CN110146908B - Method for generating observation data of virtual reference station - Google Patents
Method for generating observation data of virtual reference station Download PDFInfo
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- CN110146908B CN110146908B CN201910512121.7A CN201910512121A CN110146908B CN 110146908 B CN110146908 B CN 110146908B CN 201910512121 A CN201910512121 A CN 201910512121A CN 110146908 B CN110146908 B CN 110146908B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Abstract
The invention relates to the technical field of satellite positioning, and discloses a method for generating observation data of a virtual reference station, which comprises the following steps: determining a main reference station and an associated baseline according to the distance from the virtual reference station; acquiring a common-view satellite of a correlation baseline, and screening a reference satellite; calculating double-difference error correction numbers of the common-view satellite associated with the base line to generate a corresponding double-difference error correction number queue; carrying out smoothing treatment on the double-difference error correction number queue; calculating an error coefficient for each associated baseline; and generating the observation data of the virtual reference station according to the error coefficient and the smoothed double-difference error correction number. Some technical effects of the invention are as follows: the positioning accuracy of the virtual reference station technology is improved.
Description
Technical Field
The invention belongs to the technical field of satellite positioning systems and positioning measurement, and particularly relates to a method for generating observation data of a virtual reference station.
Background
GNSS (Global Navigation Satellite System, which may be understood as "Global Navigation Satellite System") receivers typically employ RTK techniques in order to obtain centimeter-level positioning accuracy in real time.
RTK (Real-Time Kinematic, which may be understood as "Real-Time Kinematic positioning") is a Real-Time Kinematic relative positioning technique that utilizes carrier-phase observations between a rover station (or receiver) and a reference station. Specifically, the receiver can access the CORS (continuous Operating Reference states, which can be understood as "Continuously Operating Reference Stations") network difference services to perform RTK solution, so as to obtain high-precision positioning.
VRS (Virtual Reference Station, which may be understood as a "Virtual Reference Station") technology is one of the network RTK technologies that virtualizes a Reference Station in the vicinity of a rover Station in real time to provide the rover Station with differential text and Reference Station position information. The positioning principle of the virtual reference station is that a data center receives observation data of each reference station of a reference station network and a rough coordinate of a rover station in real time, a virtual reference station is generated near the rough coordinate, modeling is carried out on errors related to space distances such as troposphere and ionosphere delay and the like at the virtual reference station, a virtual observation value of the virtual reference station is generated, and then the observation data at the virtual reference station is sent to the rover station, so that real-time high-precision positioning of the rover station is achieved. The observation value of the virtual reference station consists of three parts: the observation value of the main reference station, the single difference of the satellite-ground distances between the virtual reference station and the main reference station, and the double-difference comprehensive error between the virtual reference station and the main reference station.
Disclosure of Invention
In one aspect of the invention, a new method for generating observation data of a virtual reference station is provided, which can improve the positioning accuracy of the technology using the virtual reference station.
The method for generating the observation data of the virtual reference station comprises the following steps: determining a main reference station and an associated baseline according to the distance from the virtual reference station; acquiring a common-view satellite of a correlation baseline, and screening a reference satellite; calculating double-difference error correction numbers of the common-view satellite associated with the base line to generate a corresponding double-difference error correction number queue; carrying out smoothing treatment on the double-difference error correction number queue; calculating an error coefficient for each associated baseline; and generating the observation data of the virtual reference station according to the error coefficient and the smoothed double-difference error correction number.
Preferably, the reference station closest to the virtual reference station is selected as the master reference station; the associated baseline is the baseline of the master reference station in the CORS network.
Preferably, when the number of the associated baselines exceeds 3, the 3 baselines closest to the virtual reference station are selected as the associated baselines.
Preferably, the co-view satellite is obtained by taking the intersection of a set of all associated baseline related satellites.
Preferably, the screening reference star comprises the steps of: calculating the altitude angle of the common view satellite; selecting a satellite with the altitude angle larger than a threshold value as a candidate reference satellite; and selecting the satellite with the smallest altitude angle and the increasing altitude angle in the alternative reference satellite as the reference satellite.
Preferably, the altitude angle threshold setting may be: the range of the altitude angle threshold of the GPS satellite is more than or equal to 40 degrees; the range of the altitude angle of the GLONASS satellite is more than or equal to 30 degrees; the range of the height angle of the Galileo satellite is more than or equal to 40 degrees; the altitude angle range of the BDS satellite is more than or equal to 40 degrees.
Preferably, the double difference error correction is a double difference error correction of each co-view satellite and the reference satellite for each associated baseline;
wherein the double error correction number of the associated baseline AB with respect to the satellites i, j is:
wherein A is a main reference station, B is another related reference station defined by a related base line AB, a satellite i is a reference satellite, a satellite j is any one of other co-view satellites except the reference satellite,
to correlate the phase observations of baseline AB with respect to satellite i and satellite j double differences,
to correlate the ambiguity double differences of the baseline AB,
is the satellite-to-ground double difference of the associated baseline AB.
Preferably, the double difference error modifier queue is smoothed by: setting A as a main reference station, B as another related reference station defined by a related base line AB, a satellite i as a reference satellite, and a satellite j as any one of other co-view satellites except the reference satellite; the double error correction of the associated baseline AB with respect to the corresponding epoch time t of the satellite j is
If the sliding window is m, the satellite is in continuous calendarMeta time t1To time tmThe double error correction number of (1) is:
the corresponding weights are: w is a1,w2,…,wm；
T thiThe weights for the time instants are calculated as follows:
smoothed double difference error correction:
preferably, the sliding window m is equal to 10.
Preferably, the error coefficient for each associated baseline is calculated by a least squares configuration:
setting covariance matrix C of reference station and virtual reference stationvn:
Wherein v is a virtual reference station and n is a master reference station;
autocovariance matrix C between reference stationsvComprises the following steps:
wherein C isi,nIs the spatial covariance function of the reference station i and the master reference station n,
a linear model is used:
Ci,n＝lmax-li,n
wherein li,nIs the distance between two reference stations,/maxDistance to longest base line
The error coefficient α is then:
the method provided by the invention can generate the observation data of all the common-view satellites of the virtual reference station, and can improve the positioning precision of the virtual reference station technology.
Drawings
For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:
FIG. 1 is a schematic diagram of a method for generating observation data of a virtual reference station in some embodiments.
FIG. 2 is a schematic diagram of a reference station and a baseline in some embodiments
Detailed Description
The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.
On the general way, the invention discloses a method for generating observation data of a virtual reference station, which comprises the following steps of determining a main reference station and an associated base line according to the distance between the main reference station and the virtual reference station; acquiring a common-view satellite of a correlation baseline, and screening a reference satellite; calculating double-difference error correction numbers of the common-view satellite associated with the base line to generate a corresponding double-difference error correction number queue; carrying out smoothing treatment on the double-difference error correction number queue; calculating an error coefficient for each associated baseline; and generating observation data of all the common-view satellites of the virtual reference station according to the error coefficient and the smoothed double-difference error correction number.
Some technical effects of the invention are as follows: screening a reference satellite through the common-view satellite to provide a basis for calculating the double-difference error correction number of the common-view satellite; smoothing the double-difference error correction number queue of each common-view satellite of each associated baseline, and avoiding the influence caused by data fluctuation; calculating an error coefficient of each associated base line by adopting a least square configuration method; and finally, according to the error coefficient and the double-difference error correction number after the associated base line is smoothed, the observation data of all the common-view satellites of the virtual reference station are better generated, so that the positioning precision is improved.
In some embodiments, the method for generating the virtual reference station includes the following steps: determining a main reference station and an associated baseline according to the distance from the virtual reference station; acquiring all common-view satellites of all associated baselines, and screening reference satellites; calculating double-difference error correction numbers of each common-view satellite of all the associated baselines, and respectively generating corresponding double-difference error correction number queues; respectively smoothing the double-difference error correction number queues; calculating an error coefficient for each associated baseline; and generating corresponding observation data of the virtual reference station according to the error coefficient and the double-difference error correction number of each satellite after each associated base line is smoothed. A co-view satellite as referred to herein is a satellite that is observable by all reference stations associated with the baseline.
In some embodiments, the position of the virtual reference station is obtained, and the physical reference station with the smallest distance is selected as the main reference station by calculating the distance between the nearby physical reference station and the virtual reference station; and the baseline defined by the master reference station is taken as the associated baseline.
In some embodiments, when the number of primary reference station related baselines exceeds 3, the 3 baselines closest to the reference station are selected as the associated baselines. Specifically, the distance between another reference station defined by the baseline and the virtual reference station can be calculated, the nearest 3 reference stations are selected, and the reference stations and the baseline defined by the main reference station are selected as the associated baseline.
In some embodiments, the co-view satellites are obtained by obtaining a set of satellites that can be observed by the reference station corresponding to each associated baseline and intersecting the sets of satellites.
It should be noted that the common-view satellite associated with the baseline and the common-view satellite associated with the reference station in the present invention are referred to as the same set of satellites. If the main reference station is a, the associated base line AB and another reference station B defined by the associated base line AB are the same satellite set, the common-view satellite of the main reference station a, the common-view satellite of the associated base line AB and the common-view satellite of the reference station B are all the same satellite set.
In some embodiments, the altitude angles of all the common view satellites are calculated, the satellites with the altitude angles larger than a threshold value are selected as candidate reference stars, the selected candidate reference stars are sorted in an ascending order according to the altitude angle, and the satellite with the smallest altitude angle and the increasing altitude angle is selected as the reference star. Whether the altitude angle of a certain satellite increases or not can be judged by comparing the altitude angles of the satellite at different moments. The satellite with the altitude angle at the increase is chosen here to obtain a longer period of service.
In some embodiments, if there is no satellite with the smallest altitude and the altitude is increasing, the satellite with the smallest altitude is selected as the reference satellite.
In some embodiments, the threshold for the respective reference star altitude angle is set for different global satellite navigation systems: the range of the altitude angle threshold of the GPS satellite is more than or equal to 40 degrees; the range of the altitude angle of the GLONASS satellite is more than or equal to 30 degrees; the range of the height angle of the Galileo satellite is more than or equal to 40 degrees; the altitude angle range of the BDS satellite is more than or equal to 40 degrees. Here, GPS refers to the Global Positioning System (GPS for short) in the united states, GLONASS refers to the guronese System in russia, Galileo refers to the Galileo Positioning System in the european union, and BDS refers to the beidou satellite navigation System in china.
In some embodiments, there is a main reference station a, an associated baseline AB, another associated reference station B defined by the associated baseline AB, a common view satellite i, and a common view satellite j, wherein the common view satellite i is a reference satellite, and the common view satellite j is any one of the common view satellites except the reference satellite. And respectively acquiring phase observation values, ambiguity and satellite-to-ground distances of the main reference station A and the main reference station A aiming at the common-view satellite i and the common-view satellite j, and calculating double-difference error correction numbers of the common-view satellite j and the reference satellite i of the associated base line AB. The calculation method is as follows: the double error correction for the associated baseline AB with respect to satellite i, satellite j is:
wherein A is a main reference station, B is another related reference station defined by a related base line AB, a satellite i is a reference star, a satellite j can be any other co-view satellite except the reference star,
to correlate the phase observations of baseline AB with respect to satellite i and satellite j double differences,
to correlate the ambiguity double differences of the baseline AB,
is the satellite-to-ground double difference of the associated baseline AB.
In some embodiments, there is a main reference station a, an associated baseline AB, another associated reference station B defined by the associated baseline AB, a common view satellite i, and a common view satellite j, wherein the common view satellite i is a reference satellite, and the common view satellite j is any one of the common view satellites except the reference satellite. Calculating double difference error correction of associated base line AB relative to satellite j corresponding epoch time t
The sliding window size is m. And by calculating successive epoch times t1To time tmThe double error correction number of (1) is:
thereby generating a double difference error correction queue. The corresponding weights are respectively calculated as: w is a1,w2,…,wm；
T thiThe weights for the time instants are calculated as follows:
smoothed double error correctionNumber:
in some embodiments, the error coefficient for each associated baseline is calculated by a least squares configuration:
setting covariance matrix C of reference station and virtual reference stationvn:
Wherein v is a virtual reference station and n is a master reference station;
autocovariance matrix C between reference stationsvComprises the following steps:
wherein C isi,nIs the spatial covariance function of the reference station i and the master reference station n,
a linear model is used:
Ci,n＝lmax-li,n
wherein li,nIs the distance between two reference stations,/maxDistance to the longest baseline;
the error coefficient α is then:
in some embodiments, there is a master reference station a, an associated baseline AB, an associated baseline AC, an associated baseline AD, and baseline-related reference stations B, C, D, and a common-view satellite j. Calculating to obtain the double-difference error correction number of the virtual reference station V and the main reference station A relative to the common-view satellite through the error coefficient and the smoothed double-difference error correction number; for satellite j, the double error correction for baseline AV is
V is a virtual reference station, and the double difference error corrections of the baselines AB, AC and AD associated with the other reference stations B, C, D and the main reference station A are respectively
The error coefficients are respectively: alpha is alphaAB，αAC，αADThen, the double difference error correction number between the virtual reference station V and the main reference station a with respect to the satellite j is:
specifically, when the number of the associated baselines is less than three, the corresponding parameters are decreased. In the invention, three associated baselines can obtain enough technical effect. When the baseline is more, the improvement is not much, but the server is subjected to excessive operating pressure. Thus, accordingly, when there are only two associated baselines AB, AC, the double difference error correction between the virtual reference station V and the master reference station a with respect to satellite j is:
with only one associated baseline AB, the double error correction between the virtual reference station V and the master reference station a for satellite j is:
in some embodiments, for each satellite, its phase observation: cV＝CA+ρAV+UAVIn which C isAIs the phase observation, ρ, of the primary reference station AAVIs the single difference of the satellite-to-earth distances between the virtual reference station V and the main reference station A, UAVThe corresponding double difference error correction numbers.
In some embodiments, the above method is performed separately for all common-view satellites, and the observations of all common-view satellites of the virtual reference station can be generated. Generally, the observations of a virtual reference station consist of three parts: the observation value of the main reference station, the single difference of the satellite-ground distances between the virtual reference station and the main reference station, and the double-difference error correction number between the virtual reference station and the main reference station.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A method for generating observation data of a virtual reference station is characterized by comprising the following steps:
determining a main reference station and an associated baseline according to the distance from the virtual reference station;
acquiring a common-view satellite of a correlation baseline, and screening a reference satellite;
calculating double-difference error correction numbers of the common-view satellite associated with the base line to generate a corresponding double-difference error correction number queue;
carrying out smoothing treatment on the double-difference error correction number queue;
calculating an error coefficient for each associated baseline;
and generating the observation data of the virtual reference station according to the error coefficient and the smoothed double-difference error correction number.
2. The generation method according to claim 1, characterized in that: and selecting the reference station closest to the virtual reference station as the main reference station.
3. The generation method according to claim 2, characterized in that: the associated baseline is the baseline of the main reference station in the CORS network; when the number of the associated baselines exceeds 3, the 3 baselines closest to the virtual reference station are selected as the associated baselines.
4. The generation method according to claim 1, characterized in that: the common view satellite is obtained by taking the intersection of all the satellite sets related to the relevant base line.
5. The generation method according to claim 1, characterized in that:
the screening reference star comprises the following steps:
calculating the altitude angle of the common view satellite;
selecting a satellite with the altitude angle larger than a threshold value as a candidate reference satellite;
and selecting the satellite with the smallest altitude angle and the increasing altitude angle in the alternative reference satellite as the reference satellite.
6. The generation method according to claim 5, characterized in that: the altitude angle threshold value is as follows: the range of the altitude angle threshold of the GPS satellite is more than or equal to 40 degrees; the range of the altitude angle of the GLONASS satellite is more than or equal to 30 degrees; the range of the height angle of the Galileo satellite is more than or equal to 40 degrees; the altitude angle range of the BDS satellite is more than or equal to 40 degrees.
7. The generation method according to claim 1, characterized in that: the double-difference error correction number is the double-difference error correction number of each common-view satellite and the reference satellite of each associated base line;
wherein, the double error correction number of the associated base line AB relative to the satellite i and the satellite j is:
wherein A is a main reference station, B is another related reference station defined by a related base line AB, a satellite i is a reference satellite, a satellite j is any one of other co-view satellites except the reference satellite,
to correlate the phase observations of baseline AB with respect to satellite i and satellite j double differences,
to correlate the ambiguity double differences of the baseline AB,
is the satellite-to-ground double difference of the associated baseline AB.
8. The generation method according to claim 1, characterized in that: and smoothing the double difference error correction number queue:
setting A as a main reference station, B as another related reference station defined by a related base line AB, a satellite i as a reference satellite, and a satellite j as any one of other co-view satellites except the reference satellite; the double error correction of the associated baseline AB with respect to the corresponding epoch time t of the satellite j is
The sliding window is m in size, and the satellite is at the continuous epoch time t1To time tmThe double error correction number of (1) is:
the corresponding weights are: w is a1,w2,…,wm；
T thiThe weights for the time instants are calculated as follows:
smoothed double difference error correction:
9. the method of claim 8, wherein the sliding window m is equal to 10.
10. The generation method according to claim 1, characterized in that: calculating an error coefficient for each associated baseline by a least squares configuration:
setting covariance matrix C of reference station and virtual reference stationvn:
Wherein v is a virtual reference station and n is a master reference station;
autocovariance matrix C between reference stationsvComprises the following steps:
wherein C isi,nIs the spatial covariance function of the reference station i and the master reference station n,
a linear model is used:
Ci,n＝lmax-li,n
wherein li,nIs the distance between two reference stations,/maxDistance to longest base line
The error coefficient α is then:
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| WO2022197909A2 (en) * | 2021-03-18 | 2022-09-22 | Qualcomm Incorporated | On-demand positioning reference signal selection for double difference positioning schemes |
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