CN110174691B - Positioning device, method and computer readable storage medium - Google Patents

Positioning device, method and computer readable storage medium Download PDF

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CN110174691B
CN110174691B CN201910570270.9A CN201910570270A CN110174691B CN 110174691 B CN110174691 B CN 110174691B CN 201910570270 A CN201910570270 A CN 201910570270A CN 110174691 B CN110174691 B CN 110174691B
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control unit
carrier phase
micro control
gnss chip
difference
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CN110174691A (en
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王志平
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Jiangsu Xinsheng Intelligent Technology Co ltd
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Jiangsu Xinsheng Intelligent Technology Co ltd
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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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
    • 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
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
    • G01S19/55—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

The application provides a positioning device, a method and a computer readable storage medium, which relate to the technical field of positioning, and the positioning device is composed of a communication unit, a first GNSS chip and a micro control unit, wherein the micro control unit obtains satellite data monitored by a base station and the first GNSS chip respectively in the k epoch through the communication unit, and based on the satellite data monitored by the base station and the first GNSS chip respectively, a floating point positioning solution of a positioning coordinate of the first GNSS chip is obtained, ambiguity in addition, the ambiguity in the floating point positioning solution is fixed, after an integer solution corresponding to the ambiguity is obtained, the positioning coordinate of the first GNSS chip is obtained by utilizing the floating point positioning solution and the obtained integer solution through calculation.

Description

Positioning device, method and computer readable storage medium
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning device, a positioning method, and a computer-readable storage medium.
Background
Currently, in some vehicle-mounted terminals, agricultural machinery or application scenarios of position and attitude detection of some carriers, a high-precision board card is generally adopted for positioning or orientation; and when the high-precision board card works, the observation quantity of multiple systems and multiple frequencies and a related differential positioning qualitative method need to be provided.
However, the high-precision board card is expensive and has high power consumption, so that the cost is high when the high-precision board card is used for positioning and orienting.
Disclosure of Invention
An object of the present application is to provide a positioning apparatus, a positioning method, and a computer-readable storage medium, which can reduce the hardware cost of positioning.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a positioning method, which is applied to a positioning device, where the positioning device includes a micro control unit, and a communication unit and a first Global Navigation Satellite System (GNSS) chip that are electrically connected to the micro control unit, respectively; the method comprises the following steps:
the micro control unit acquires satellite data monitored by a base station in a k-th epoch and satellite data monitored by the first GNSS chip in the k-th epoch through the communication unit, wherein the satellite data monitored by the base station comprises a pseudo range and a carrier phase, and the satellite data monitored by the first GNSS chip comprises the pseudo range and the carrier phase;
the micro control unit respectively calculates and obtains pseudo-range double differences and carrier phase double differences according to the pseudo-range and the carrier phase corresponding to the base station and the pseudo-range and the carrier phase monitored by the first GNSS chip;
the micro control unit processes the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
the micro control unit fixes the ambiguity in the floating point positioning solution to obtain an integer solution corresponding to the ambiguity;
and the micro control unit calculates to obtain the positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity.
In a second aspect, an embodiment of the present application provides a positioning apparatus, including a micro control unit, and a communication unit and a first GNSS chip that are electrically connected to the micro control unit, respectively;
the micro control unit is used for acquiring satellite data monitored by a base station in a k-th epoch and satellite data monitored by the first GNSS chip in the k-th epoch through the communication unit, wherein the satellite data monitored by the base station comprises a pseudo range and a carrier phase, and the satellite data monitored by the first GNSS chip comprises the pseudo range and the carrier phase;
the micro control unit is further used for respectively calculating a pseudo range double difference and a carrier phase double difference according to the pseudo range and the carrier phase corresponding to the base station and the pseudo range and the carrier phase monitored by the first GNSS chip;
the micro control unit is further configured to process the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
the micro control unit is further configured to fix the ambiguity in the floating point positioning solution to obtain an integer solution corresponding to the ambiguity;
and the micro control unit is further used for calculating to obtain the positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements a positioning method as described above.
According to the positioning device, the method and the computer readable storage medium provided by the embodiment of the application, the positioning device is composed of a communication unit, a first GNSS chip and a micro control unit, the micro control unit obtains satellite data monitored by a base station and the first GNSS chip respectively in the k epoch through the communication unit, and obtains a floating point positioning solution of a positioning coordinate of the first GNSS chip based on the satellite data monitored by the base station and the first GNSS chip respectively, and fixes a ambiguity in the floating point positioning solution, after an integer solution corresponding to the ambiguity is obtained, the positioning coordinate of the first GNSS chip is obtained by calculation through the floating point positioning solution and the obtained integer solution.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a positioning apparatus provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a positioning method provided in the embodiments of the present application;
fig. 3 is another schematic flow chart of a positioning method provided in the embodiments of the present application;
FIG. 4 is a schematic flow chart of the substeps of S204 in FIG. 3;
fig. 5 is a further schematic flow chart of a positioning method provided in the embodiment of the present application;
fig. 6 is another schematic structural diagram of a positioning apparatus according to an embodiment of the present application;
fig. 7 is a further schematic flowchart of a positioning method according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
With the development of the internet of things technology, more and more devices need to be positioned or oriented. However, as described above, in the current application scenarios, such as vehicle-mounted terminals, agricultural machinery, or some carrier position and attitude detection, a high-precision board card is generally used to position and orient the device; however, the high price and large power consumption of the high-precision board card lead to high setting and positioning costs.
Based on the above defects, a possible implementation manner provided by the embodiment of the present application is as follows: the positioning equipment comprises a GMS chip, a first GNSS chip and a micro control unit, wherein the micro control unit obtains satellite data monitored by a base station and the first GNSS chip respectively in the k epoch through a communication unit, and based on the satellite data monitored by the base station and the first GNSS chip respectively, a floating positioning solution of a positioning coordinate of the first GNSS chip is obtained, ambiguity in the floating positioning solution is fixed, after an integer solution corresponding to the ambiguity is obtained, the positioning coordinate of the first GNSS chip is obtained through calculation by using the floating positioning solution and the obtained integer solution.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present disclosure, where the positioning apparatus includes a Micro Controller Unit (MCU), a communication Unit and a first GNSS chip, where the communication Unit and the first GNSS chip are electrically connected to the MCU respectively.
As a possible implementation manner, the first GNSS chip may use a single-frequency chip in order to reduce the cost of the positioning device; as shown in fig. 1, the communication unit may use a GSM (Global System for Mobile Communications) chip.
Moreover, it should be noted that, in some other possible implementations of the embodiment of the present application, the communication unit may also adopt other devices besides a GSM chip, such as a CDMA (Code Division Multiple Access) module, as long as the micro control unit can obtain the satellite monitored by the time base station at the kth epoch through the communication unit.
Therefore, based on the positioning apparatus shown in fig. 1, please refer to fig. 2, where fig. 2 is a schematic flowchart of a positioning method provided in an embodiment of the present application, and when the positioning apparatus shown in fig. 1 is used for positioning, the method includes the following steps:
s201, the micro control unit acquires satellite data monitored by a base station in the k epoch and satellite data monitored by a first GNSS chip in the k epoch through a GMS chip;
s203, the micro control unit respectively calculates and obtains pseudo range double differences and carrier phase double differences according to the pseudo range and the carrier phase corresponding to the base station and the pseudo range and the carrier phase monitored by the first GNSS chip;
s205, the micro control unit processes the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
s207, fixing the ambiguity in the floating point positioning solution by the micro control unit to obtain an integer solution corresponding to the ambiguity;
s209, the micro control unit calculates the positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity.
In the embodiment of the application, the positioning device takes the first GNSS chip as a mobile station and the base station as a reference station, and receives satellite data of the base station through the communication unit, and settles coordinates where the first GNSS chip is located, thereby realizing positioning.
It should be noted that the base station used in the embodiment of the present application may be a mapping base station built by a user, or a base station built by a mapping service provider.
For example, when the positioning device is used for realizing positioning, the micro control unit may acquire, through the communication unit, satellite data monitored by the base station at a k-th epoch, and satellite data monitored by the first GNSS chip at the k-th epoch; satellite data monitored by the base station comprises pseudo range, carrier phase and the like, and satellite data monitored by the first GNSS chip comprises pseudo range, carrier phase and the like; in some other possible application scenarios of the embodiment of the present application, the satellite data monitored by the first GNSS chip may further include navigation ephemeris and the like.
The micro control unit determines a common view satellite of the satellite data monitored by the base station and the satellite data monitored by the first GNSS chip according to the satellite data monitored by the base station and the satellite data monitored by the first GNSS chip; for example, assuming that the satellite data monitored by the base station is from satellite A, B, C, D, E and the satellite data monitored by the first GNSS chip is from satellite D, E, F, G, the satellites that are commonly viewed by both the base station and the first GNSS chip are satellite D and satellite E.
The micro control unit selects a reference satellite from the common-view satellites of the base station and the first GNSS chip according to a set condition; for example, in the above example, assuming that the micro control unit uses the common-view satellite with the highest altitude angle as the reference satellite, if the altitude angle of the satellite D is greater than the altitude angle of the satellite E, the micro control unit uses the satellite D as the reference satellite; if the altitude of the satellite E is greater than the altitude of the satellite D, the micro-control unit takes the satellite E as a reference satellite.
Therefore, the micro control unit respectively calculates and obtains pseudo range double differences and carrier phase double differences according to the selected common-view satellite, the reference satellite, the pseudo range and the carrier phase corresponding to the base station and the pseudo range and the carrier phase monitored by the first GNSS chip.
For example, in the example that the common view satellite includes a satellite D and a satellite E, and the satellite D is selected as the reference satellite, when calculating the pseudo-range double differences, differences between pseudo-ranges of the satellite D and the satellite E, which are obtained by monitoring the base station and the first GNSS chip respectively, are calculated, so as to obtain pseudo-range single differences corresponding to the base station and pseudo-range single differences corresponding to the first GNSS chip respectively, and then differences between the pseudo-range single differences corresponding to the base station and the pseudo-range single differences corresponding to the first GNSS chip are calculated, so as to obtain pseudo-range double differences.
Similarly, when calculating the carrier phase double differences, the difference between the carrier phase of the satellite D and the carrier phase of the satellite E, which are obtained by monitoring the base station and the first GNSS chip respectively, is calculated, the carrier phase single difference corresponding to the base station and the carrier phase single difference corresponding to the first GNSS chip are obtained, and then the difference between the carrier phase single difference corresponding to the base station and the carrier phase single difference corresponding to the first GNSS chip is calculated, so that the carrier phase double differences are obtained.
Therefore, the micro control unit processes the pseudo-range double difference and the carrier phase double difference according to the pseudo-range double difference and the carrier phase double difference obtained through calculation, and therefore a floating point positioning solution of the first GNSS chip positioning coordinate is obtained.
The floating point positioning solution of the first GNSS chip positioning coordinate calculated according to S205 includes the real coordinate (x, y, z) and ambiguity of the first GNSS chip; for the ambiguity in the floating point positioning solution, the micro control unit can fix the ambiguity in the floating point positioning solution, so as to obtain an integer solution corresponding to the ambiguity; therefore, the micro control unit calculates the positioning coordinate of the first GNSS chip according to the integer solution obtained by the ambiguity in the fixed floating positioning solution and the integer solution corresponding to the obtained ambiguity.
It can be seen that, based on the above design, in the positioning method provided in this embodiment of the present application, a positioning device including a communication unit, a first GNSS chip, and a micro control unit is used, where the micro control unit obtains, through a GMS chip, satellite data monitored by a base station and the first GNSS chip respectively at a k epoch time, and obtains a floating positioning solution of a positioning coordinate of the first GNSS chip based on the satellite data monitored by the base station and the first GNSS chip respectively, fixes a ambiguity in the floating positioning solution, and obtains a positioning coordinate of the first GNSS chip by calculating the floating positioning solution and the obtained integer solution after obtaining the integer solution corresponding to the ambiguity.
It should be noted that, assuming that the base station is the station r and the first GNSS chip is the station 1, at t1The pseudorange double difference equation for two satellites at time p and q may be expressed as:
Figure BDA0002110704230000081
in the formula: p is pseudo-range observed value, f is carrier frequency, c is light speed, rho is distance from satellite to survey station, VionIs an ionospheric error, VtropIs the tropospheric error.
In addition, the carrier phase double difference equation can be expressed as:
Figure BDA0002110704230000091
in the formula:
Figure BDA0002110704230000092
is the carrier phase observation and N is the carrier phase ambiguity.
Under the condition of a short baseline, namely when the first GNSS chip is used as the survey station 1 and the distance between the first GNSS chip and the base station used as the survey station r is short (for example, less than 10km), the influence of the current layer and the troposphere can be ignored in the two double difference equations of the formula (1) and the formula (2); as described above, t can be obtained from the observed value in S2031Double difference of pseudoranges at time
Figure BDA0002110704230000093
Double difference of sum and carrier phase
Figure BDA0002110704230000094
Therefore, the unknowns in equations (1) and (2) above are only the satellite to station distance ρ and the carrier phase ambiguity N.
In addition, optionally, in the step S205, based on a kalman filtering (kalman filtering) algorithm, the micro control unit may process the pseudorange double-difference and the carrier phase double-difference by using the kalman filtering algorithm to obtain a floating point positioning solution of the first GNSS chip.
As a possible implementation manner, in the embodiment of the present application, the system equation of the kalman filter may be:
Figure BDA0002110704230000095
in the formula:
Figure BDA0002110704230000096
x, y and z respectively represent position parameters of the positioning coordinates of the first GNSS chip,
Figure BDA0002110704230000097
respectively representing the speed parameters of the first GNSS chip,
Figure BDA0002110704230000098
respectively representing the carrier phase double-difference ambiguity;
Figure BDA0002110704230000101
and is
Figure BDA0002110704230000102
State transition matrix, I, being a Kalman filtering system equationnRepresenting an n-order identity matrix, Δ T representing the time interval of the epoch;
Figure BDA0002110704230000103
and gamma isk-1A noise coefficient matrix which is a Kalman filtering system equation;
wk-1is a set process noise vector;
Figure BDA0002110704230000104
ykPand
Figure BDA0002110704230000105
respectively a pseudo-range double-difference observation vector and a carrier phase double-difference observation vector;
Figure BDA0002110704230000106
Hkis a measurement coefficient matrix of a Kalman filtering system equation, wherein lambda is a carrier wavelength and comprises the following components:
Figure BDA0002110704230000107
Figure BDA0002110704230000108
the pseudo range double-difference observed value is obtained;
Figure BDA0002110704230000111
Figure BDA0002110704230000112
the carrier phase double-difference observed value is obtained;
vkto observe the noise.
Thus, when performing the kalman filtering at S205:
the resulting state prediction is:
Figure BDA0002110704230000113
Figure BDA0002110704230000114
in the formula (I), the compound is shown in the specification,
Figure BDA0002110704230000115
representing the filtered value of the k-1 epoch state vector,
Figure BDA0002110704230000116
representing the k epoch state vector predictor,
Figure BDA00021107042300001112
filters the values for the k-1 epoch state vector variance,
Figure BDA00021107042300001113
is a predictor of k epoch State vector variance, Qk-1Process noise of k-1 epoch.
In addition, the resulting measurements are updated as:
Figure BDA0002110704230000117
Figure BDA0002110704230000118
Figure BDA0002110704230000119
in the formula, kkIs a gain matrix, RkFor observing noise vkThe variance of (a) is determined,
Figure BDA00021107042300001110
is the filtered value of the k epoch state vector,
Figure BDA00021107042300001111
is a filtered value of the k epoch state vector variance.
Wherein, the above
Figure BDA0002110704230000121
RpA measurement variance matrix representing the pseudoranges,
Figure BDA0002110704230000122
a measurement variance matrix representing an observed value of the carrier phase, and
Figure BDA0002110704230000123
k is the measurement precision proportion of the pseudo range and the carrier phase; and has the following components:
Figure BDA0002110704230000124
Figure BDA0002110704230000125
Figure BDA0002110704230000126
in the formula (I), the compound is shown in the specification,
Figure BDA0002110704230000127
the variance of the non-poor observations for reference stations (base stations) reference satellites,
Figure BDA0002110704230000128
is the variance of the rover (first GNSS chip) reference satellite non-poor observations,
Figure BDA0002110704230000129
is the variance of the non-poor observations of the ith satellite at the fixed station (base station),
Figure BDA00021107042300001210
variance of non-poor observation value of the ith satellite of the rover station (the first GNSS chip); in addition, the variance calculation formula of the non-difference observation value is as follows:
σ＝a2+b2/(sin(el))2，
in the formula, a and b are set coefficients, and el is the altitude of the corresponding satellite.
In addition, optionally, when the foregoing S207 is implemented, based on the LAMADA algorithm, the micro control unit fixes the ambiguity in the floating-point positioning solution by using the LAMADA algorithm, and obtains an integer solution corresponding to the ambiguity.
The implementation process of fixing the ambiguity by adopting the LAMADA algorithm can be simplified into two main steps: ambiguity decorrelation and ambiguity integer least squares discrete search. The principle is to reduce the search space of ambiguity by integer transformation and decorrelation, thereby improving the search efficiency.
It is assumed that the real solution of the ambiguity found in the above-described Kalman Filter algorithm is
Figure BDA0002110704230000131
And the co-factor array is
Figure BDA0002110704230000132
Optionally, as a possible implementation manner, in the embodiment of the present application, the objective function searched by the LAMBDA algorithm may be set as:
Figure BDA0002110704230000133
in the formula, N is belonged to Zn，
Figure BDA0002110704230000134
For real solutions of ambiguity in the floating-point positioning solution,
Figure BDA0002110704230000135
a co-factor matrix that is a real solution of ambiguity in a floating point positioning solution.
Wherein the co-factor matrix is solved for real numbers
Figure BDA0002110704230000136
After Cholesky decomposition, the following can be obtained:
Figure BDA0002110704230000137
in the formula, L is a lower triangular matrix, and D is a diagonal matrix.
Calculating an integer gaussian transform and a Z transform of a real solution:
Figure BDA0002110704230000138
wherein Z is an integer transformation matrix, Z is a transformed ambiguity vector, and after integer Gaussian transformation, an integer combination satisfying the following formula is solved:
z＝(z1,z2,…,zn)，
Figure BDA0002110704230000139
in the formula (I), the compound is shown in the specification,
Figure BDA00021107042300001310
then solving for J for determining the ambiguity search space is:
Figure BDA0002110704230000141
in the formula, znintIs closest to
Figure BDA0002110704230000142
Is an integer of (1).
Searching for the ambiguity combination z in the ellipsoid that minimizes the following quadratic form:
Figure BDA0002110704230000143
by adopting the method for fixing the ambiguity by the LAMBDA algorithm, the correlation among ambiguity parameters is reduced, and the search space of the ambiguity is reduced, so that a large number of wrong ambiguity candidate values are prevented from being introduced into the calculation process, the operation amount in the ambiguity calculation process is reduced, and the ambiguity search efficiency is improved.
In some application scenarios, if the obtained carrier phase double differences have cycle slip or the like, it may cause that a positioning coordinate obtained by positioning the first GNSS chip is inaccurate.
Therefore, optionally, as a possible implementation manner, please refer to fig. 3, where fig. 3 is another schematic flowchart of a positioning method provided in an embodiment of the present application, and on the basis of the flowchart shown in fig. 2, before executing S205, the positioning method further includes the following steps:
s204, the micro control unit performs cycle slip detection on the double differences of the carrier phases; if the check is passed, S205 is executed, and if the check is not passed, S206 is executed, and S205 is executed as a result of executing S206.
And S206, the micro control unit updates the double differences of the carrier phases.
In the embodiment of the application, cycle slip detection is performed on the double differences of the carrier phases to determine that the positioning coordinates obtained by positioning and resolving the first GNSS chip are accurate enough. If the cycle slip check of the carrier phase double difference is passed, determining that the positioning coordinate obtained by resolving the carrier phase double difference can meet the precision requirement, and then directly executing S205; on the contrary, if cycle slip checking is not performed on the carrier phase double differences, the current carrier phase double differences cannot meet the precision requirement for obtaining the positioning coordinates through resolving, at this time, S206 is executed, the carrier phase double differences are updated, and S205 is executed according to the updated carrier phase double differences, that is, the updated carrier phase double differences are used for the kalman filtering algorithm to resolve in combination with the pseudo-range double differences, so as to obtain the floating point positioning solution of the first GNSS chip.
Optionally, to implement S204, please refer to fig. 4, fig. 4 is a schematic flowchart of sub-steps of S204 in fig. 3, and as a possible implementation, S204 may include the following sub-steps:
s204-1, fitting the carrier phase double-difference observed values of the plurality of time sequences by the micro-control unit to obtain fitting observed values;
s204-2, judging whether the difference value of the fitting observation value and the double difference of the carrier phase reaches a carrier phase threshold value by the micro control unit; if so, the cycle slip test is failed; if not, the cycle slip passes the test.
In the embodiment of the present application, it is assumed that the carrier phases of the plurality of time series are double-differenced as：
Figure BDA0002110704230000151
The carrier phase double differences can be obtained by adopting a polynomial fitting mode
Figure BDA0002110704230000152
Fitting observations over time series changes to double differences in carrier phase
Figure BDA0002110704230000153
Comparing the difference value of the fitting observation value changing along with the time sequence and the actually observed carrier phase double difference with a carrier phase threshold value, and if the difference value of the fitting observation value and the actually observed carrier phase double difference reaches the carrier phase threshold value, determining that the cycle slip test does not pass; otherwise, if the difference value of the fitting observation value and the actually observed carrier phase double difference does not reach the carrier phase threshold value, the cycle slip is determined to pass the cycle slip detection.
On the other hand, as a possible implementation manner, when executing S206, the micro control unit may update the carrier phase double difference according to the following formula:
Figure BDA0002110704230000154
wherein the content of the first and second substances,
Figure BDA0002110704230000155
is tkThe carrier phase double difference after updating the epoch time, f is the carrier frequency of the satellite, c is the speed of light,
Figure BDA0002110704230000161
is tkDouble differencing of pseudoranges at epoch time.
Namely: and for the double differences of the carrier phases at the moment of cycle slip, the formula is favorable for updating, so that the cycle slip occurring in the double differences of the carrier phases is eliminated.
It should be noted that the foregoing is only an illustration, and a possible way of updating the carrier phase double differences is provided, and in some other possible application scenarios in the embodiment of the present application, the carrier phase double differences may also be updated in other ways, for example, filtering is performed by using a moving average algorithm, or the carrier phase double differences at the time of cycle slip and the mean value of the carrier phase double differences at adjacent times are replaced, so long as the carrier phase double differences can be updated, and cycle slip is avoided.
Therefore, based on the above design, the positioning method provided in the embodiment of the present application determines whether cycle slip occurs in the carrier phase double differences by performing cycle slip check on the carrier phase double differences, and updates the carrier phase double differences when cycle slip occurs in the carrier phase double differences, so as to avoid that the positioning coordinates of the first GNSS chip obtained by resolving are affected by cycle slip occurring in the carrier phase double differences.
In addition, to ensure the correctness of the fuzzy search of the LAMBDA algorithm, as a possible implementation manner, please refer to fig. 5, fig. 5 is a further schematic flowchart of a positioning method provided in the embodiment of the present application, and on the basis of the steps of the flowcharts shown in fig. 2 and fig. 3, before executing S209, the positioning method further includes the following steps:
s208, the micro control unit detects an integer solution corresponding to the ambiguity according to a Ratio detection algorithm; if the detection is passed, executing S209; otherwise, if the monitoring fails, the micro control unit discards the integer solution corresponding to the ambiguity.
In an embodiment of the present application, the mcu may search the search space for the solutions N of the two sets of ambiguities1And N2Respectively calculating:
Figure BDA0002110704230000162
Figure BDA0002110704230000163
and calculating the ratio of the two
Figure BDA0002110704230000171
If it is
Figure BDA0002110704230000172
If the value is larger than the set threshold value, the value is considered to be N1The corresponding ambiguity combination is a more accurate ambiguity combination, and at this time, the confirmation detection is passed, and S209 is executed; on the contrary, if
Figure BDA0002110704230000173
If the value is smaller than or equal to the set threshold value, the detection is not passed, and at the moment, the micro control unit discards the integer solution corresponding to the ambiguity.
The above application scenarios are the requirements for positioning, and in other application scenarios, there may be a requirement for orientation based on positioning.
Therefore, to meet the requirement of orientation, please refer to fig. 6, fig. 6 is another schematic structural diagram of a positioning apparatus according to an embodiment of the present application, and based on fig. 1, the positioning apparatus further includes a second GNSS chip, and the second GNSS chip is also electrically connected to the micro control unit.
As a possible implementation manner, in order to reduce the cost of the positioning device, the second GNSS chip may employ a single frequency chip.
Based on the positioning apparatus shown in fig. 6, please refer to fig. 7, fig. 7 is a further schematic flowchart of a positioning method according to an embodiment of the present application, and based on fig. 2, the positioning method further includes the following steps:
s211, the micro control unit constructs a double-difference differential equation according to the pseudo range and the carrier phase corresponding to the first GNSS chip and the pseudo range and the carrier phase monitored by the second GNSS chip;
s213, the micro control unit obtains a relative position vector according to the length of the set base line as a constraint condition of a double-difference differential equation;
s215, the micro control unit obtains a baseline course angle according to the relative position vector.
In this embodiment of the present application, on the basis of obtaining the positioning coordinate of the first GNSS chip in the above embodiment of the present application, the positioning coordinate of the first GNSS chip is used as a reference point, and the micro control unit calculates the obtained pseudorange double differences and the obtained carrier phase double differences according to the pseudorange and the carrier phase corresponding to the first GNSS chip and the pseudorange and the carrier phase monitored by the second GNSS chip, respectively, in the same manner as in S201 and S203, so as to construct a double difference differential equation.
The specific configuration is as above formula (1) and formula (2), the difference is only that formula (1) and formula (2) are based on the base station as the station r and the first GNSS chip as the station 1, and the double difference equation constructed in the orientation is based on the first GNSS chip as the station 1 and the second GNSS chip as the station 2, and the constructed double difference equation can be expressed as:
Figure BDA0002110704230000181
Figure BDA0002110704230000182
similarly, in the above formula, since the distance between the first GNSS chip and the second GNSS chip is short (not exceeding 10km) in the same positioning apparatus, the influence of the current layer and the troposphere, that is, the influence of the current layer and the troposphere, can be ignored
Figure BDA0002110704230000183
And
Figure BDA0002110704230000184
can be regarded as 0.
Wherein, the initial position of the second GNSS chip
Figure BDA0002110704230000185
Taylor series expansion is adopted, and after high terms are omitted, a double-difference differential error equation is obtained and expressed as:
Figure BDA0002110704230000186
Figure BDA0002110704230000187
in the above formula (5) and formula (6),
Figure BDA0002110704230000188
an error term representing an error equation is calculated,
Figure BDA0002110704230000189
(xp,yp,zp) Is the position of satellite p, (x)q,yq,zq) In order to be the position of the satellite q,
Figure BDA00021107042300001810
in order to be a double-difference ambiguity,
Figure BDA00021107042300001811
the difference between the observed value and the calculated value (deltax) obtained from the approximate value of the unknown parameter2,δy2,δz2) Is an initial position
Figure BDA00021107042300001812
The number of corrections of (1).
The positioning coordinate of the first GNSS chip is assumed to be (x)1,y1,z1) The approximate position of the second GNSS chip is (x)2,y2,z2) Taking the distance between the first GNSS chip and the second GNSS chip as a set baseline length L, and obtaining a baseline length constraint equation as follows:
L＝(x1-x2)2+(y1-y2)2+(z1-z2)2 (7)
therefore, combining the above equation (5) and equation (6), the taylor series expansion is applied to equation (7) at the initial position of the second GNSS chip, and the high term is omitted, so that:
Figure BDA0002110704230000191
in the formula (I), the compound is shown in the specification,
Figure BDA0002110704230000192
the difference between the observed value and the calculated value found for the approximate value of the unknown parameter.
Then, the formula (8) is solved by adopting a least square method, for example, to obtain a relative position vector representing the connecting line direction of the first GNSS chip and the second GNSS chip, so that a baseline course angle is obtained according to the direction of the relative position vector, and orientation is realized.
Therefore, based on the above design, in the positioning method provided in the embodiment of the present application, based on the obtained positioning coordinate of the first GNSS chip, the distance between the first GNSS chip and the second GNSS chip is used as a constraint condition, and the obtained double-difference differential equation is constructed by combining the pseudo range and the carrier phase monitored by the first GNSS chip and the pseudo range and the carrier phase monitored by the second GNSS chip, so as to obtain a relative position vector representing the connection line direction of the first GNSS chip and the second GNSS chip, thereby obtaining a baseline course angle, implementing orientation, and reducing the oriented hardware cost.
It should be noted that the above implementation manner is merely illustrative, and on the basis of obtaining the first GNSS chip, the purpose of orientation is achieved by measuring the relative position vector between the second GNSS chip and the first GNSS chip, and in some other possible implementation manners in the embodiment of the present application, a manner of performing positioning coordinate calculation on the first GNSS chip may also be adopted, for example, to perform positioning coordinate calculation on the second GNSS chip, so that orientation calculation is performed according to the positioning coordinate obtained by positioning the first GNSS chip and the positioning coordinate obtained by positioning the second GNSS chip, which depends on a specific application scenario or different settings of the positioning device, as long as the purpose of orientation can be achieved by using the first GNSS chip and the second GNSS chip.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
To sum up, in the positioning apparatus, the method, and the computer-readable storage medium provided in the embodiments of the present application, a positioning apparatus is adopted, which is composed of a communication unit, a first GNSS chip, and a micro control unit, the micro control unit obtains satellite data monitored by a base station and the first GNSS chip respectively at a k epoch through the communication unit, and obtains a floating positioning solution of a positioning coordinate of the first GNSS chip based on the satellite data monitored by the base station and the first GNSS chip respectively, fixes a ambiguity in the floating positioning solution, and obtains a positioning coordinate of the first GNSS chip by using the floating positioning solution and the obtained integer solution after obtaining the integer solution corresponding to the ambiguity.
And moreover, cycle slip checking is carried out on the carrier phase double differences to determine whether cycle slip occurs in the carrier phase double differences, and when the cycle slip occurs in the carrier phase double differences, the carrier phase double differences are updated, so that the first GNSS chip positioning coordinates obtained through calculation are prevented from being influenced by the cycle slip occurring in the carrier phase double differences.
In addition, on the basis of the obtained positioning coordinate of the first GNSS chip, the distance between the first GNSS chip and the second GNSS chip is used as a constraint condition, and the obtained double-difference differential equation is constructed by combining the pseudo range and the carrier phase monitored by the first GNSS chip and the pseudo range and the carrier phase monitored by the second GNSS chip, so that the relative position vector representing the connecting line direction of the first GNSS chip and the second GNSS chip is obtained, the baseline course angle is further obtained, the orientation is realized, and the oriented hardware cost is reduced.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (8)

1. The positioning method is characterized by being applied to positioning equipment, wherein the positioning equipment comprises a micro control unit, a communication unit and a first global satellite positioning navigation system (GNSS) chip, wherein the communication unit and the first GNSS chip are respectively and electrically connected with the micro control unit; the method comprises the following steps:
the micro control unit acquires satellite data monitored by a base station in a k-th epoch and satellite data monitored by the first GNSS chip in the k-th epoch through the communication unit, wherein the satellite data monitored by the base station comprises a pseudo range and a carrier phase, and the satellite data monitored by the first GNSS chip comprises the pseudo range and the carrier phase;
the micro control unit respectively calculates and obtains pseudo-range double differences and carrier phase double differences according to the pseudo-range and the carrier phase corresponding to the base station and the pseudo-range and the carrier phase monitored by the first GNSS chip;
the micro control unit processes the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
the micro control unit fixes the ambiguity in the floating point positioning solution to obtain an integer solution corresponding to the ambiguity;
the micro control unit calculates to obtain a positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity;
before the step of processing the pseudorange double differences and the carrier phase double differences by the micro control unit to obtain a floating point positioning solution of the first GNSS chip, the method further includes:
the micro control unit carries out cycle slip detection on the double differences of the carrier phases;
if the check is passed, executing the micro control unit to process the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
if the check fails, the micro control unit updates the carrier phase double difference, and executes the micro control unit to process the pseudo-range double difference and the carrier phase double difference according to the updated carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
the step of cycle slip detection of the double differences of the carrier phases by the micro control unit comprises the following steps:
the micro control unit is used for fitting the carrier phase double-difference observed values of the plurality of time sequences to obtain fitting observed values;
the micro control unit judges whether the difference value of the fitting observation value and the carrier phase double difference reaches a carrier phase threshold value;
if so, the cycle slip test is failed; if not, the cycle slip passes the test.
2. The method of claim 1, wherein the step of the mcu processing the double pseudorange differences and the double carrier-phase differences to obtain a floating-point position solution for the first GNSS chip comprises:
the micro control unit processes the pseudo-range double difference and the carrier phase double difference by using a Kalman filtering algorithm to obtain the floating point positioning solution of the first GNSS chip;
wherein, the system equation of the Kalman filtering is as follows:
Figure FDA0002909211990000021
wherein subscripts k and k-1 represent k epochs and k-1 epochs, respectively;
Figure FDA0002909211990000022
x, y and z respectively represent position parameters of the first GNSS chip positioning coordinate,
Figure FDA0002909211990000023
respectively representing the speed parameters of the first GNSS chip,
Figure FDA0002909211990000024
respectively representing the carrier phase double-difference ambiguity;
Figure FDA0002909211990000025
is a state transition matrix, Γ, of the Kalman Filter System equationk-1A noise coefficient matrix of the Kalman filtering system equation; w is ak-1Is a set process noise vector;
Figure FDA0002909211990000031
ykPand
Figure FDA0002909211990000038
respectively a pseudo-range double-difference observation vector and a carrier phase double-difference observation vector; hkIs a matrix of measurement coefficients, v, of the Kalman filter system equationkTo observe the noise.
3. The method of claim 1, wherein the step of fixing the ambiguity in the floating point positioning solution by the micro-control unit to obtain the integer solution corresponding to the ambiguity comprises:
the micro control unit fixes the ambiguity in the floating point positioning solution by using an LAMBDA algorithm to obtain an integer solution corresponding to the ambiguity;
wherein, the target function searched by the LAMBDA algorithm is as follows:
Figure FDA0002909211990000032
in the formula, N is belonged to Zn，
Figure FDA0002909211990000033
For real solutions of ambiguity in the floating point positioning solution,
Figure FDA0002909211990000034
a co-factor matrix of real solutions for ambiguity in the floating point positioning solution.
4. The method of claim 1, wherein the micro control unit updates the formula for the carrier phase double difference as:
Figure FDA0002909211990000035
in the formula (I), the compound is shown in the specification,
Figure FDA0002909211990000036
is tkThe carrier phase double difference after updating the epoch time, f is the carrier frequency of the satellite, c is the speed of light,
Figure FDA0002909211990000037
is tkDouble differencing of pseudoranges at epoch time.
5. The method according to any of claims 1-4, wherein prior to the step of the micro control unit calculating the positioning coordinates of the first GNSS chip according to the floating-point positioning solution and the integer solution corresponding to the ambiguities, the method further comprises:
the micro control unit detects an integer solution corresponding to the ambiguity according to a Ratio detection algorithm;
if the check is passed, executing the step that the micro control unit calculates to obtain the positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity;
and if the test is not passed, the micro control unit discards the integer solution corresponding to the ambiguity.
6. The method of claim 1, wherein said positioning device further comprises a second GNSS chip, said second GNSS chip being electrically connected to said micro-control unit; the method further comprises the following steps:
the micro control unit constructs a double-difference differential equation according to the pseudo range and the carrier phase corresponding to the first GNSS chip and the pseudo range and the carrier phase monitored by the second GNSS chip;
the micro control unit obtains a relative position vector according to a set base length serving as a constraint condition of the double-difference differential equation, wherein the set base length represents the distance between the first GNSS chip and the second GNSS chip, and the relative position vector represents the connecting line direction of the first GNSS chip and the second GNSS chip;
and the micro control unit obtains a baseline course angle according to the relative position vector.
7. The positioning equipment is characterized by comprising a micro control unit, a communication unit and a first global satellite positioning navigation system (GNSS) chip, wherein the communication unit and the first GNSS chip are respectively and electrically connected with the micro control unit;
the micro control unit is used for acquiring satellite data monitored by a base station in a k-th epoch and satellite data monitored by the first GNSS chip in the k-th epoch through the communication unit, wherein the satellite data monitored by the base station comprises a pseudo range and a carrier phase, and the satellite data monitored by the first GNSS chip comprises the pseudo range and the carrier phase;
the micro control unit is further used for respectively calculating a pseudo range double difference and a carrier phase double difference according to the pseudo range and the carrier phase corresponding to the base station and the pseudo range and the carrier phase monitored by the first GNSS chip;
the micro control unit is further configured to process the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
the micro control unit is further configured to fix the ambiguity in the floating point positioning solution to obtain an integer solution corresponding to the ambiguity;
the micro control unit is further used for calculating to obtain a positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity;
the micro control unit is also used for carrying out cycle slip detection on the double differences of the carrier phases;
if the checking is passed, processing the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
if the check fails, updating the carrier phase double difference, and processing the pseudo-range double difference and the carrier phase double difference by using the updated carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;
the micro control unit is also used for fitting the carrier phase double-difference observed values of the plurality of time sequences to obtain a fitting observed value;
the micro control unit is further used for judging whether the difference value of the fitting observation value and the carrier phase double difference reaches a carrier phase threshold value;
if so, the cycle slip test is failed; if not, the cycle slip passes the test.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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