CN109917436B - Satellite/inertia combined real-time precise relative motion datum positioning method - Google Patents

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

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CN109917436B
CN109917436B CN201910348036.1A CN201910348036A CN109917436B CN 109917436 B CN109917436 B CN 109917436B CN 201910348036 A CN201910348036 A CN 201910348036A CN 109917436 B CN109917436 B CN 109917436B
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time
reference station
increment
position increment
positioning
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CN109917436A (en
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董毅
吴杰
王鼎杰
李青松
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National University of Defense Technology
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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

Satellite/inertia combined real-time precise relative motion datum positioning method
Technical Field
The application relates to the technical field of satellite/inertia combined positioning, in particular to a satellite/inertia combined real-time precise relative motion reference positioning method, a device, positioning equipment and a storage medium.
Background
Real-time precise relative position information is very important for some applications, such as intelligent transportation, fine agriculture, aircraft landing, formation flying and the like, and currently, Real-time precise relative positioning mainly adopts an RTK (Real-time kinematic) technology based on satellite navigation, and centimeter-level relative positioning precision can be obtained. However, limited by the development of GNSS hardware technology, the sampling rate of a common satellite receiver is less than 50Hz, and even a high dynamic receiver, the maximum sampling rate is limited to be below 100 Hz. The data update rate of the real-time relative positioning based on the satellite alone still hardly meets the navigation requirements of some high-speed carriers, which may cause the reduction of the control performance and even cause some unpredictable results.
Disclosure of Invention
Therefore, in order to solve the above technical problems, it is necessary to provide a satellite/inertia combined real-time precise relative motion reference positioning method which can solve the problem that the data update rate of the satellite-based real-time relative positioning is difficult to meet the high-speed carrier navigation requirement.
A combined satellite/inertial real-time precise relative motion reference positioning method, the method comprising:
acquiring a position increment sequence of a time difference carrier phase in a preset historical time interval and first original observation data, which are sent by a moving reference station;
determining an asynchronous real-time dynamic relative position of the current satellite navigation sampling moment according to the first original observation data and second original observation data received within the preset historical time interval;
obtaining a combined relative position of the current satellite-borne data acquisition time aiming at the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
obtaining a first position increment of the mobile reference station at the current satellite-guided sampling moment according to the position increment sequence of the time differential carrier phase;
acquiring the inertial positioning position increment of the update period of the current inertial navigation sampling time, and acquiring a second position increment of the movable reference station from the current satellite navigation sampling time to the current inertial navigation sampling time according to the first position increment;
and carrying out relative positioning on the moving reference station according to the combined relative position, the inertia positioning position increment and the second position increment.
In one embodiment, the method further comprises the following steps: acquiring position increments between adjacent epochs sequentially transmitted by a moving reference station, and arranging the position increments between the adjacent epochs sequentially according to a time sequence to obtain a position increment sequence of a time differential carrier phase in a preset historical time interval; and the position increment between the adjacent epochs is calculated by the mobile reference station according to satellite-derived observation data.
In one embodiment, the method further comprises the following steps: summing the position increment between each adjacent epoch in the position increment sequence of the time differential carrier phase to obtain a first position increment of the mobile reference station within the preset historical time interval; and carrying out vector operation according to the first position increment and the asynchronous real-time dynamic relative position to obtain a combined relative position of the current satellite navigation sampling time aiming at the moving reference station.
In one embodiment, the method further comprises the following steps: establishing an increment relation model of the corresponding relation between the fourth position increment and the time interval according to the time corresponding relation between the position increment sequence of the time differential carrier phase and each epoch; wherein the time interval is a difference value between a current satellite-derived sampling moment and the starting time of the preset historical time interval; and inputting the current satellite navigation sampling time into the increment relation model to obtain the first position increment of the mobile reference station at the current satellite navigation sampling time.
In one embodiment, the method further comprises the following steps: fitting the incremental relation model and a preset sliding polynomial function by adopting a least square method, and determining each coefficient of the sliding polynomial function; inputting the current inertial navigation sampling moment into the sliding polynomial function to obtain a fifth position increment; and obtaining a second position increment of the current inertial navigation sampling moment according to the difference value of the fifth position increment and the first position increment.
In one embodiment, the method further comprises the following steps: and after summing the combined relative position and the inertia positioning position increment, performing difference operation on the combined relative position and the inertia positioning position increment to obtain the real-time position of the relative motion reference station. .
In one embodiment, the method further comprises the following steps: and acquiring the data transmission delay of the mobile reference station.
A combined satellite/inertial real-time precision relative motion reference positioning apparatus, the apparatus comprising:
the data receiving module is used for acquiring a position increment sequence of a time difference carrier phase in a preset historical time interval and first original observation data which are sent by the moving reference station;
the asynchronous relative position determining module is used for determining an asynchronous real-time dynamic relative position at the current satellite navigation sampling moment according to the first original observation data and second original observation data received within the preset historical time interval;
the combined positioning module is used for obtaining a combined relative position of the current satellite-guided sampling time aiming at the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
the satellite-borne incremental prediction module is used for obtaining a first position increment of the mobile reference station at the current satellite-borne sampling moment according to the position increment sequence of the time differential carrier phase;
the inertial navigation increment prediction module is used for acquiring the inertial positioning position increment of the update cycle of the current inertial navigation sampling time, and acquiring 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 the positioning module is used for positioning the movable reference station according to the combined relative position, the inertia positioning position increment and the second position increment.
A positioning apparatus comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a position increment sequence of a time difference carrier phase in a preset historical time interval and first original observation data, which are sent by a moving reference station;
determining an asynchronous real-time dynamic relative position of the current satellite navigation sampling moment according to the first original observation data and second original observation data received within the preset historical time interval;
obtaining a combined relative position of the current satellite-borne data acquisition time aiming at the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
obtaining a first position increment of the mobile reference station at the current satellite-guided sampling moment according to the position increment sequence of the time differential carrier phase;
acquiring the inertial positioning position increment of the update period of the current inertial navigation sampling time, and acquiring a second position increment of the movable reference station from the current satellite navigation sampling time to the current inertial navigation sampling time according to the first position increment;
and carrying out relative positioning on the moving reference station according to the combined relative position, the inertia positioning position increment and the second position increment.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a position increment sequence of a time difference carrier phase and first original positioning data in a preset historical time interval, which are sent by a moving reference station;
determining an asynchronous real-time dynamic relative position of the current satellite navigation sampling moment according to the first original positioning data and second original positioning data received within the preset historical time interval;
obtaining a combined relative position of the current satellite-borne data acquisition time aiming at the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
obtaining a first position increment of the mobile reference station at the current satellite-guided sampling moment according to the position increment sequence of the time differential carrier phase;
acquiring the inertial positioning position increment of the update period of the current inertial navigation sampling time, and acquiring a second position increment of the movable 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.
The satellite/inertia combined real-time precise relative moving reference positioning method, the satellite/inertia combined real-time precise relative moving reference positioning device, the computer equipment and the storage medium determine the positioning data of the moving reference station in the historical moment by acquiring the position increment sequence of the time differential carrier phase in the preset historical time interval sent by the moving reference station and the first original observation data, predict the position parameter of the moving reference station based on the data, specifically determine the asynchronous real-time dynamic relative position of the current satellite guided sampling moment according to the first original observation data and the second original observation data received in the preset historical time interval, on the other hand, obtain the combined relative position of the current satellite guided sampling moment relative to the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position, and then obtain the position increment sequence of the time differential carrier phase, the method comprises the steps of obtaining a first position increment of the movable reference station at the current satellite navigation sampling moment, obtaining an inertial positioning position increment of an updating period of the current inertial navigation sampling moment, obtaining a second position increment of the movable reference station from the current satellite navigation sampling moment to the current inertial navigation sampling moment according to the first position increment, therefore, process prediction can be carried out on any moment, positioning prediction can be carried out on the movable reference station when data of the movable reference station are not received, and therefore the updating rate of positioning data is improved.
Drawings
FIG. 1 is a diagram illustrating an exemplary implementation of a satellite/inertial combined real-time precise relative motion reference positioning method;
FIG. 2 is a schematic flow chart illustrating a method for real-time precise relative kinematic reference positioning using a satellite/inertial combination according to one embodiment;
FIG. 3 is a flow chart illustrating the steps of the mobile reference station calculating position increments between adjacent epochs in one embodiment;
FIG. 4 is a schematic block diagram of mobile reference station and mobile station communication in one embodiment;
FIG. 5 is a schematic block diagram of the communication delay between the mobile reference station and the mobile station in one embodiment;
FIG. 6 is a flowchart illustrating the step of calculating a second position increment in one embodiment;
FIG. 7 is a schematic flow chart diagram of a method for real-time fine relative motion referencing with a satellite/inertial combination in accordance with another embodiment;
FIG. 8 is a graphical illustration of the northeast error over time in one embodiment;
FIG. 9 is a block diagram of an embodiment of a combined satellite/inertial real-time precise relative motion reference positioning apparatus;
FIG. 10 is a diagram of the internal structure of the pointing device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The satellite/inertia combined real-time precise relative motion datum positioning method can be applied to the application environment shown in fig. 1. Wherein the mobile station 102 communicates with the mobile reference station 104 via a network. Both the mobile station 102 and the mobile reference station may be communicatively coupled to a GPS/beidou satellite 106. The mobile station 102 and the mobile reference station 104 may be, but are not limited to, various mobile devices such as smart cars, airplanes, and high-speed rails.
Specifically, the mobile station 102 includes an inertial measurement unit, a guide receiver, and the like, and the inertial measurement unit may perform mechanical arrangement, so that a position increment in any time period may be measured. The satellite navigation receiver may receive navigation data from the GPS/beidou satellites 106. The mobile station 102 is further provided with a communication unit and a buffer unit, and the communication unit is in communication connection with the mobile reference station 104.
The moving reference station 104 includes an inertia measurement unit, a guide receiver, and the like, and the inertia measurement unit can perform mechanical arrangement, so that a position increment in any time period can be measured. The satellite navigation receiver may receive navigation data from the GPS/beidou satellites 106. The mobile reference station 104 also includes a communication unit, and communicates with the mobile station 102 via the communication unit.
When the mobile station 102 performs precise relative positioning on the mobile reference station 104, the mobile station 102 receives a position increment sequence of a time differential carrier phase within a preset historical time interval and first original observation data sent by the mobile reference station 104, the mobile station 102 determines an asynchronous real-time dynamic relative position of a current satellite navigation sampling time according to the first original observation data and second original observation data received within the preset historical time interval, and the mobile station 102 obtains a combined relative position of the current satellite navigation sampling time with respect to the mobile reference station 104 according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position. The mobile station 102 obtains a first position increment of the mobile reference station 104 at the current satellite navigation sampling time according to the position increment sequence of the time difference carrier phase, obtains an inertial positioning position increment of an update period of the current satellite navigation sampling time, and obtains a second position increment of the mobile reference station 104 from the current satellite navigation sampling time to the current inertial navigation sampling time according to the first position increment. The mobile station 102 relatively positions the mobile reference station 104 based on the combined relative position, the inertial positioning position increment, and the second position increment.
In one embodiment, as shown in fig. 2, a method for positioning a satellite/inertial combined real-time precise relative motion reference is provided, which is described by taking the method as an example applied to the mobile station in fig. 1, and includes the following steps:
step 202, acquiring a position increment sequence of a time difference carrier phase within a preset historical time interval sent by a mobile reference station and first original observation data.
The time-differentiated carrier phase (TDCP) technique is a positioning technique for processing the carrier phase of an observation station in real time to perform time differentiation, and the observation station is a moving reference station in this step. And when the guide receiver of the movable reference station receives the observation data, the navigation calculation is carried out on the observation data, so that TDCP data is obtained, and the position increment of the TDCP in a sampling interval can be determined.
The preset historical time interval refers to a time period recorded by the time of the mobile station, and the mobile station continuously receives the position increment data of the TDCP transmitted by the mobile reference station in the historical time interval, so that the TDCP position increment sequence of the mobile reference station is obtained through buffering.
The first original observation data refers to observation data received by the mobile reference station through the guide receiver.
And 204, determining the asynchronous real-time dynamic relative position of the current satellite navigation sampling moment according to the first original observation data and second original observation data received within a preset historical time interval.
The satellite derived sampling time refers to the time at which the observation data is collected by the satellite receiver.
The second original observation data refers to observation data received by the mobile station through the satellite navigation receiver, and an Asynchronous Real-time dynamic (ARTK) technology is a Real-time positioning technology.
And step 206, obtaining a combined relative position of the current satellite-guided sampling time relative to the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position.
The combined relative position is generated due to transmission delay, and because a large delay exists between the communication of the mobile station and the mobile reference station, in order to avoid errors caused by the delay, the positioning data needs to be compensated, and further, the combined relative position can be obtained by calculating through a position increment sequence of a time differential carrier phase and an asynchronous real-time dynamic relative position.
Specifically, the mobile station obtains the asynchronous real-time dynamic relative position through navigation calculation, and the position increment sequence of the time differential carrier phase stored in the cache can be calculated to obtain the combined relative position.
And step 208, obtaining a first position increment of the mobile reference station at the current satellite-derived sampling time according to the position increment sequence of the time differential carrier phase.
Due to the existence of time delay, the mobile reference station actually performs position movement at the current satellite-guided sampling time, and the observation data of the mobile reference station actually received by the mobile station is actually earlier than the current satellite-guided sampling time. Therefore, the position increment of the mobile reference station from the first original observation data sampling time to the current satellite navigation sampling time can be calculated according to the position increment sequence of the time difference carrier phase stored in the buffer, and therefore, the first position increment refers to the accumulated summation of the position increment sequence of the mobile reference station from the first original observation data sampling time to the current satellite navigation sampling time.
And step 210, acquiring the inertia positioning position increment of the update period of the current inertial navigation sampling time, and acquiring a second position increment of the movable reference station from the current satellite navigation sampling time to the current inertial navigation sampling time according to the first position increment.
The current inertial navigation sampling moment refers to the moment when the mobile station performs data sampling through the inertial measurement unit.
The update cycle refers to a cycle of measurement performed by the inertial measurement unit, and since the inertial measurement unit needs to update the navigation data once every time sampling is performed, that is, within one sampling cycle, this cycle is referred to as an update cycle. The update period can be set artificially according to requirements, and the sampling frequency of hardware is limited.
The second position increment refers to the position increment of the moving reference station from the current satellite navigation sampling time to the current inertial navigation sampling time. Because the frequency of satellite navigation sampling is lower, in a satellite navigation sampling period, can carry out the sampling of being used to lead of many times, however this embodiment can adopt the frequency of being used to lead the measuring element to carry out the location data update, consequently, through this kind of mode, can improve the update rate of location data.
Step 212, the mobile reference station is positioned according to the combined relative position, the inertial positioning position increment, and the second position increment.
By calculating the position offset, the real-time position of the moving reference station can be determined when the absolute position of the moving reference station is received.
In the satellite/inertia combined real-time precise relative moving reference positioning method, the positioning data of the moving reference station in the historical time is determined by acquiring a position increment sequence of a time differential carrier phase in a preset historical time interval sent by the moving reference station and first original observation data, the position parameter of the moving reference station is predicted based on the data, specifically, an asynchronous real-time dynamic relative position of the current satellite guided sampling moment is determined according to the first original observation data and second original positioning data received in the preset historical time interval, on the other hand, a combined relative position of the current satellite guided sampling moment to the moving reference station is obtained according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position, and then the first position increment of the moving reference station at the current satellite guided sampling moment is obtained according to the position increment sequence of the time differential carrier phase, the method comprises the steps of obtaining the inertia positioning position increment of the update cycle of the current inertial navigation sampling time, obtaining the second position increment of a movable reference station from the current satellite navigation sampling time to the current inertial navigation sampling time according to the first position increment, therefore, the increment prediction can be carried out at any time, the positioning prediction can be carried out on the movable reference station when the data of the movable reference station is not received, so that the update rate of positioning data is improved, further, the movable reference station is positioned according to the combined relative position, the inertia positioning position increment and the second position increment, and because the calculation process is fast, the navigation data can be obtained by high-frequency calculation, and the navigation requirement of a high-speed carrier is met.
In an embodiment, when the mobile station acquires a position increment sequence of a time differential carrier phase within a preset historical time interval sent by the mobile reference station, specifically, the position increment sequence of the time differential carrier phase within the preset historical time interval is obtained by acquiring position increments between adjacent epochs sequentially sent by the mobile reference station and arranging the position increments between the adjacent epochs sequentially sent according to a time sequence; and the position increment between the adjacent epochs is calculated by the mobile reference station according to satellite-guided observation data. The epoch refers to each sampling time, and in this embodiment, the epoch refers to a time point at which the moving reference station transmits data. The position increment between the adjacent epochs can be obtained by performing navigation calculation on the satellite navigation observation data, and then the position increment between the adjacent epochs is sent according to the preset communication frequency. In this embodiment, position increments exist at any time in practice, and only by calculating the position increments among epochs, on one hand, the method is more suitable for practical application, and on the other hand, under the condition that data is not distorted, the data volume is effectively reduced, and the calculation difficulty is reduced.
In another embodiment, as shown in fig. 3, a schematic flow chart of calculating a position increment between adjacent epochs by the mobile reference station in one embodiment is provided, and taking the calculation of a position increment between two epochs as an example, the specific flow is as follows:
step 302, the mobile reference station measures non-difference carrier phase observed values in a first epoch and a second epoch respectively.
Specifically, the moving reference station is in a first epoch t0And measuring the non-differential carrier phase observed value of the i-number satellite as
Figure BDA0002043030080000091
And the non-differential carrier phase observation value of the satellite No. j is
Figure BDA0002043030080000092
At the second epoch t1And measuring the non-differential carrier phase observed value of the i-number satellite as
Figure BDA0002043030080000093
And the non-differential carrier phase observation value of the satellite No. j is
Figure BDA0002043030080000094
At step 304, an inter-satellite difference operator between the first epoch and the second epoch is defined.
Specifically, the mathematical model of the difference operator is as follows:
Figure BDA0002043030080000101
the superscripts i and j represent satellite numbers, the satellite number i is a reference satellite, and the reference satellite refers to a satellite with the highest elevation; subscript a represents a reference station; t represents the time of transmission of the satellite signal, e.g.
Figure BDA0002043030080000102
Is shown at observation time t0The time corresponds to the signal transmission time of the satellite number i.
And step 306, determining a measurement model of the double-difference inter-satellite carrier phase between the first epoch and the second epoch according to the difference operator between the satellites.
The measurement model is as follows:
Figure BDA0002043030080000103
wherein the content of the first and second substances,
Figure BDA0002043030080000104
representing a double-difference carrier-phase observation between a first epoch and a second epoch;
Figure BDA0002043030080000105
representing double-difference geometric distances at different transmission moments;
Figure BDA0002043030080000106
double-difference satellite clock differences representing different transmission moments; c represents the speed of light;
Figure BDA0002043030080000107
representing double difference noise in meters for the first epoch and the second epoch.
Specifically, the TDCP position increment between the first epoch and the second epoch of the moving reference station is implied in the double-difference geometric distance, and the expression is as follows:
Figure BDA0002043030080000108
wherein r isj(T1 j) And
Figure BDA0002043030080000109
for satellite number j at signal transmission time T1And T0Three-dimensional position coordinates of ri(T1 i) And
Figure BDA00020430300800001010
for satellite number i at signal transmission time T1And T0Three-dimensional position coordinates of rA(t0) Represents the moving reference station in the first epoch t0Three-dimensional position coordinates of (a); r isA(t1) Represents the moving reference station in the second epoch t1Three-dimensional position coordinates of (a).
And 308, calculating the TDCP position increment between the first epoch and the second epoch by adopting a least square method according to the measurement model.
In particular, according to the Taylor expansion principle, will
Figure BDA00020430300800001011
Is expressed in the first epoch t of the moving reference station0Taylor expands to a first order term, expanding the expression as follows:
Figure BDA00020430300800001012
whereinAnd u represents a unit vector of the vector,
Figure BDA00020430300800001013
a unit vector representing a moving reference station to satellite number j;
Figure BDA00020430300800001014
a zeroth order term representing a double difference geometric distance Taylor expansion; Δ rTDCPFirst epoch t for reference station0To the second epoch t1The TDCP position increment.
And (3) connecting and solving the expansion expression and the measurement model, and taking m satellites as an example, establishing the model as follows:
Figure BDA0002043030080000111
wherein k is 1,2, …, j, … m-1; k ≠ i.
Double difference of satellite clock difference
Figure BDA0002043030080000112
TDCP position increment delta r calculated according to real-time broadcast ephemeris parametersTDCPIs an unknown number and is estimated according to the least square
ΔrTDCP＝(ATA)-1ATY
Wherein the content of the first and second substances,
Figure BDA0002043030080000113
in this embodiment, by setting the model in the moving reference station, when the first original observation data is received, the TDCP position increment between epochs can be quickly calculated
In a particular embodiment, the time of the next epoch is generally taken as the time of the TDCP increment for simplicity.
In an embodiment, the step of obtaining, by the mobile station, a combined relative position of the current satellite based sampling time with respect to the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position may specifically be: summing the position increment between each adjacent epoch in the position increment sequence of the time differential carrier phase to obtain a first position increment of the mobile reference station in a preset historical time interval, and performing vector operation according to the first position increment and the asynchronous real-time dynamic relative position to obtain a combined relative position of the current satellite-guided sampling time aiming at the mobile reference station. In this embodiment, when performing positioning, the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position are considered comprehensively, that is, the time delay of communication is considered, so that the accuracy of positioning can be further improved.
Specifically, the principle of calculating the combined relative position is shown in FIGS. 4 and 5, where Δ r is the TDCP position increment between adjacent epochsTDCPRepresenting asynchronous real-time dynamic relative position between a moving reference station and a mobile station by deltarARTKThus, from FIG. 4, the expression can be derived:
ΔrARTK/TDCP＝ΔrARTK-ΔrTDCP
wherein, Δ rARTK/TDCPIndicating the combined relative position.
Due to the existence of the time delay, at the current satellite guided sampling time, as shown in fig. 5, the position increment between each adjacent epoch in the position increment sequence of the time difference carrier phase needs to be summed, so that the expression Δ r is adoptedARTK/TDCP＝ΔrARTK-ΔrTDCPThe combined relative position is calculated.
In an embodiment, the manner for the mobile station to obtain the first position increment of the mobile reference station at the current guard sampling time according to the position increment sequence of the time differential carrier phase may be: and establishing an increment relation model of the corresponding relation between the fourth position increment and a time interval according to the time corresponding relation between the position increment sequence of the time differential carrier phase and each epoch, wherein the time interval is the difference between the current satellite-guided sampling time and the starting time of a preset historical time interval, and inputting the current satellite-guided sampling time into the increment relation model to obtain the first position increment of the mobile reference station at the current satellite-guided sampling time. In this embodiment, the fourth position increment is a TDCP position increment from any epoch to an initial epoch, and the initial epoch refers to a first epoch in a preset historical time interval. The time interval refers to the time interval from an arbitrary epoch to the initial epoch. By establishing an increment relation model, the TDCP position increment at any time can be calculated quantitatively, so that the TDCP position increment at the current satellite navigation sampling time, namely the first position increment, is calculated.
In another embodiment, the mobile station obtains a second position increment of the mobile reference station from the current satellite navigation sampling time to the current inertial navigation sampling time according to the first position increment by adopting the following modes: fitting the incremental relation model and a preset sliding polynomial function by adopting a least square method, determining each coefficient of the sliding polynomial function, and inputting the current inertial navigation sampling time into the sliding polynomial function to obtain a fifth position increment; and obtaining a second position increment of the current inertial navigation sampling moment according to the difference value of the fifth position increment and the first position increment. In this embodiment, because the frequency of inertial navigation sampling is higher than the frequency of satellite navigation sampling, therefore in a satellite navigation sampling period, including many times of inertial navigation sampling to during the location, adopt inertial navigation sampling frequency output, thereby improve the location data update frequency. When the inertial navigation sampling frequency is output, a first position increment of a last satellite navigation sampling time needs to be obtained, a fifth position increment of a moving reference station at the current inertial navigation sampling time is calculated, the fifth position increment of the moving reference station is also one of TDCP position increments, and the fifth position increment is obtained by adopting a polynomial fitting mode, so that position increment data can be output at a higher frequency.
In a specific embodiment, as shown in fig. 6, a schematic flow chart of the step of calculating the second position increment is provided, which comprises the following specific steps:
step 602, a time correspondence between a position increment sequence of a time differential carrier phase and each epoch is established.
Specifically, the expression of the correspondence relationship is as follows:
Figure BDA0002043030080000131
wherein, the epochs are respectively t0,t1,...,tn-1Corresponding TDCP position increments of Δ r0,Δr1,...,Δrn-1Step 604, establishing an epoch data matrix model, and obtaining a sliding polynomial coefficient according to the data matrix model.
Specifically, n data are respectively substituted into the expression of the corresponding relationship to obtain an epoch data matrix model:
Y＝Ax+e
wherein the content of the first and second substances,
Figure BDA0002043030080000132
x is a sliding polynomial coefficient vector to be solved, and a least square algorithm is adopted to obtain x ═ ATA)-1ATY
And 606, fitting according to the sliding polynomial to obtain the TDCP position increment of the current inertial navigation moment.
Specifically, the sliding polynomial is f (x) ax3+bx2+ cx + d, so the calculated TDCP position increment at the current inertial navigation sampling time is f (x)I)＝axI 3+bxI 2+cxI+ d, wherein, xI＝tI-t0，tIRepresenting the current inertial navigation sampling instant.
And 608, obtaining a second position increment of the current inertial navigation sampling moment according to the difference value between the fifth position increment and the first position increment.
The specific expression is as follows:
Figure BDA0002043030080000133
wherein x isT＝tT-t0，tTDenotes the current satellite sampling instant, Δ rPIndicating a second position increment.
In this embodiment, a polynomial fitting manner is adopted to predict the TDCP position increment, so that a higher positioning data refresh rate can still be maintained under the conditions of high time delay and low communication frequency.
In addition, the inertial positioning position increment of the mobile station in the update period of the current inertial navigation sampling time can be obtained by adopting the following modes: and integrating the data of the current inertial navigation sampling moment to the previous inertial navigation sampling moment to obtain the inertial positioning position increment.
In one embodiment, the mobile station may position the mobile reference station based on the combined relative position, the inertial positioning position increment, and the second position increment by: and after the summation operation is carried out on the combined relative position and the increment of the inertial positioning position, the difference operation is carried out on the combined relative position and the increment of the second position, and the real-time position of the relative motion reference station is obtained.
In addition, in an embodiment, it is further required to obtain a data transmission delay of the mobile reference station, so that a difference between the satellite-guided sampling time of the mobile station and the satellite-guided sampling time of the mobile reference station can be accurately determined, and it is convenient to accurately calculate each position increment.
The above-described embodiments of the present invention will be described below with reference to a specific embodiment.
In one embodiment, as shown in fig. 7, a schematic flow chart of a method for real-time precise relative kinematic reference positioning by satellite/inertial combination in another embodiment is provided, which comprises the following steps:
step 702, setting data transmission time delay of the mobile reference station and the mobile station, and data transmission frequency of the mobile reference station and the mobile station.
Specifically, setting the first original positioning data of the moving reference station as 2Hz broadcast, and setting the minimum time delay as 2 s; the TDCP position increment data of the moving reference station is broadcast at 10Hz, and the time delay is 0.1 s. The satellite navigation data of the mobile station is 10Hz samples, and the inertial navigation data is 125Hz samples.
Step 704, calculating the asynchronous real-time dynamic relative position according to the first original positioning data sent by the mobile reference station and the second original positioning data collected by the mobile station.
And determining the asynchronous time through the time delay of the first original positioning data. At t, the dynamic reference station of a certain dynamic test0Observed data at time 103519.5s and mobile station at time t1For example, the observation data at the time of 103521.5s includes observation data of three beidou frequency points and two GPS frequency points. In this example, there are 7 big Dipper satellites and 8 GPS satellites, so there are 37 asynchronous carrier phase double-difference observations. Calculated according to the ARTK method
Figure BDA0002043030080000141
Step 706, calculating a first position increment of the mobile reference station in the satellite navigation observation data time difference.
The TDCP position increment delta r of the reference station between t 103519.5-103521.4 needs to be calculatedTDCPConsidering real-time application, we only calculate the position increment between adjacent epochs and broadcast it to the mobile station, which buffers the position increment between reference station epochs for a certain time, and then accumulates it to obtain the TDCP position increment corresponding to the time difference of the satellite navigation observation data. For reducing space, taking the Beidou frequency point as an example, the TDCP position increment delta r of the reference station between t and t is 103519.5-103519.6TDCP,1And (5) calculating.
Is provided with
Figure BDA0002043030080000151
Figure BDA0002043030080000152
In the formula (I), the compound is shown in the specification,
Figure BDA0002043030080000153
and
Figure BDA0002043030080000154
in meters.
According to the expression Δ rTDCP＝(ATA)-1ATY calculating the free term Y of the linear equation
Figure BDA0002043030080000155
To obtainTDCP position increment of Beidou frequency point
Figure BDA0002043030080000156
And step 708, obtaining a combined relative position of the current satellite-guided sampling time relative to the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position.
The mobile station caches TDCP position increment between t 103519.5-103521.4, and calculates the first position increment
Figure BDA0002043030080000161
Thus calculating
Figure BDA0002043030080000162
Step 710, the inertial navigation measurement unit of the mobile station performs INS mechanical arrangement to obtain the inertial positioning position increment of the update period of the current inertial navigation sampling time.
Slave measurement update time t of mobile stationupd103521.502 inertial navigation integration to the current INS sampling time tINS103521.510s, get the position increment
Figure BDA0002043030080000163
And step 712, performing real-time position prediction on the mobile reference station according to the position increment of the time difference carrier phase.
Taking the x axis in the geocentric coordinate system as an example for calculation, the calculation mode of the y axis and the z axis is similar:
the TDCP position increment of 103520.0-130521.4 cached by the mobile station in the x direction of 15 epochs is
XTDCP＝[-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]
The oldest time in the buffer is selected as the reference epoch, i.e. t0130520.0, can be obtained
Figure BDA0002043030080000164
Figure BDA0002043030080000165
Thereby can obtain
Figure BDA0002043030080000166
The coefficient of the prediction polynomial in the x direction can be obtained according to the least square formula
a＝-0.0438884
b＝0.2258617
c＝-1.7548942
d＝0.0009334
The reference station position increment from the latest TDCP position increment time to the current mobile station INS sampling time can be obtained as follows:
Figure BDA0002043030080000171
repeating the above calculation, the y and z axis directions can be obtained:
Figure BDA0002043030080000172
Figure BDA0002043030080000173
and 714, positioning the moving reference station according to the combined relative position, the inertia positioning position increment and the second position increment.
According to the calculated mobile station INS sampling time mechanics arrangement result rR,INSAnd the predicted absolute position of the reference station at this time, the relative positioning result can be obtained:
Figure BDA0002043030080000174
based on the above results, the relative positioning output update rate to the original INS sampling rate can be achieved at each mobile station INS sampling time.
Finally, the geocentric earth-fixed coordinate system is converted into a local north east earth coordinate system of the reference station
Figure BDA0002043030080000175
As shown in fig. 8, the horizontal axis represents time in seconds, and the vertical axis represents relative positioning errors in the three north-east directions, which are the differences between the relative position calculated by the present invention and the post-amble RTK in meters. It can be seen from the figure that under the set time delay condition, the relative positioning accuracy of the invention can reach cm magnitude.
Table 1 shows statistics of the accuracy of the satellite/inertia combination relative positioning under the set delay condition, with the three directions being cm-order. Therefore, the satellite/inertia combined relative positioning method is feasible, can improve the real-time update rate of the position of the mobile station, and can ensure the relative positioning precision.
TABLE 1 relative positioning accuracy of satellite/inertial combination under set delay conditions
Figure BDA0002043030080000181
It should be understood that although the steps in the flowcharts of fig. 2, 3, 6 and 7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 3, 6, and 7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 9, there is provided a combined satellite/inertial real-time precise relative motion reference positioning apparatus comprising: a data receiving module 902, an asynchronous relative position determination module 904, a combined positioning module 906, a satellite navigation delta prediction module 908, an inertial navigation delta prediction module 910, and a positioning module 912, wherein:
the data receiving module 902 is configured to obtain a position increment sequence of a time difference carrier phase within a preset historical time interval and first original observation data, which are sent by a mobile reference station;
an asynchronous relative position determining module 904, configured to determine an asynchronous real-time dynamic relative position at the current satellite navigation sampling time according to the first original observation data and the second original observation data received within the preset historical time interval;
a combined positioning module 906, which obtains a combined relative position of the current satellite-derived sampling time with respect to the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
a satellite navigation increment prediction module 908, configured to obtain a first position increment of the mobile reference station at the current satellite navigation sampling time according to the position increment sequence of the time differential carrier phase;
the inertial navigation increment prediction module 910 obtains an inertial positioning position increment of an update cycle of a current inertial navigation sampling time, and obtains 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;
a positioning module 912 that performs relative positioning of the mobile reference station based on the combined relative position, the inertial positioning position increment, and the second position increment.
In one embodiment, the data receiving module 902 is further configured to obtain position increments between adjacent epochs sequentially sent by the mobile reference station, and arrange the position increments between the adjacent epochs sequentially sent according to a time sequence to obtain a position increment sequence of a time differential carrier phase within a preset historical time interval; and the position increment between the adjacent epochs is calculated by the mobile reference station according to satellite-derived observation data.
In one embodiment, the processing unit is further configured to sum the position increments between each adjacent epoch in the position increment sequence of the time-differential carrier phase to obtain a first position increment of the moving reference station within the preset historical time interval; and carrying out vector operation according to the first position increment and the asynchronous real-time dynamic relative position to obtain a combined relative position of the current satellite navigation sampling time aiming at the moving reference station.
In one embodiment, the incremental relationship model is further configured to establish an incremental relationship model of a corresponding relationship between a fourth position increment and a time interval according to a time corresponding relationship between the position increment sequence of the time differential carrier phase and each epoch; wherein the time interval is a difference value between a current satellite-derived sampling moment and the starting time of the preset historical time interval; and inputting the current satellite navigation sampling time into the increment relation model to obtain the first position increment of the mobile reference station at the current satellite navigation sampling time.
In one embodiment, the inertial navigation increment prediction module 910 is further configured to fit the increment relation model and a preset sliding polynomial function by using a least square method, and determine coefficients of the sliding polynomial function; inputting the current inertial navigation sampling moment into the sliding polynomial function to obtain a fifth position increment; and obtaining a second position increment of the current inertial navigation sampling moment according to the difference value of the fifth position increment and the first position increment.
In one embodiment, the positioning module 912 is further configured to sum the combined relative position with the inertial positioning position increment and then perform a difference operation with the second position increment to obtain a real-time position of the relative mobile reference station.
In one embodiment, the delay obtaining module is configured to obtain a data transmission delay of the mobile reference station.
For specific limitations of the satellite/inertia combined real-time precise relative moving reference positioning apparatus, reference may be made to the above limitations of the satellite/inertia combined real-time precise relative moving reference positioning method, which is not described herein again. All or part of each module in the satellite/inertia combined real-time precise relative motion datum positioning device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a pointing device is provided, the internal structure of which may be as shown in FIG. 10. The computer equipment comprises a processor, a memory, an inertial navigation measuring unit, a guide receiver and a communication unit which are connected through a system bus. Wherein the processor of the positioning device is configured to provide computing and control capabilities. The memory of the positioning device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication unit of the positioning device is used for communicating with an external terminal through network connection. The computer program is executed by a processor to implement a combined satellite/inertial real-time precise relative motion reference positioning method.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a positioning apparatus comprising a memory storing a computer program and a processor implementing the following steps when the computer program is executed:
acquiring a position increment sequence of a time difference carrier phase in a preset historical time interval and first original observation data, which are sent by a moving reference station;
determining an asynchronous real-time dynamic relative position of the current satellite navigation sampling moment according to the first original observation data and second original observation data received within the preset historical time interval;
obtaining a combined relative position of the current satellite-borne data acquisition time aiming at the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
obtaining a first position increment of the mobile reference station at the current satellite-guided sampling moment according to the position increment sequence of the time differential carrier phase;
acquiring the inertial positioning position increment of the update period of the current inertial navigation sampling time, and acquiring a second position increment of the movable 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.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring position increments between adjacent epochs sequentially transmitted by a moving reference station, and arranging the position increments between the adjacent epochs sequentially according to a time sequence to obtain a position increment sequence of a time differential carrier phase in a preset historical time interval; and the position increment between the adjacent epochs is calculated by the mobile reference station according to satellite-derived observation data.
In one embodiment, the processor, when executing the computer program, further performs the steps of: summing the position increment between each adjacent epoch in the position increment sequence of the time differential carrier phase to obtain a first position increment of the mobile reference station within the preset historical time interval; and carrying out vector operation according to the first position increment and the asynchronous real-time dynamic relative position to obtain a combined relative position of the current satellite navigation sampling time aiming at the moving reference station.
In one embodiment, the processor, when executing the computer program, further performs the steps of: establishing an increment relation model of the corresponding relation between the fourth position increment and the time interval according to the time corresponding relation between the position increment sequence of the time differential carrier phase and each epoch; wherein the time interval is a difference value between a current satellite-derived sampling moment and the starting time of the preset historical time interval; and inputting the current satellite navigation sampling time into the increment relation model to obtain the first position increment of the mobile reference station at the current satellite navigation sampling time.
In one embodiment, the processor, when executing the computer program, further performs the steps of: fitting the incremental relation model and a preset sliding polynomial function by adopting a least square method, and determining each coefficient of the sliding polynomial function; inputting the current inertial navigation sampling moment into the sliding polynomial function to obtain a fifth position increment; and obtaining a second position increment of the current inertial navigation sampling moment according to the difference value of the fifth position increment and the first position increment.
In one embodiment, the processor, when executing the computer program, further performs the steps of: after the combined relative position and the inertia positioning position increment are subjected to summation operation, difference operation is carried out on the combined relative position and the inertia positioning position increment, and the positioning error between the absolute position of the moving reference station and the real-time position is obtained; and determining the real-time position of the moving reference station according to the positioning error.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and acquiring the data transmission delay of the mobile reference station.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a position increment sequence of a time difference carrier phase and first original positioning data in a preset historical time interval, which are sent by a moving reference station;
determining an asynchronous real-time dynamic relative position of the current satellite navigation sampling moment according to the first original observation data and second original observation data received within the preset historical time interval;
obtaining a combined relative position of the current satellite-borne data acquisition time aiming at the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
obtaining a first position increment of the mobile reference station at the current satellite-guided sampling moment according to the position increment sequence of the time differential carrier phase;
acquiring the inertial positioning position increment of the update period of the current inertial navigation sampling time, and acquiring a second position increment of the movable 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.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring position increments between adjacent epochs sequentially transmitted by a moving reference station, and arranging the position increments between the adjacent epochs sequentially according to a time sequence to obtain a position increment sequence of a time differential carrier phase in a preset historical time interval; and the position increment between the adjacent epochs is calculated by the mobile reference station according to satellite-derived observation data.
In one embodiment, the computer program when executed by the processor further performs the steps of: summing the position increment between each adjacent epoch in the position increment sequence of the time differential carrier phase to obtain a first position increment of the mobile reference station within the preset historical time interval; and carrying out vector operation according to the first position increment and the asynchronous real-time dynamic relative position to obtain a combined relative position of the current satellite navigation sampling time aiming at the moving reference station.
In one embodiment, the computer program when executed by the processor further performs the steps of: establishing an increment relation model of the corresponding relation between the fourth position increment and the time interval according to the time corresponding relation between the position increment sequence of the time differential carrier phase and each epoch; wherein the time interval is a difference value between a current satellite-derived sampling moment and the starting time of the preset historical time interval; and inputting the current satellite navigation sampling time into the increment relation model to obtain the first position increment of the mobile reference station at the current satellite navigation sampling time.
In one embodiment, the computer program when executed by the processor further performs the steps of: fitting the incremental relation model and a preset sliding polynomial function by adopting a least square method, and determining each coefficient of the sliding polynomial function; inputting the current inertial navigation sampling moment into the sliding polynomial function to obtain a fifth position increment; and obtaining a second position increment of the current inertial navigation sampling moment according to the difference value of the fifth position increment and the first position increment.
In one embodiment, the computer program when executed by the processor further performs the steps of: after the combined relative position and the inertia positioning position increment are subjected to summation operation, difference operation is carried out on the combined relative position and the inertia positioning position increment, and the positioning error between the absolute position of the moving reference station and the real-time position is obtained; and determining the real-time position of the moving reference station according to the positioning error.
In one embodiment, the computer program when executed by the processor further performs the steps of: and acquiring the data transmission delay of the mobile reference station.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A combined satellite/inertial real-time precise relative motion reference positioning method, the method comprising:
acquiring a position increment sequence of a time difference carrier phase in a preset historical time interval and first original observation data, which are sent by a moving reference station;
determining an asynchronous real-time dynamic relative position of the current satellite navigation sampling moment according to the first original observation data and second original observation data received within the preset historical time interval; the second original observation data refers to observation data received by the mobile station through the guide receiver;
obtaining a combined relative position of the current satellite-borne data acquisition time aiming at the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
obtaining a first position increment of the mobile reference station at the current satellite-guided sampling moment according to the position increment sequence of the time differential carrier phase;
acquiring the inertial positioning position increment of the update period of the current inertial navigation sampling time, and acquiring a second position increment of the movable reference station from the current satellite navigation sampling time to the current inertial navigation sampling time according to the first position increment;
and carrying out relative positioning on the moving reference station according to the combined relative position, the inertia positioning position increment and the second position increment.
2. The method of claim 1, wherein the obtaining of the sequence of position increments of the time-differential carrier phase within the preset historical time interval transmitted by the mobile reference station comprises:
acquiring position increments between adjacent epochs sequentially transmitted by a moving reference station, and arranging the position increments between the adjacent epochs sequentially according to a time sequence to obtain a position increment sequence of a time differential carrier phase in a preset historical time interval; and the position increment between the adjacent epochs is calculated by the mobile reference station according to satellite-derived observation data.
3. The method of claim 2, wherein obtaining a combined relative position of a current satellite sample time with respect to the moving reference station from the sequence of position increments of the time differential carrier phase and the asynchronous real-time dynamic relative position comprises:
summing the position increment between each adjacent epoch in the position increment sequence of the time differential carrier phase to obtain a first position increment of the mobile reference station within the preset historical time interval;
and carrying out vector operation according to the first position increment and the asynchronous real-time dynamic relative position to obtain a combined relative position of the current satellite navigation sampling time aiming at the moving reference station.
4. The method of claim 3, wherein obtaining the first position increment of the mobile reference station at the current satellite sampling time according to the position increment sequence of the time differential carrier phase comprises:
establishing an increment relation model of the corresponding relation between the fourth position increment and the time interval according to the time corresponding relation between the position increment sequence of the time differential carrier phase and each epoch; wherein the time interval is a difference value between a current satellite-derived sampling moment and the starting time of the preset historical time interval;
and inputting the current satellite navigation sampling time into the increment relation model to obtain the first position increment of the mobile reference station at the current satellite navigation sampling time.
5. The method of claim 4, wherein 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 comprises:
fitting the incremental relation model and a preset sliding polynomial function by adopting a least square method, and determining each coefficient of the sliding polynomial function;
inputting the current inertial navigation sampling moment into the sliding polynomial function to obtain a fifth position increment;
and obtaining a second position increment of the current inertial navigation sampling moment according to the difference value of the fifth position increment and the first position increment.
6. The method of any of claims 1 to 5, wherein relatively positioning the moving reference station based on the combined relative position, the inertial positioning position increment, and the second position increment comprises:
and after summing the combined relative position and the inertia positioning position increment, performing difference operation on the combined relative position and the inertia positioning position increment to obtain a real-time position relative to the moving reference station.
7. The method according to any one of claims 1 to 5, wherein before acquiring the first raw positioning data and the sequence of position increments of the time-differential carrier phase within the preset historical time interval transmitted by the mobile reference station, further comprising:
acquiring data transmission delay of the mobile reference station;
determining the time error between the current satellite-derived sampling moment and the mobile reference station according to the data transmission delay; the time error is the difference between the current satellite-guided sampling time of the mobile station and the satellite-guided sampling time of the mobile reference station.
8. A combined satellite/inertial real-time precision relative motion datum positioning device, comprising:
the data receiving module is used for acquiring a position increment sequence of a time difference carrier phase in a preset historical time interval and first original observation data which are sent by the moving reference station;
the asynchronous relative position determining module is used for determining an asynchronous real-time dynamic relative position at the current satellite navigation sampling moment according to the first original observation data and second original observation data received within the preset historical time interval; the second original observation data refers to observation data received by the mobile station through the guide receiver;
the combined positioning module is used for obtaining a combined relative position of the current satellite-guided sampling time aiming at the moving reference station according to the position increment sequence of the time differential carrier phase and the asynchronous real-time dynamic relative position;
the dynamic reference station satellite navigation increment prediction module is used for obtaining a first position increment of the dynamic reference station at the current satellite navigation sampling moment according to the position increment sequence of the time differential carrier phase;
the inertial navigation increment prediction module is used for acquiring the inertial positioning position increment of the update cycle of the current inertial navigation sampling time, and acquiring 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 the positioning module is used for carrying out relative positioning on the movable reference station according to the combined relative position, the inertia positioning position increment and the second position increment.
9. A positioning device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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