference carrier phase, obtain when fashion Lead the first position increment that base station is moved described in sampling instant；

Inertial navigation incremental forecasting module 910 obtains the inertial positioning positional increment of the update cycle of current inertial navigation sampling instant, According to the first position increment, the dynamic base station is obtained from described when fashion leads sampling instant to the current inertial navigation sampling The second position increment at moment；

Locating module 912, according to the combination relative position, the inertial positioning positional increment and the second position Increment carries out relative positioning to the dynamic base station.

Data reception module 902 is also used to obtain that dynamic base station successively sends adjacent goes through in one of the embodiments, Positional increment between the adjacent epoch successively sent is arranged sequentially in time, is obtained by the positional increment between member The positional increment sequence of time difference carrier phase in default historical time intervals；Wherein, the position between the adjacent epoch Increment, which is the dynamic base station, leads observation data and is calculated according to defending.

It is also used to each phase in the positional increment sequence to the time difference carrier phase in one of the embodiments, Positional increment between adjacent epoch is summed, and the first position increment that base station is moved in the default historical time intervals is obtained； Vector operation is carried out according to the first position increment and the asynchronous real-time dynamic relative position, is obtained when fashion leads sampling Combination relative position of the cutting stylus for the dynamic base station.

Be also used in one of the embodiments, according to the positional increment sequence of the time difference carrier phase with it is each The corresponding time relationship of epoch establishes the increment relation model of the corresponding relationship of the 4th positional increment and time interval；Wherein, institute Stating time interval is when fashion leads the difference of the initial time of sampling instant and the default historical time intervals；It will be led when fashion Sampling instant inputs the increment relation model, obtains leading the first position increment of dynamic base station described in sampling instant when fashion.

Inertial navigation incremental forecasting module 910 is also used to using least square method, to the increment in one of the embodiments, Relational model and pre-set sliding polynomial function are fitted, and determine each term system of the sliding polynomial function Number；The current inertial navigation sampling instant is inputted into the sliding polynomial function, obtains the 5th positional increment；According to the described 5th The difference of positional increment and the first position increment obtains the second position increment of current inertial navigation sampling instant.

Locating module 912 is also used to the combination relative position and the inertial positioning in one of the embodiments, After positional increment carries out summation operation, makees difference operation with the second position increment, moved the real-time position of base station relatively It sets.

Time delay obtains module in one of the embodiments, for obtaining the data transmission delay of the dynamic base station.

It is above right that specific restriction about the relatively dynamic reference location device of satellite/inertia combination real-time accurate may refer to In the restriction of the relatively dynamic origin reference location method of satellite/inertia combination real-time accurate, details are not described herein.Above-mentioned satellite/inertia group The modules closed in the relatively dynamic reference location device of real-time accurate can come in fact fully or partially through software, hardware and combinations thereof It is existing.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be with software shape Formula is stored in the memory in computer equipment, executes the corresponding operation of the above modules in order to which processor calls.

In one embodiment, a kind of positioning device is provided, internal structure chart can be as shown in Figure 10.The computer Equipment includes the processor connected by system bus, memory, inertial navigation measuring unit, defends and lead receiver and communication unit.Its In, the processor of the positioning device is for providing calculating and control ability.The memory of the positioning device includes non-volatile deposits Storage media, built-in storage.The non-volatile memory medium is stored with operating system and computer program.The built-in storage is non-easy The operation of operating system and computer program in the property lost storage medium provides environment.The communication unit of the positioning device be used for External terminal passes through network connection communication.To realize a kind of satellite/inertia combination when the computer program is executed by processor The relatively dynamic origin reference location method of real-time accurate.

It will be understood by those skilled in the art that structure shown in Figure 10, only part relevant to application scheme The block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to application scheme, and specific computer is set Standby may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.

In one embodiment, a kind of positioning device, including memory and processor are provided, which is stored with meter Calculation machine program, the processor perform the steps of when executing computer program

In one embodiment, acquisition dynamic base station is also performed the steps of when processor executes computer program successively Positional increment between the adjacent epoch sent, the positional increment between the adjacent epoch successively sent is suitable according to the time Sequence arrangement obtains the positional increment sequence of the time difference carrier phase in default historical time intervals；Wherein, described adjacent to go through Positional increment between member, which is the dynamic base station, to be led observation data and is calculated according to defending.

In one embodiment, it also performs the steps of when processor executes computer program to the time difference load sharing Positional increment in the positional increment sequence of wave phase between each adjacent epoch is summed, and is obtained between the default historical time Every the first position increment of interior dynamic base station；It is carried out according to the first position increment and the asynchronous real-time dynamic relative position Vector operation obtains leading the combination relative position that sampling instant is directed to the dynamic base station when fashion.

In one embodiment, it also performs the steps of when processor executes computer program according to the time difference The positional increment sequence of carrier phase and the corresponding time relationship of each epoch, establish pair of the 4th positional increment and time interval The increment relation model that should be related to；Wherein, the time interval is when fashion is led between sampling instant and the default historical time Every initial time difference；Sampling instant will be led when fashion and input the increment relation model, obtain when fashion leads sampling Carve the first position increment of the dynamic base station.

In one embodiment, it also performs the steps of when processor executes computer program using least square method, it is right The increment relation model and pre-set sliding polynomial function are fitted, and determine the sliding polynomial function Each term coefficient；The current inertial navigation sampling instant is inputted into the sliding polynomial function, obtains the 5th positional increment；According to institute The difference for stating the 5th positional increment Yu the first position increment obtains the second position increment of current inertial navigation sampling instant.

In one embodiment, it is also performed the steps of when processor executes computer program and combines opposite position for described It sets after carrying out summation operation with the inertial positioning positional increment, makees difference operation with the second position increment, obtain dynamic base The position error of quasi- station absolute position and real time position；According to the position error, the real time position of the dynamic base station is determined.

In one embodiment, it is also performed the steps of when processor executes computer program and obtains the dynamic base station Data transmission delay.

In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated Machine program performs the steps of when being executed by processor

In one embodiment, also performed the steps of when computer program is executed by processor the dynamic base station of acquisition according to Positional increment between the adjacent epoch of secondary transmission, by the positional increment between the adjacent epoch successively sent according to the time Sequence arranges, and obtains the positional increment sequence of the time difference carrier phase in default historical time intervals；Wherein, described adjacent Positional increment between epoch, which is the dynamic base station, to be led observation data and is calculated according to defending.

In one embodiment, it also performs the steps of when computer program is executed by processor to the time difference Positional increment in the positional increment sequence of carrier phase between each adjacent epoch is summed, and the default historical time is obtained The first position increment of dynamic base station in interval；According to the first position increment and the asynchronous real-time dynamic relative position into Row vector operation obtains leading the combination relative position that sampling instant is directed to the dynamic base station when fashion.

In one embodiment, it also performs the steps of when computer program is executed by processor according to the time difference The corresponding time relationship of the positional increment sequence of load sharing wave phase and each epoch establishes the 4th positional increment and time interval The increment relation model of corresponding relationship；Wherein, the time interval is when fashion leads sampling instant and the default historical time The difference of the initial time at interval；Sampling instant will be led when fashion and input the increment relation model, obtain leading sampling when fashion The first position increment of base station is moved described in moment.

In one embodiment, it is also performed the steps of when computer program is executed by processor using least square method, The increment relation model and pre-set sliding polynomial function are fitted, determine the sliding polynomial function Each term coefficient；The current inertial navigation sampling instant is inputted into the sliding polynomial function, obtains the 5th positional increment；According to The difference of 5th positional increment and the first position increment obtains the second position increment of current inertial navigation sampling instant.

In one embodiment, it is also performed the steps of when computer program is executed by processor the combination is opposite After position and the inertial positioning positional increment carry out summation operation, makees difference operation with the second position increment, moved The position error of base station absolute position and real time position；According to the position error, the real-time position of the dynamic base station is determined It sets.

In one embodiment, it is also performed the steps of when computer program is executed by processor and obtains the dynamic benchmark The data transmission delay stood.

Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, To any reference of memory, storage, database or other media used in each embodiment provided herein, Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms, Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..

Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance Shield all should be considered as described in this specification.

The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.

Claims

1. a kind of relatively dynamic origin reference location method of satellite/inertia combination real-time accurate, which comprises

Obtain the positional increment sequence and the of the time difference carrier phase in the default historical time intervals that dynamic base station is sent One original observed data；

According to the second original observation number received in first original observed data and the default historical time intervals According to the determining asynchronous real-time dynamic relative position for leading sampling instant when fashion；

According to the positional increment sequence of the time difference carrier phase and the asynchronous real-time dynamic relative position, obtain current It defends and leads the combination relative position that sampling instant is directed to the dynamic base station；

According to the positional increment sequence of the time difference carrier phase, obtains leading when fashion and move base station described in sampling instant First position increment；

The inertial positioning positional increment for obtaining the update cycle of current inertial navigation sampling instant is obtained according to the first position increment To the dynamic base station from described when the fashionable second position increment for leading sampling instant to the current inertial navigation sampling instant；

According to the combination relative position, the inertial positioning positional increment and the second position increment, to the dynamic base Quasi- station carries out relative positioning.

2. the method according to claim 1, wherein between the default historical time for obtaining dynamic base station transmission Every the positional increment sequence of interior time difference carrier phase, comprising:

The positional increment between the adjacent epoch that dynamic base station is successively sent is obtained, by the position between the adjacent epoch successively sent It sets increment to arrange sequentially in time, obtains the positional increment sequence of the time difference carrier phase in default historical time intervals Column；Wherein, to be the dynamic base station lead observation data and be calculated according to defending the positional increment between the adjacent epoch.

3. according to the method described in claim 2, it is characterized in that, according to the positional increment sequence of the time difference carrier phase Column and the asynchronous real-time dynamic relative position, obtain when fashion lead sampling instant be directed to the dynamic base station combination it is opposite Position, comprising:

It sums, obtains between the positional increment adjacent epoch each in the positional increment sequence of the time difference carrier phase The first position increment of base station is moved in the default historical time intervals；

Vector operation is carried out according to the first position increment and the asynchronous real-time dynamic relative position, obtains adopting when fashion is led The sample moment is directed to the combination relative position of the dynamic base station.

4. according to the method described in claim 3, it is characterized in that, according to the positional increment sequence of the time difference carrier phase Column obtain leading the first position increment of dynamic base station described in sampling instant when fashion, comprising:

According to the corresponding time relationship of the positional increment sequence of the time difference carrier phase and each epoch, the 4th is established Set the increment relation model of the corresponding relationship of increment and time interval；Wherein, the time interval is when fashion leads sampling instant With the difference of the initial time of the default historical time intervals；

Sampling instant will be led when fashion and input the increment relation model, obtain leading when fashion and move base station described in sampling instant First position increment.

5. according to the method described in claim 4, obtaining described dynamic it is characterized in that, described according to the first position increment Base station is from described when the fashionable second position increment for leading sampling instant to the current inertial navigation sampling instant, comprising:

Using least square method, the increment relation model and pre-set sliding polynomial function are fitted, really Each term coefficient of the fixed sliding polynomial function；

The current inertial navigation sampling instant is inputted into the sliding polynomial function, obtains the 5th positional increment；

According to the difference of the 5th positional increment and the first position increment, the second of current inertial navigation sampling instant is obtained Set increment.

6. method according to any one of claims 1 to 5, which is characterized in that according to the combination relative position, described used Property the position location increment and second position increment, relative positioning is carried out to the dynamic base station, comprising:

After the combination relative position and the inertial positioning positional increment are carried out summation operation, increase with the second position Amount makees difference operation, obtains the real time position relative to dynamic base station.

7. method according to any one of claims 1 to 5, which is characterized in that in default the going through for obtaining dynamic base station transmission Before the positional increment sequence of time difference carrier phase in history time interval and the first original location data, further includes:

Obtain the data transmission delay of the dynamic base station；

According to the data transmission delay, the time error that sampling instant Yu the dynamic base station are led when fashion is determined.

8. a kind of relatively dynamic reference location device of satellite/inertia combination real-time accurate, which is characterized in that described device includes:

Data reception module obtains the position of the time difference carrier phase in the default historical time intervals that dynamic base station is sent Increment sequence and the first original observed data；

Asynchronous relative position determining module, it is inscribed according to first original observed data and the default historical time intervals The second original observed data received is determined when fashion leads the asynchronous real-time dynamic relative position of sampling instant；

Integrated positioning module, it is opposite according to the positional increment sequence of the time difference carrier phase and the asynchronous real-time dynamic Position obtains leading the combination relative position that sampling instant is directed to the dynamic base station when fashion；

Dynamic base station, which is defended, leads incremental forecasting module, according to the positional increment sequence of the time difference carrier phase, obtains current Defend the first position increment led and move base station described in sampling instant；

Inertial navigation incremental forecasting module obtains the inertial positioning positional increment of the update cycle of current inertial navigation sampling instant, according to institute First position increment is stated, obtains the dynamic base station from described when fashion leads sampling instant to the current inertial navigation sampling instant Second position increment；

Locating module, it is right according to the combination relative position, the inertial positioning positional increment and the second position increment The dynamic base station carries out relative positioning.

9. a kind of positioning device, including memory and processor, the memory are stored with computer program, which is characterized in that The step of processor realizes any one of claims 1 to 7 the method when executing the computer program.

10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program The step of method described in any one of claims 1 to 7 is realized when being executed by processor.