CN110208841A - A kind of improved GNSS tight integration method towards non-overlapping frequency - Google Patents
A kind of improved GNSS tight integration method towards non-overlapping frequency Download PDFInfo
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- CN110208841A CN110208841A CN201910559647.0A CN201910559647A CN110208841A CN 110208841 A CN110208841 A CN 110208841A CN 201910559647 A CN201910559647 A CN 201910559647A CN 110208841 A CN110208841 A CN 110208841A
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- disb
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Abstract
The invention discloses a kind of improved GNSS tight integration methods towards non-overlapping frequency, belong to satellite precise navigation and field of locating technology；The present invention passes through building GNSS pseudorange and carrier phase list difference observational equation；Establish DISB estimation model；Construct CMC combination observation amount and DISB correction model；Then traversing operation is executed to single poor Ambiguity Search Space, IFDB Orders Corrected will be generated and successively substituted into DISB correction model, execute the fixed algorithm of LAMBDA fuzziness, and count fuzziness suboptimum and optimal value rate value；Select the poor values of ambiguity of list corresponding to maximum value as optimal solution from ratio sequence again；It is finally substituted into DISB correction model using the poor fuzziness of the optimal list resolved, obtains optimal fuzziness and positioning calculation value.The present invention solves the accurate poor ambiguity issue of list for solving reference satellite, improves ambiguity resolution success rate and positioning performance, and finally effectively eliminate influence of the IFDB to RTK ambiguity resolution.
Description
Technical field
The present invention relates to satellite precise navigation and positioning field, and in particular to a kind of improved towards non-overlapping frequency
GNSS tight integration method.
Background technique
Carrier Phase Ambiguity Resolution is real-time dynamic (Real-time kinematic, RTK) carrier phase differential positioning method
Obtain the key technology of high-precision with high reliability.In the case where star constrained environment is received in city, valley etc., because observed quantity number can be used
Deficiency, Carrier Phase Ambiguity Resolution and the positioning performance of traditional RTK method will be adversely affected.With global navigational satellite system
Multisystem combination is sufficiently excavated in the modernization construction of system (Global navigation satellite system, GNSS)
Technical advantage can promote Carrier Phase Ambiguity Resolution success rate in the case where receiving star constrained environment for RTK method and positioning accuracy provides
Opportunity.
In the research of GNSS multisystem combination, based on deviation (differential between receiver end differential system
Inter inter-system bias, DISB) research with characteristic steady in a long-term, GNSS tight integration method is suggested.The party
Method is directed to all GNSS systems and only chooses difference model between 1 reference satellite building star, to the DISB introduced in model using pre-
First calibration mode is removed, so that the more traditional RTK method of model redundancy is increased, to help to promote fuzziness
Computation success and positioning accuracy.Currently, the GNSS tight integration method towards overlaid frequency is in the case where receiving star constrained environment
It is widely used in promoting fuzziness computation success and positioning performance.However, for non-overlapping frequency, except needing to remove
Except DISB, it is also necessary to consider and difference on the frequency dependent deviation (inter-frequency differential bias, IFDB)
Problem.IFDB depends on the product of the list poor fuzziness and difference on the frequency of reference satellite.For specified GNSS system tight integration,
If BDS B1 is combined with Galileo E1, the difference on the frequency of system can not change.Therefore, the list for accurately solving reference satellite is poor
Fuzziness becomes one of the effective ways for eliminating that IFDB influences.Conventional method is by subtracting pseudorange (Carrier- to carrier phase
Minus-code combination, CMC) combination observation amount be rounded nearby solve reference satellite the poor fuzziness of list, resolve
Fuzziness precision is limited to pseudorange observation accuracy of measurement.When pseudorange multipath error is larger, the biggish poor fuzziness deviation of list will
IFDB elimination can be adversely affected.Currently, the problem of being directed to the list poor fuzziness for how accurately solving reference satellite is also
It is not solved effectively, so that the GNSS tight integration method towards non-overlapping frequency can not play its advantage, is mentioned to the greatest extent
Rise RTK ambiguity resolution and positioning performance.
Summary of the invention
The purpose of the present invention is to provide a kind of improved GNSS tight integration method towards non-overlapping frequency, emphasis is solved
The accurate list poor ambiguity issue for solving reference satellite, effectively eliminates so that IFDB is available, improves ambiguity resolution
Success rate and positioning performance.Present invention improves over traditional, and the GNSS tight integration method towards non-overlapping frequency solves reference satellite
The poor fuzziness strategy of list, be first rounded method nearby by CMC and determine single poor Ambiguity Search Space, then the single poor fuzziness of building
Search criteria resolves the poor fuzziness of optimal list, finally effectively eliminates influence of the IFDB to RTK ambiguity resolution.Tool of the invention
Steps are as follows for body execution:
A kind of improved GNSS tight integration method towards non-overlapping frequency, executing step includes:
Step 1: building GNSS pseudorange and carrier phase list difference observational equation, and using website general location to equation into
Row linearization process；
Step 2: in system initialisation phase, DISB estimation model is established, is determined using the data of specified initialization time
The calibration value of DISB；
Step 3: building CMC combination observation amount determines that the poor ambiguity search of list of reference satellite is empty by being rounded method nearby
Between blur center angle value determine the boundary of search space and according to the pseudorange observation precision of priori；
Step 4: the DISB calibration value determined using step 2 constructs DISB correction model；
Step 5: traversing operation is executed to single poor Ambiguity Search Space, IFDB Orders Corrected is generated and successively substitutes into DISB
In correction model, the fixed algorithm of LAMBDA fuzziness is executed, and count fuzziness suboptimum and optimal value rate value；
Step 6: in the ratio sequence generated in step 5, select the poor values of ambiguity of list corresponding to maximum value as
Optimal solution；
Step 7: the poor fuzziness of optimal list resolved using step 6 is substituted into the DISB correction model in step 4, is obtained
Obtain optimal fuzziness and positioning calculation value.
The poor observed quantity model of list in the step 1 is expressed as:
Wherein, B refers to BDS, and E refers to Galileo；P and φ indicates that pseudorange and carrier phase observed quantity subtract the list of calculation amount
Poor residual volume；X indicates that positional increment vector, corresponding geometric matrix are u；T indicates receiver clock-offsets；D and δ respectively indicate pseudorange
With the hardware delay error of carrier phase；Z is values of ambiguity；λ indicates wavelength；E and ε respectively corresponds the sight of pseudorange and carrier phase
Survey noise.
DISB in the step 2 estimates model are as follows:
WhereindBEIndicate the DISB of corresponding pseudorange；δBEIndicate the DISB of corresponding carrier phase；IFDB is referred to as in the present invention.
The blur center angle value of search space in the step 3 are as follows:
Wherein " []round" indicate nearest floor operation,For center values of ambiguity；It is empty for single poor ambiguity search
Between, it is expressed asWhereinIndicate that set of integers, N are space search boundary.
DISB correction model in the step 4 are as follows:
Fuzziness suboptimum and optimal value rate value in the step 5 indicate are as follows:
Wherein, " | | | | " indicate quadratic form operation；It is expressed as fuzzinessCovariance.
The beneficial effects of the present invention are:
The present invention solves the accurate poor ambiguity issue of list for solving reference satellite, effectively disappears so that IFDB is available
It removes, improves ambiguity resolution success rate and positioning performance；Improve traditional tight integration side GNSS towards non-overlapping frequency
Method solves the poor fuzziness strategy of list of reference satellite, is first rounded method nearby by CMC and determines single poor Ambiguity Search Space, then
The single poor fuzziness search criteria of building resolves the poor fuzziness of optimal list, finally effectively eliminates IFDB to RTK ambiguity resolution
It influences.
Detailed description of the invention
Fig. 1 is the flow chart of the improved GNSS tight integration method towards non-overlapping frequency of the present invention.
Specific embodiment
It is an object of that present invention to provide a kind of improved GNSS tight integration method towards non-overlapping frequency, this method is main
Solve traditional GNSS tight integration method towards non-overlapping frequency can not accurately solve reference satellite the poor values of ambiguity of list and
It is difficult to eliminate the problem of IFDB influences RTK ambiguity resolution.This method subtracts pseudorange (CMC) method by traditional carrier phase
Single poor Ambiguity Search Space has been determined, search criteria is turned to fuzziness suboptimal solution and optimal solution ratio maximum, is determined optimal
The poor values of ambiguity of list.This method corrects IFDB using the poor values of ambiguity of the optimal list, so as to so that towards non-overlap frequency
The positioning performance of the GNSS tight integration of rate reaches best.It, should compared to more traditional GNSS tight integration method towards non-overlapping frequency
Method can obtain better satellite navigation and positioning performance in the case where receiving the limited urban canyon environment of star.It is right with reference to the accompanying drawing
The present invention is described further.
Embodiment 1:
Step 1: building GNSS pseudorange and carrier phase list difference observational equation, and equation is carried out using website general location
Linearization process.
Base station and movement station track BDS and Galileo satellite s simultaneously.Single poor operation can eliminate satellite end correlation between standing
Error.Only consider under short baseline case simultaneously, atmosphere delay error is had ignored in model.Single poor observed quantity model can indicate
For,
Wherein, B refers to BDS, and E refers to Galileo；P and φ indicates that pseudorange and carrier phase observed quantity subtract the list of calculation amount
Poor residual volume；X indicates that positional increment vector, corresponding geometric matrix are u；T indicates receiver clock-offsets；D and δ respectively indicate pseudorange
With the hardware delay error of carrier phase；Z is values of ambiguity；λ indicates wavelength；E and ε respectively corresponds the sight of pseudorange and carrier phase
Survey noise.
Step 2: in system initialisation phase, establishing DISB estimation model, determined using the data of specified initialization time
The calibration value of DISB；
In the system initial stage, need to determine the calibration value of DISB using specified time segmental arc.So according to step 1
The poor observed quantity of the list provided, construction DISB estimation model are
WhereindBEIndicate the DISB of corresponding pseudorange；δBEIndicate the DISB of corresponding carrier phase.IFDB is referred to as in the present invention.Formula (2) estimates pseudorange with carrier phase DISB as parameter.
Since DISB has characteristic steady in a long-term, calibration value of the mean value of estimated sequence as DISB in segmental arc so fetching is fixed time.
Specified time segmental arc is set in the present invention as 30s.
Step 3: building CMC combination observation amount determines that the poor ambiguity search of list of reference satellite is empty by being rounded method nearby
Between blur center angle value determine the boundary of search space and according to the pseudorange observation precision of priori.
Pseudorange and the difference observed quantity of carrier phase list using reference satellite construct CMC combination observation amount, and by taking nearby
Whole method determines that the blur center angle value of its search space is
Wherein " []round" indicate nearest floor operation.It is false in the present invention in order to cover single poor fuzziness true value
If pseudorange observation error is 10m, corresponding search space boundary will be set as N=50 weeks.In this way, single differential mode of reference satellite is pasted
Spend search spaceIt can be expressed asWhereinIndicate set of integers,Centered on
Values of ambiguity.
Step 4: the DISB calibration value determined using step 2 constructs DISB correction model.
The DISB calibration value and candidate IFDB correction amount that step 2 is determined substitute on the left of formula as known quantity, obtain
Accordingly DISB correction model is
Step 5: traversing operation being executed to single poor Ambiguity Search Space, generation IFDB Orders Corrected successively substitutes into DISB and repairs
In positive model, the fixed algorithm of LAMBDA fuzziness is executed, and count fuzziness suboptimum and optimal value rate value.
By traverse fuzziness search space determine IFDB correction amount, can obtain 2N fuzziness suboptimum with it is optimal
Rate value.
Wherein, " | | | | " indicate quadratic form operation；It is expressed as fuzzinessCovariance.
Step 6: in the ratio sequence generated in steps of 5, selecting the poor values of ambiguity of list corresponding to maximum value as most
Excellent solution.
Step 7: the poor fuzziness of optimal list resolved using step 6 is substituted into the DISB correction model in step 4, is obtained most
Excellent fuzziness and positioning calculation value.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of improved GNSS tight integration method towards non-overlapping frequency, which is characterized in that executing step includes:
Step 1: building GNSS pseudorange and carrier phase list difference observational equation, and line is carried out to equation using website general location
Propertyization processing；
Step 2: in system initialisation phase, DISB estimation model is established, determines DISB using the data of specified initialization time
Calibration value；
Step 3: building CMC combination observation amount determines the list poor Ambiguity Search Space of reference satellite by being rounded method nearby
Blur center angle value, and according to the pseudorange observation precision of priori, determine the boundary of search space；
Step 4: the DISB calibration value determined using step 2 constructs DISB correction model；
Step 5: executing traversing operation to single poor Ambiguity Search Space, generates IFDB Orders Corrected and successively substitutes into DISB amendment
In model, the fixed algorithm of LAMBDA fuzziness is executed, and count fuzziness suboptimum and optimal value rate value；
Step 6: in the ratio sequence generated in step 5, select the poor values of ambiguity of list corresponding to maximum value as optimal
Solution；
Step 7: the poor fuzziness of optimal list resolved using step 6 is substituted into the DISB correction model in step 4, is obtained most
Excellent fuzziness and positioning calculation value.
2. the improved GNSS tight integration method towards non-overlapping frequency of one kind according to claim 1, which is characterized in that
The poor observed quantity model of list in the step 1 is expressed as:
Wherein, B refers to BDS, and E refers to Galileo；P and φ expression pseudorange and the list that carrier phase observed quantity subtracts calculation amount are poor residual
Surplus；X indicates that positional increment vector, corresponding geometric matrix are u；T indicates receiver clock-offsets；D and δ respectively indicates pseudorange and carries
The hardware delay error of wave phase；Z is values of ambiguity；λ indicates wavelength；E and ε respectively corresponds pseudorange and the observation of carrier phase is made an uproar
Sound.
3. the improved GNSS tight integration method towards non-overlapping frequency of one kind according to claim 1, which is characterized in that
DISB in the step 2 estimates model are as follows:
WhereindBEIndicate the DISB of corresponding pseudorange；δBEIndicate the DISB of corresponding carrier phase；IFDB is referred to as in the present invention.
4. the improved GNSS tight integration method towards non-overlapping frequency of one kind according to claim 1, which is characterized in that
The blur center angle value of search space in the step 3 are as follows:
Wherein " []round" indicate nearest floor operation；For center values of ambiguity；For single poor Ambiguity Search Space, table
It is shown asWhereinIndicate that set of integers, N are space search boundary.
5. the improved GNSS tight integration method towards non-overlapping frequency of one kind according to claim 1, which is characterized in that
DISB correction model in the step 4 are as follows:
6. the improved GNSS tight integration method towards non-overlapping frequency of one kind according to claim 1, which is characterized in that
Fuzziness suboptimum and optimal value rate value in the step 5 indicate are as follows:
Wherein, " | | | | " indicate quadratic form operation；It is expressed as fuzzinessCovariance.
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