CN110196419B - Pseudo range precision calibration method and system for GNSS signal acquisition playback equipment - Google Patents
Pseudo range precision calibration method and system for GNSS signal acquisition playback equipment Download PDFInfo
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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Abstract
The invention discloses a pseudo range precision calibration method for GNSS signal acquisition playback equipment, which comprises the following steps: configuring a simulation scene of a GNSS satellite navigation signal simulator; collecting and storing GNSS satellite navigation simulation signals; replaying GNSS satellite navigation simulation signals; performing data processing on the pseudo-range deviation; processing data of the uncertainty of the pseudo-range measurement; and acquiring a pseudo-range precision calibration result. The invention also discloses a pseudo-range precision calibration system for the GNSS signal acquisition playback equipment. According to the invention, a data post-processing mode is utilized, satellite navigation analog signals output by the GNSS satellite navigation signal simulator are sent to the GNSS signal acquisition playback equipment for acquisition and storage, then the GNSS signal acquisition playback equipment plays back the signals to the high-precision GNSS receiver for resolving, and outputs pseudo-range, carrier phase and other information for pseudo-range precision calibration data processing and analysis, so that the calibration of the pseudo-range precision of the GNSS signal acquisition playback equipment is realized.
Description
Technical Field
The invention relates to a pseudo range precision calibration method and a pseudo range precision calibration system. And more particularly, to a pseudorange accuracy calibration method and system for a GNSS signal acquisition playback apparatus.
Background
With the application and development of Global Navigation Satellite System (GNSS), the theory and technology of GNSS are becoming perfect, and the GNSS is now widely applied to the field of military and civil services such as geodetic surveying, ocean fishery, aerospace, weapon systems, etc.
GNSS positioning is a technique that performs positioning using pseudoranges, ephemeris, satellite transmission time, and other observations from a set of satellites, and using user clock errors. The global navigation satellite system positioning technology has basically replaced the ground-based radio navigation, the traditional geodetic survey and the astronomical survey navigation positioning technology at present and promoted the brand new development of the geodetic survey and navigation positioning field. Nowadays, the GNSS system is not only an infrastructure of national safety and economy, but also an important mark reflecting the status of modernized big countries and national comprehensive strength, and has important significance particularly in politics, economy, military and other aspects.
The GNSS signal acquisition playback equipment is equipment for acquiring, storing and playing back satellite navigation signals, can acquire and store the navigation signals of various satellite navigation systems (GPS/BDS/GLONASS/Galileo) in real time with high fidelity, plays back the acquired and stored navigation signals without distortion, has good repeated recording and playing performance and portability, and is commonly used for testing the function and performance indexes of a receiver, researching a navigation algorithm and the like. The GNSS signal acquisition playback equipment can record single or multiple radio frequency signals in real time for a long time in a fixed or mobile environment, and repeatedly play the radio frequency signals for multiple times as required in places such as a laboratory, a production line and the like, thereby providing a simple and efficient solution for capturing real-world GNSS signals and replaying the GNSS signals in the laboratory.
GNSS signal acquisition playback devices are widely used in receiver testing and calibration, and therefore calibration of parameters of the GNSS signal acquisition playback devices themselves is very important. Among various parameters of the GNSS signal acquisition and playback device, the influence of the acquisition and playback process on the pseudorange accuracy of the input satellite navigation signal is one of the most important indexes for determining the application of the GNSS signal acquisition and playback device.
At present, no relevant calibration method exists for calibrating the pseudo-range precision of the GNSS signal acquisition playback equipment. Therefore, it is desirable to provide a pseudorange accuracy calibration method and system for a GNSS signal acquisition playback device.
Disclosure of Invention
The invention aims to provide a pseudo-range precision calibration method for GNSS signal acquisition and playback equipment, so as to realize calibration of pseudo-range precision of the GNSS signal acquisition and playback equipment.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pseudorange accuracy calibration method for a GNSS signal acquisition playback device, the method comprising:
configuring a simulation scene of a GNSS satellite navigation signal simulator;
collecting and storing GNSS satellite navigation simulation signals;
replaying GNSS satellite navigation simulation signals;
performing data processing on the pseudo-range deviation;
processing data of the uncertainty of the pseudo-range measurement; and
and acquiring a pseudo-range precision calibration result.
Preferably, the simulation scenario for configuring the GNSS satellite navigation signal simulator includes:
closing the simulation of receiver clock error, satellite clock delay, satellite time delay, ionosphere and troposphere errors and multipath error items in the simulation setting of the GNSS satellite navigation signal simulator;
setting the receiver and the satellite to be in a static state;
setting the pseudo range as a fixed value; and
the method comprises the following steps of expressing signal pseudorange output by a GNSS satellite navigation signal simulator as a first formula:
PRs＝R+c·(biasr+TtC),
wherein, PRsThe pseudo range of the signal output by the GNSS satellite navigation signal simulator is shown as R, the distance of the fixed pseudo range is shown as c, the speed of light and bias are shown as crFor receiver time delay, TtC is the delay offset between the GNSS satellite navigation signal simulator and the pseudo code initial code phase.
In the invention, in order to ensure the accuracy and stability of the calibration process, the simulation scene of the GNSS satellite navigation signal simulator is set to be free of error items such as a clock error, an ionosphere, a troposphere, multipath and the like, and meanwhile, in order to avoid Doppler error influence caused by relative motion of the receiver and the satellite, the receiver and the satellite are both set to be in a static state, and the pseudo range is set to be a fixed value.
Further preferably, the acquiring and storing GNSS satellite navigation analog signals comprises:
sending the analog signal of the GNSS satellite navigation signal simulator to an acquisition port of GNSS signal acquisition playback equipment;
setting GNSS signal acquisition playback equipment to be in a signal acquisition state;
setting GNSS signal acquisition playback equipment for single-channel acquisition;
setting the sampling rate of the GNSS signal acquisition playback equipment as the maximum sampling rate of the equipment;
setting a quantization bit of the GNSS signal acquisition playback equipment as an equipment maximum quantization bit; and
and collecting and storing the GNSS satellite navigation simulation signal in a preset time.
Further preferably, the preset time period is 10 minutes.
Preferably, the playing back the GNSS satellite navigation analog signals comprises:
setting the GNSS signal acquisition playback equipment to be in a playback signal state;
setting the playback power of the GNSS signal acquisition playback equipment, wherein the playback power range is-100 dBm to-120 dBm;
sending the playback signal to a GNSS receiver for resolving;
closing corrections of an ionosphere, a troposphere and a multipath error term in the GNSS receiver;
the GNSS receiver stores pseudo-range and carrier phase information in a signal resolving process;
the pseudoranges resolved by the GNSS receiver are expressed as a second formula:
PRr＝R+c·(biasr+TtC)+Δρ，
and the delta rho is pseudo range deviation introduced by the GNSS signal acquisition playback equipment.
Further preferably, the data processing of the pseudorange bias comprises:
carrying out smooth filtering processing on the pseudo range;
and expressing the ith pseudo range deviation as the difference between the first formula and the second formula:
Δρi＝PRri-PRsi，
wherein, PRriFor the ith pseudorange, PR, expressed according to a second formulasiFor the ith pseudorange, Δ ρ, expressed according to the first equationiIs the difference between the first formula and the second formula(ii) a And
the pseudorange calibration results are expressed as the mean of pseudorange biases:
wherein n is the pseudo range deviation data record number, EΔρThe mean of the pseudorange bias.
Further preferably, the data processing of pseudorange measurement uncertainties comprises:
setting the pseudo range precision of the GNSS signal simulator as X1The uncertainty mu introduced by it1Comprises the following steps:
setting fixed pseudo-range measurement accuracy of GNSS receiver to X2The uncertainty mu introduced by it2Comprises the following steps:
uncertainty mu introduced by measurement repeatability of pseudorange bias delta rhoAComprises the following steps:
calculating the standard uncertainty u according toc：
calculating the extended uncertainty mu according torel：
μrel＝k·μc，
Where k is the spreading factor and k is 2.
Further preferablyAnd obtaining a pseudo range precision calibration result delta rho, wherein the delta rho is EΔρ+μrel。
Another object of the present invention is to provide a pseudorange accuracy calibration system for a GNSS signal acquisition playback device, the system comprising:
the GNSS satellite navigation signal simulator is used for providing GNSS satellite navigation simulation signals;
the GNSS signal acquisition playback equipment is used for acquiring, storing and playing back GNSS satellite navigation simulation signals;
the GNSS receiver is used for storing pseudo-range and carrier phase information and carrying out signal resolving; and
the main control computer is used for configuring a simulation scene of the GNSS satellite navigation signal simulator, configuring a GNSS receiver and a satellite state, setting the working state, the sampling rate and the quantization bit of the GNSS signal acquisition playback equipment, performing data processing on pseudo-range deviation, performing data processing on pseudo-range measurement uncertainty and obtaining a pseudo-range precision calibration result.
Preferably, the pseudorange measurement uncertainty sources include a pseudorange accuracy of the GNSS signal simulator, a pseudorange accuracy of the GNSS receiver, and a measurement repeatability introduction of a pseudorange bias of the acquired playback signal.
The invention has the following beneficial effects:
in the pseudo-range precision calibration method and system for the GNSS signal acquisition playback equipment, a satellite navigation analog signal output by a GNSS satellite navigation signal simulator is sent to the GNSS signal acquisition playback equipment for acquisition and storage by using a data post-processing mode, then the GNSS signal acquisition playback equipment plays back the signal to a high-precision GNSS receiver for resolving, and outputs information such as pseudo-range and carrier phase for pseudo-range precision calibration data processing and analysis. In the invention, the error size introduced to the pseudo range of the input satellite navigation signal in the acquisition, storage and playback processes of the GNSS signal acquisition playback equipment is obtained, and the calibration of the pseudo range precision of the GNSS signal acquisition playback equipment is realized.
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The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 is a diagram illustrating steps of a pseudorange accuracy calibration method for a GNSS signal acquisition playback device according to an embodiment of the present invention.
Fig. 2 is a block diagram of a pseudo-range accuracy calibration system for a GNSS signal acquisition playback apparatus according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
The invention discloses a pseudo range precision calibration method for GNSS signal acquisition playback equipment, which comprises the following steps: configuring a simulation scene of a GNSS satellite navigation signal simulator; collecting and storing GNSS satellite navigation simulation signals; replaying GNSS satellite navigation simulation signals; performing data processing on the pseudo-range deviation; processing data of the uncertainty of the pseudo-range measurement; and acquiring a pseudo-range precision calibration result. The invention also discloses a pseudo range precision calibration system for the GNSS signal acquisition playback equipment, which comprises: the GNSS satellite navigation signal simulator is used for providing GNSS satellite navigation simulation signals; the GNSS signal acquisition playback equipment is used for acquiring, storing and playing back GNSS satellite navigation simulation signals; the GNSS receiver is used for storing pseudo-range and carrier phase information and carrying out signal resolving; and the main control computer is used for configuring a simulation scene of the GNSS satellite navigation signal simulator, configuring a GNSS receiver and a satellite state, setting the working state, the sampling rate and the quantization bit of the GNSS signal acquisition playback equipment, carrying out data processing on pseudo-range deviation, carrying out data processing on pseudo-range measurement uncertainty and obtaining a pseudo-range precision calibration result
According to the invention, a data post-processing mode is utilized, satellite navigation analog signals output by the GNSS satellite navigation signal simulator are sent to the GNSS signal acquisition playback equipment for acquisition and storage, then the GNSS signal acquisition playback equipment plays back the signals to the high-precision GNSS receiver for resolving, and outputs pseudo-range, carrier phase and other information for pseudo-range precision calibration data processing and analysis, so that the calibration of the pseudo-range precision of the GNSS signal acquisition playback equipment is realized.
The following description will be given with reference to specific examples
As shown in fig. 1, in one embodiment, a pseudorange accuracy calibration method for a GNSS signal acquisition playback device comprises the following steps:
step 1: simulation scene configuration of GNSS satellite navigation signal simulator
In order to ensure the accuracy and stability of the calibration process, the simulation scene of the GNSS satellite navigation signal simulator is set to be free of error items such as a clock error, an ionosphere, a troposphere and multipath. Meanwhile, in order to avoid the influence of Doppler errors caused by the relative motion of the receiver and the satellite, the receiver and the satellite are both set to be in a static state, and the pseudo range is set to be a fixed value.
It should be noted that the normal pseudorange PR is calculated as follows:
PR＝R+c·(Δtr-Δtsat+biasr+biassat+TtC+n)+riono+rtropo+rm (1)
in the formula (1), R is the true distance from the satellite to the receiver, c is the speed of light, Δ trIs the receiver clock error, Δ tsatIs the satellite clock error, biasrIs the receiver delay, biassatIs the satellite time delay, TtC (time to code) is the delay deviation between the simulator 1PPS and the pseudo code initial code phase, n is the noise, r isionoIs an ionospheric error, rtropoIs tropospheric error, rmIs a multipath error.
And in the simulation setting of the GNSS satellite navigation signal simulator, simulation of error items such as clock error of each receiver, satellite clock delay, satellite time delay, ionosphere and troposphere errors, multipath and the like is closed. The pseudo-range expression of the signal output by the simulator is shown as formula (2):
PRs＝R+c·(biasr+TtC) (2)
in the formula (2), R is a fixed pseudo-range distance, and c isVelocity of light, biasrIs the receiver delay, TtC is the delay offset, bias, between the simulator 1PPS and the pseudo code initial code phaserAnd TtC can be calibrated to obtain accurate values.
Step 2: GNSS satellite navigation analog signal acquisition and storage
Sending the analog signal of the GNSS satellite navigation signal simulator (after calibration, pseudo-range deviation is corrected) into an acquisition port of GNSS signal acquisition playback equipment, setting the GNSS signal acquisition playback equipment to be in a signal acquisition state, setting single-channel acquisition, setting the sampling rate to be the maximum sampling rate of the equipment, setting the quantization bit to be the maximum quantization bit of the equipment, and continuously acquiring and storing for 10 min.
And step 3: playback of signals
Setting the GNSS signal acquisition playback equipment to be in a playback signal state, setting the playback power to be an appropriate power value within the range of-100 dBm to-120 dBm, sending the playback signal to a high-precision GNSS receiver (after calibration, pseudo-range deviation is corrected) for resolving, correspondingly closing the correction of error items such as each ionosphere, troposphere, multipath and the like in the receiver, avoiding introducing extra deviation to pseudo-range resolving due to error correction, and storing the information such as pseudo-range, carrier phase and the like in the signal resolving process by the receiver.
At this time, the pseudo range expression solved by the receiver is shown in formula (3):
PRr＝R+c·(biasr+TtC)+Δρ (3)
and the delta rho is pseudo range deviation introduced by the acquisition playback equipment.
And 4, step 4: pseudorange deviation data processing
And sending data such as the pseudo range, the carrier phase and the like into high-precision post-processing software, and performing smooth filtering processing on the pseudo range by using the data such as the carrier phase and the like to obtain high-precision pseudo range data for pseudo range deviation processing.
The ith pseudorange bias is expressed as the difference between equations (3) and (2):
Δρi＝PRri-PRsi (4)
the pseudo-range calibration result is represented by the mean value of pseudo-range deviation, and the calculation formula is as follows:
and n is the pseudo range deviation data record number.
And 5: pseudorange measurement uncertainty data processing
For the GNSS signal acquisition and playback equipment, measurement uncertainty introduced by pseudo-range calibration is mainly introduced by pseudo-range precision of a GNSS signal simulator, pseudo-range precision of a GNSS high-precision receiver and measurement repeatability of pseudo-range deviation delta rho of acquisition and playback signals.
The pseudo range precision of the GNSS signal simulator is X1, the uncertainty introduced by the GNSS signal simulator is evaluated according to a B type method, and the accuracy is taken
(uniformly distributed) then:
the accuracy of the fixed pseudorange measurement for a high-precision GNSS receiver is X2, the uncertainty introduced by the pseudorange measurement is evaluated according to a B-type method, and the uncertainty is taken
(uniformly distributed) then:
and for the uncertainty repeatedly introduced by the measured value of the pseudo range deviation delta rho, evaluating according to A-type uncertainty:
the synthetic standard uncertainty mucComprises the following steps:
then the uncertainty is extendedrelComprises the following steps:
μrel＝k·μc (10)
where k is an expansion factor, and is generally equal to 2.
Step 6: pseudorange accuracy calibration results
The pseudo-range calibration result delta rho of the GNSS signal acquisition playback equipment is composed of pseudo-range deviation and pseudo-range measurement uncertainty:
Δρ＝EΔρ+μrel (11)
in another embodiment of the present invention, as shown in fig. 2, a pseudorange accuracy calibration system for a GNSS signal acquisition playback device comprises:
the GNSS satellite navigation signal simulator 1 is used for providing GNSS satellite navigation simulation signals;
the GNSS signal acquisition playback equipment 2 is used for acquiring, storing and playing back GNSS satellite navigation simulation signals;
the GNSS receiver 3 is used for storing pseudo-range and carrier phase information and carrying out signal resolving; and
and the main control computer 4 is used for configuring a simulation scene of the GNSS satellite navigation signal simulator, configuring a GNSS receiver and a satellite state, setting the working state, the sampling rate and the quantization bit of the GNSS signal acquisition playback equipment, performing data processing on pseudo-range deviation, performing data processing on pseudo-range measurement uncertainty and acquiring a pseudo-range precision calibration result.
In the embodiment of the invention, the GNSS receiver is a high-precision GNSS receiver.
It should be noted that, in the pseudo-range accuracy calibration system for GNSS signal acquisition and playback devices in the embodiment of the present invention, the pseudo-range accuracy calibration system for GNSS signal acquisition and playback devices in the foregoing embodiment is used to calibrate the pseudo-range accuracy of GNSS signal acquisition and playback devices, and the specific calibration steps are not described again.
It should be understood that in the embodiment of the present invention, the pseudorange measurement uncertainty source includes a pseudorange accuracy of a GNSS signal simulator, a pseudorange accuracy of a GNSS receiver, and a measurement repeatability introduction of a pseudorange bias of a collected playback signal.
In the invention, a data post-processing mode is utilized to send satellite navigation analog signals output by a GNSS satellite navigation signal simulator to GNSS signal acquisition playback equipment for acquisition and storage, then the GNSS signal acquisition playback equipment plays back the signals to a high-precision GNSS receiver for resolving, and outputs information such as pseudo-range, carrier phase and the like for pseudo-range precision calibration data processing and analysis. In the invention, the error size introduced to the pseudo range of the input satellite navigation signal in the acquisition, storage and playback processes of the GNSS signal acquisition playback equipment is obtained, and the calibration of the pseudo range precision of the GNSS signal acquisition playback equipment is realized.
In the description of the present application, unless otherwise explicitly stated or limited, the terms "disposed" and "connected" are to be understood broadly, and may for example be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or through an intermediate medium, or they may be connected internally between two elements. The above-mentioned meaning belonging to the present application can be understood by those of ordinary skill in the art as the case may be.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
It is further noted that, throughout this document, relational terms such as "first" and "second" are 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. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, circuit, 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, circuit, 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, circuit, article, or apparatus that comprises the element.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (5)
1. A pseudorange precision calibration method for a GNSS signal acquisition playback device, the pseudorange precision calibration method comprising:
configuring a simulation scene of a GNSS satellite navigation signal simulator; collecting and storing GNSS satellite navigation simulation signals;
playing back the GNSS satellite navigation analog signals;
performing data processing on the pseudo-range deviation;
processing data of the uncertainty of the pseudo-range measurement; and
acquiring a pseudo-range precision calibration result;
the simulation scene for configuring the GNSS satellite navigation signal simulator comprises the following steps:
closing the simulation of receiver clock error, satellite clock delay, satellite time delay, ionosphere and troposphere errors and multipath error items in the simulation setting of the GNSS satellite navigation signal simulator;
setting the receiver and the satellite to be in a static state;
setting the pseudo range as a fixed value; and
expressing the signal pseudo range output by the GNSS satellite navigation signal simulator as a first formula:
PRs＝R+c·(biasr+TtC),
wherein, PRsFor the signal pseudo range output by the GNSS satellite navigation signal simulator, R is the fixed pseudo range distance, c is the speed of light, biasrTtC is a delay deviation between the GNSS satellite navigation signal simulator and the initial code phase of the pseudo code;
the playing back the GNSS satellite navigation simulation signals comprises:
setting the GNSS signal acquisition playback equipment to be in a playback signal state;
setting the playback power of the GNSS signal acquisition playback equipment, wherein the playback power range is-100 dBm to-120 dBm;
sending the playback signal to a GNSS receiver for resolving;
closing corrections of an ionosphere, a troposphere and a multipath error term in the GNSS receiver;
the GNSS receiver stores pseudo-range and carrier phase information in a signal resolving process;
and expressing the pseudorange resolved by the GNSS receiver as a second formula:
PRr＝R+c·(biasr+TtC)+Δρ，
wherein R is the fixed pseudo-range distance, c is the speed of light, biasrTtC is a delay deviation between the GNSS satellite navigation signal simulator and a pseudo code initial code phase, and Δ ρ is a pseudo range deviation introduced by the GNSS signal acquisition playback equipment;
the data processing of the pseudo-range bias comprises:
carrying out smooth filtering processing on the pseudo range;
expressing the ith pseudorange bias as the difference between the first and second equations:
Δρi＝PRri-PRsi，
wherein, PRriFor the ith pseudorange, PR, expressed according to the second equationsiFor the ith pseudorange, Δ ρ, expressed according to the first equationiIs the first formula and the second formulaThe difference of the formulas; and
the pseudorange calibration results are expressed as the mean of pseudorange biases:
wherein n is the pseudo range deviation data record number, EΔρThe mean value of pseudo range deviation;
the data processing of the pseudorange measurement uncertainty comprises:
setting the pseudo range precision of the GNSS satellite navigation simulation signal as X1The uncertainty mu introduced by it1Comprises the following steps:
setting the fixed pseudorange measurement accuracy of the GNSS receiver to X2The uncertainty mu introduced by it2Comprises the following steps:
uncertainty mu introduced by measurement repeatability of pseudorange bias delta rhoAComprises the following steps:
calculating the standard uncertainty u according toc：
calculating the extended uncertainty mu according torel：
μrel＝k·μc，
Wherein k is an expansion factor and k is 2;
the obtaining of the pseudorange accuracy calibration result comprises:
obtaining a pseudorange accuracy calibration result Δ P, where Δ P ═ EΔρ+μrel。
2. The pseudorange accuracy calibration method according to claim 1, wherein the acquiring and storing the GNSS satellite navigation analog signals comprises:
sending the analog signal of the GNSS satellite navigation signal simulator to an acquisition port of the GNSS signal acquisition playback equipment;
setting the GNSS signal acquisition playback equipment to be in a signal acquisition state;
setting the GNSS signal acquisition playback equipment to acquire a single channel;
setting the sampling rate of the GNSS signal acquisition playback equipment as the maximum sampling rate of the equipment;
setting the quantization bit of the GNSS signal acquisition playback equipment as the maximum quantization bit of the equipment; and
and acquiring and storing the GNSS satellite navigation simulation signal in a preset time.
3. The pseudorange accuracy calibration method according to claim 2, wherein the preset time period is 10 minutes.
4. A pseudorange accuracy calibration system for a GNSS signal acquisition playback device, the system comprising:
the GNSS satellite navigation signal simulator is used for providing GNSS satellite navigation simulation signals;
the GNSS signal acquisition playback equipment is used for acquiring, storing and playing back the GNSS satellite navigation simulation signal;
the GNSS receiver is used for storing pseudo-range and carrier phase information and carrying out signal resolving; and
the main control computer is used for configuring a simulation scene of the GNSS satellite navigation signal simulator, configuring the GNSS receiver and the satellite state, setting the working state, the sampling rate and the quantization bit of the GNSS signal acquisition playback equipment, performing data processing on pseudo-range deviation, performing data processing on pseudo-range measurement uncertainty and acquiring a pseudo-range precision calibration result;
the simulation scene for configuring the GNSS satellite navigation signal simulator comprises the following steps:
closing the simulation of receiver clock error, satellite clock delay, satellite time delay, ionosphere and troposphere errors and multipath error items in the simulation setting of the GNSS satellite navigation signal simulator;
setting the receiver and the satellite to be in a static state;
setting the pseudo range as a fixed value; and
expressing the signal pseudo range output by the GNSS satellite navigation signal simulator as a first formula:
PRs＝R+c·(biasr+TtC),
wherein, PRsFor the signal pseudo range output by the GNSS satellite navigation signal simulator, R is the fixed pseudo range distance, c is the speed of light, biasrTtC is a delay deviation between the GNSS satellite navigation signal simulator and the initial code phase of the pseudo code;
the playing back the GNSS satellite navigation simulation signals comprises:
setting the GNSS signal acquisition playback equipment to be in a playback signal state;
setting the playback power of the GNSS signal acquisition playback equipment, wherein the playback power range is-100 dBm to-120 dBm;
sending the playback signal to a GNSS receiver for resolving;
closing corrections of an ionosphere, a troposphere and a multipath error term in the GNSS receiver;
the GNSS receiver stores pseudo-range and carrier phase information in a signal resolving process;
and expressing the pseudorange resolved by the GNSS receiver as a second formula:
PRr＝R+c·(biasr+TtC)+Δρ，
wherein R is the fixed pseudo-range distance, c is the speed of light, biasrTo receiveA time delay TtC is a delay deviation between the GNSS satellite navigation signal simulator and a pseudo code initial code phase, and Δ ρ is a pseudo range deviation introduced by the GNSS signal acquisition playback device;
the data processing of the pseudo-range bias comprises:
carrying out smooth filtering processing on the pseudo range;
expressing the ith pseudorange bias as the difference between the first and second equations:
Δρi＝PRri-PRsi，
wherein, PRriFor the ith pseudorange, PR, expressed according to the second equationsiFor the ith pseudorange, Δ ρ, expressed according to the first equationiIs the difference between the first formula and the second formula; and
the pseudorange calibration results are expressed as the mean of pseudorange biases:
wherein n is the pseudo range deviation data record number, EΔρThe mean value of pseudo range deviation;
the data processing of the pseudorange measurement uncertainty comprises:
setting the pseudo range precision of the GNSS satellite navigation simulation signal as X1The uncertainty mu introduced by it1Comprises the following steps:
setting the fixed pseudorange measurement accuracy of the GNSS receiver to X2The uncertainty mu introduced by it2Comprises the following steps:
pseudo range biasMeasurement repeatability-induced uncertainty mu of difference Δ ρAComprises the following steps:
calculating the standard uncertainty u according toc：
calculating the extended uncertainty mu according torel：
μrel＝k·μc，
Wherein k is an expansion factor and k is 2;
the obtaining of the pseudorange accuracy calibration result comprises:
obtaining a pseudorange accuracy calibration result Δ P, where Δ P ═ EΔρ+μrel。
5. The pseudorange accuracy calibration system according to claim 4, wherein the pseudorange measurement uncertainty sources comprise pseudorange accuracy of the GNSS satellite navigation simulation signals, pseudorange accuracy of the GNSS receiver, and measurement repeatability introduction of collected playback signal pseudorange bias.
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