CN110687556B - Multi-path error modeling method suitable for LAAS - Google Patents

Multi-path error modeling method suitable for LAAS Download PDF

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CN110687556B
CN110687556B CN201911063888.2A CN201911063888A CN110687556B CN 110687556 B CN110687556 B CN 110687556B CN 201911063888 A CN201911063888 A CN 201911063888A CN 110687556 B CN110687556 B CN 110687556B
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carrier phase
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satellite
range
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CN110687556A (en
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盛传贞
蔚保国
解晶
张京奎
王垚
赵精博
惠沈盈
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CETC 54 Research Institute
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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
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues
    • 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
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • 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
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • 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

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Abstract

The invention discloses a multipath error modeling method suitable for a Local Area Augmentation System (LAAS), which is suitable for multipath error correction of pseudo range and carrier observed quantity of a ground monitoring station, and realizes multipath error separation of pseudo range and carrier phase by adopting a non-combined precise single-point ambiguity fixing processing method on the basis of traditional precise single-point positioning; and constructing a multipath error model of an altitude angle/an azimuth angle based on the precise single-point positioning pseudo-range and the carrier phase post-test residual error, and performing real-time compensation on the pseudo-range of the monitoring station and the carrier phase multipath error based on the model, so that the adverse effect of the multipath error on LAAS anomaly detection is weakened, and the generation precision of differential enhancement information is improved.

Description

Multi-path error modeling method suitable for LAAS
Technical Field
The invention discloses a multipath error modeling method suitable for a Local Area Augmentation System (LAAS), which is suitable for multipath error compensation and correction of pseudo-range and carrier observed quantity of a ground monitoring station.
Background
The system effectively meets the requirements of high precision, safety and continuous landing of civil aircrafts by comprehensively processing and analyzing observation data of uniformly distributed monitoring stations, provides differential enhancement information and integrity information for users, and guides the civil aircrafts to accurately and safely land.
Because the GNSS signal is influenced by the surrounding environment of the monitoring station to generate reflection and scattering, multipath is caused, so that multipath errors are hidden in pseudo-range and carrier phase observed quantity of the monitoring station, particularly low elevation angle satellites, and the influence of the multipath errors on the LAAS system is mainly embodied in two layers: firstly, the precision of LAAS differential enhancement information is influenced; secondly, the resolution of LAAS abnormity detection such as code/carrier deviation degree, phase smoothness abnormity monitoring and the like is influenced. Although the influence of pseudo-range multipath can be weakened to a certain extent by the conventional phase smoothing pseudo-range, the multipath of the carrier phase cannot be separated by the conventional method, and meanwhile, the smoothing of the pseudo-range needs a long-time observation for support, so that the continuity and the positioning robustness of the LAAS system service are severely restricted.
The invention adopts the current precise single-point positioning ambiguity fixing method according to the multipath error space-time correlation characteristics, realizes the multipath error synchronous separation and modeling of carrier and phase data of the monitoring station based on the ionosphere and troposphere delay time smoothness and strong constraint, and finally solves the continuity and the robustness of the LAAS system service based on the multipath error compensation.
Disclosure of Invention
The invention provides a multi-path error separation and compensation method suitable for LAAS (local area network as), aiming at the problems that the multi-path of a monitoring station restricts the continuity of an LAAS system, reduces the accuracy of differential enhancement information and the like.
The invention is realized by the following technical scheme:
a multi-path error modeling method suitable for LAAS comprises the following steps:
(1) under the support of an IGS precision product, determining carrier phase ambiguity, ionosphere delay and troposphere delay information of all satellites by adopting a non-combined precision single-point positioning processing method based on the GNSS pseudo-range of a ground monitoring station and historical observation data of carrier phases;
(2) fitting and smoothing the ionospheric delay and tropospheric delay information of all satellites, taking the fitting and smoothing result as a virtual observed quantity on the basis, adding strong constraint, estimating and determining the ambiguity of the carrier phase again, and simultaneously obtaining the post-test residual errors of pseudo ranges and the carrier phase;
(3) aiming at the post-test residual errors of pseudo ranges and carrier phases of all satellites, constructing a multi-path error model of the pseudo ranges and the carrier phases by taking altitude angles and azimuth angles as characteristic quantities;
(4) aiming at real-time pseudo-range and carrier phase observation data of a monitoring station, a multi-path error model of the pseudo-range and the carrier phase is adopted to compensate the multi-path error; and calculating the basic quantity of the LAAS differential enhanced pseudo range and the carrier phase based on the compensated data.
Wherein, the specific mode of the step (1) is as follows:
(101) based on historical observation data of a GNSS pseudo-range and a carrier phase of a ground monitoring station, the adopted non-combined precise point positioning observation equation is as follows:
Figure BDA0002258714840000021
Figure BDA0002258714840000022
wherein the content of the first and second substances,
Figure BDA0002258714840000023
and
Figure BDA0002258714840000024
respectively representing pseudoranges and carrier measurements of the f-frequencies of the i-satellites observed by the ground monitoring station,
Figure BDA0002258714840000025
and
Figure BDA0002258714840000026
pseudo range noise and carrier phase noise respectively representing the f-frequencies of the i-satellites observed by the ground monitoring station,
Figure BDA0002258714840000031
representing the geometric distance, I, between the ground monitoring station and the satellite IiAnd gammafIonospheric delay and proportionality coefficient, T, respectively representing the reference frequency corresponding to the i satellite observed by the ground monitoring stationiAnd MelRepresenting tropospheric delay and projection function, respectively, deltatiAnd δ t represent the satellite clock offset of the i satellite and the receiver clock offset of the ground monitoring station, λ, respectivelyfAnd
Figure BDA0002258714840000032
respectively representing the carrier phase wavelength and the integer ambiguity of the i-satellite,
Figure BDA0002258714840000033
the pseudorange code phase bias representing the i satellite f frequency,
Figure BDA0002258714840000034
and
Figure BDA0002258714840000035
respectively representing pseudo-range multipath and carrier multipath of the frequency of the observation i satellite f of the ground monitoring station,
Figure BDA0002258714840000036
integer phase offsets representing carrier phases, including satellite phase offsets
Figure BDA0002258714840000037
And receiver phase deviation Fcsb，fThe expression is as follows:
Figure BDA0002258714840000038
(102) the carrier phase ambiguity, ionospheric delay and tropospheric delay estimation method based on the non-combined precise single-point positioning observation equation comprises the following steps:
known quantities were obtained based on IGS precision products: satellite phase deviation
Figure BDA0002258714840000039
Pseudorange code bias
Figure BDA00022587148400000310
And satellite clock difference deltatiSubstituting the obtained data into a non-combined precise single-point positioning observation equation, and accurately obtaining the data under the known precise coordinates of the ground monitoring station and the support of the IGS precise ephemeris
Figure BDA00022587148400000311
Therefore, the estimation parameters of the equation comprise receiver clock difference deltat and receiver carrier phase deviation Fcsb，fIonospheric delay parameter IiTropospheric delay parameter TiAnd carrier phase integer ambiguity
Figure BDA00022587148400000312
In parameter estimation, for the ionospheric delay parameter IiTropospheric delay parameter TiAnd receiver carrier phase offset Fcsb，fCorresponding constraint is added to avoid instability of results caused by equation singularity, and based on the method, carrier phase floating ambiguity of all satellites can be obtained by adopting a Kalman filtering estimation method
Figure BDA00022587148400000313
Then, the integer ambiguity of each satellite can be obtained by adopting an LAMBDA method
Figure BDA00022587148400000314
So as to obtain the ionospheric delay parameter I after ambiguity fixing solutioniAnd tropospheric delay Ti。
Wherein, the specific mode of the step (2) is as follows:
(201) the ionospheric delay and tropospheric delay information of all satellites are respectively removed through fitting smoothing of a time window to eliminate ionospheric delay or tropospheric delay with estimation errors; the method comprises the following steps:
ys(t)＝p0，i+p1，it+p2，it2
wherein p is0，i、p1，iAnd p2，iAs fitting coefficient, ys(t) is the corresponding delay observed quantity, if the residual error in the fitting is too large, the corresponding gross error is removed, the fitting is carried out again, the fitting value is used for replacing a field value, and the satellite ionosphere delay information after smoothing is obtained
Figure BDA0002258714840000041
And tropospheric delay information
Figure BDA0002258714840000042
(202) Ionospheric delay information smoothed based on fitting
Figure BDA0002258714840000043
And tropospheric delay information
Figure BDA0002258714840000044
As a virtual observed quantity, adding strong constraint information; ionospheric delay information
Figure BDA0002258714840000045
And tropospheric delay information
Figure BDA0002258714840000046
The virtual observation equation of (a) is as follows:
Figure BDA0002258714840000047
Figure BDA0002258714840000048
wherein
Figure BDA0002258714840000049
And
Figure BDA00022587148400000410
matrices representing ionospheric delay and convective delay, respectively,. epsilonI，iAnd εT，iRespectively representing the observation deviation of the ionosphere and the troposphere, and performing parameter estimation and ambiguity fixation again based on a virtual observation equation and the non-combined precise single-point positioning observation equation in the step (101) to obtain a receiver clock error delta t and a receiver carrier phase deviation Fcsb，fIonospheric delay parameter IiTropospheric delay parameter TiAnd carrier phase integer ambiguity
Figure BDA00022587148400000411
(203) Obtaining pseudo-post-test residuals based on ionospheric delay, tropospheric delay and carrier phase integer ambiguities
Figure BDA00022587148400000412
Sum carrier phase post-test residual
Figure BDA00022587148400000413
The following formula is adopted:
Figure BDA00022587148400000414
Figure BDA00022587148400000415
the specific implementation manner of the step (3) is as follows:
residual error after based on pseudo range test
Figure BDA0002258714840000051
Sum carrier phase post-test residual
Figure BDA0002258714840000052
Constructing pseudo-range multi-path error model MP by using altitude angle and azimuth angle as characteristic quantitiesfMultipath error model of sum carrier phase
Figure BDA0002258714840000053
The model adopts the following formula:
Figure BDA0002258714840000054
Figure BDA0002258714840000055
Figure BDA0002258714840000056
wherein Sig is a sign function, el and az monitor the elevation angle and azimuth angle of the station and satellite sight respectively, Ns is the summation of the Sig function, N is the number of satellites at time t, t0 is the start time, tN is the end time, elS and azS represent discrete sampling points defined in two dimensions of the elevation angle and azimuth angle respectively, wherein the range of elevation angle is 0 ° to 90 °, the range of azimuth angle is 0 ° to 360 °, and the sampling interval is generally selected to be 5 °.
The specific implementation manner of the step (4) is as follows:
(401) pseudoranges received in real time for a monitoring station
Figure BDA0002258714840000057
And carrier phase measurements
Figure BDA0002258714840000058
The multi-path model is adopted for compensation, and the compensation method comprises the following steps:
Figure BDA0002258714840000059
Figure BDA00022587148400000510
(402) the LAAS ground system carries out LAAS differential enhancement information basic quantity according to the real-time pseudo-range and carrier phase measurement value after the correction of the monitoring station
Figure BDA0002258714840000061
And
Figure BDA0002258714840000062
the following formula is adopted for the calculation of (1):
Figure BDA0002258714840000063
Figure BDA0002258714840000064
Figure BDA0002258714840000065
the geometric distance between the monitoring station and the satellite is obtained based on the precise coordinates known to the monitoring station and the broadcast ephemeris parameters.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a multi-path error separation and compensation method suitable for LAAS (local area network applications), which is used for designing a pseudo-range and carrier phase multi-path error synchronous separation method based on precise single-point positioning ambiguity fixing and information constraint aiming at the problem that pseudo-range and carrier phase multi-path errors cannot be separated simultaneously, and constructing a multi-path error model of an elevation angle and an azimuth angle aiming at the monitoring station multi-path compensation requirement of an LAAS system, so that the compensation of real-time multi-path errors of a monitoring station is met, the smoothing time of carrier phase smooth pseudo-range of the monitoring station of the LAAS system is reduced, the resolution of the LAAS system abnormal detection is improved, and the precision of differential enhanced information is improved.
Drawings
FIG. 1 is a diagram illustrating the movement of the airborne platform from a short baseline to a medium-long baseline;
Detailed Description
For better illustrating the objects and advantages of the present invention, the technical solution of the present invention will be further described with reference to fig. 1. In the present embodiment, the method is described by taking four LAAS ground monitoring stations (A, B, C, D) as an example. The equipment of the invention comprises: an LAAS system ground GNSS monitoring station, a schematic diagram of which is shown in FIG. 1, receives GNSS signals, tracks and captures the GNSS signals to obtain carrier phase measurement data and pseudo-range measurement data, and then sends the carrier phase measurement data and the pseudo-range measurement data to an LAAS ground processing center, the center executes multi-path error difference separation and modeling based on accumulated historical data of each monitoring station, and carries out LAAS difference enhancement information and integrity processing according to observation data of each monitoring station received in real time, wherein the whole processing comprises the following steps:
1. under the support of an IGS precision product, determining carrier phase ambiguity, ionosphere delay and troposphere delay information of all satellites by adopting a non-combined precision single-point positioning processing method based on the GNSS pseudo-range of a ground monitoring station and historical observation data of carrier phases;
(101) based on historical observation data of a GNSS pseudo-range and a carrier phase of a ground monitoring station, the adopted non-combined precise point positioning observation equation is as follows:
Figure BDA0002258714840000071
Figure BDA0002258714840000072
wherein the content of the first and second substances,
Figure BDA0002258714840000073
and
Figure BDA0002258714840000074
respectively representing pseudoranges and carrier measurements of the f-frequencies of the i-satellites observed by the ground monitoring station,
Figure BDA0002258714840000075
and
Figure BDA0002258714840000076
pseudo range noise and carrier phase noise respectively representing the f-frequencies of the i-satellites observed by the ground monitoring station,
Figure BDA0002258714840000077
representing the geometric distance, I, between the ground monitoring station and the satellite IiAnd gammafIonospheric delay and proportionality coefficient, T, respectively representing the reference frequency corresponding to the i satellite observed by the ground monitoring stationiAnd MelRepresenting tropospheric delay and projection function, respectively, deltatiAnd δ t represent the satellite clock offset of the i satellite and the receiver clock offset of the ground monitoring station, λ, respectivelyfAnd
Figure BDA0002258714840000078
respectively representing the carrier phase wavelength and the integer ambiguity of the i-satellite,
Figure BDA0002258714840000079
the pseudorange code phase bias representing the i satellite f frequency,
Figure BDA00022587148400000710
and
Figure BDA00022587148400000711
respectively representing pseudo-range multipath and carrier multipath of the frequency of the observation i satellite f of the ground monitoring station,
Figure BDA00022587148400000712
integer phase offsets representing carrier phases, including satellite phase offsets
Figure BDA00022587148400000713
And receiver phase deviation Fcsb，fThe expression is as follows:
Figure BDA00022587148400000714
(102) the carrier phase ambiguity, ionospheric delay and tropospheric delay estimation method based on the non-combined precise single-point positioning observation equation comprises the following steps:
known quantities were obtained based on IGS precision products: satellite phase deviation
Figure BDA0002258714840000081
Pseudorange code bias
Figure BDA0002258714840000082
And satellite clock difference deltatiSubstituting the obtained data into a non-combined precise single-point positioning observation equation, and accurately obtaining the data under the known precise coordinates of the ground monitoring station and the support of the IGS precise ephemeris
Figure BDA0002258714840000083
Therefore, the estimation parameters of the equation comprise receiver clock difference deltat and receiver carrier phase deviation Fcsb，fIonospheric delay parameter IiTropospheric delay parameter TiAnd carrier phase integer ambiguity
Figure BDA0002258714840000084
In parameter estimation, for the ionospheric delay parameter IiTropospheric delay parameter TiAnd receiver carrier phase offset Fcsb，fCorresponding constraint is added to avoid instability of results caused by equation singularity, and based on the method, carrier phase floating ambiguity of all satellites can be obtained by adopting a Kalman filtering estimation method
Figure BDA0002258714840000085
Then, the integer ambiguity of each satellite can be obtained by adopting an LAMBDA method
Figure BDA0002258714840000086
So as to obtain the ionospheric delay parameter I after ambiguity fixing solutioniAnd tropospheric delay Ti。
2. Fitting and smoothing the ionospheric delay and tropospheric delay information of all satellites, taking the fitting and smoothing result as a virtual observed quantity on the basis, adding strong constraint, estimating and determining the ambiguity of the carrier phase again, and simultaneously obtaining the post-test residual errors of pseudo ranges and the carrier phase;
(201) the ionospheric delay and tropospheric delay information of all satellites are respectively removed through fitting smoothing of a time window to eliminate ionospheric delay or tropospheric delay with estimation errors; the method comprises the following steps:
ys(t)＝p0，i+p1，it+p2，it2
wherein p is0，i、p1，iAnd p2，iAs fitting coefficient, ys(t) is the corresponding delay observed quantity, if the residual error in the fitting is too large, the corresponding gross error is removed, the fitting is carried out again, the fitting value is used for replacing a field value, and the satellite ionosphere delay information after smoothing is obtained
Figure BDA0002258714840000087
And tropospheric delay information
Figure BDA0002258714840000088
(202) Ionospheric delay information smoothed based on fitting
Figure BDA0002258714840000091
And tropospheric delay information
Figure BDA0002258714840000092
As a virtual observed quantity, adding strong constraint information; ionospheric delay information
Figure BDA0002258714840000093
And tropospheric delayInformation
Figure BDA0002258714840000094
The virtual observation equation of (a) is as follows:
Figure BDA0002258714840000095
Figure BDA0002258714840000096
wherein
Figure BDA0002258714840000097
And
Figure BDA0002258714840000098
matrices representing ionospheric delay and convective delay, respectively,. epsilonI，iAnd εT，iRespectively representing the observation deviation of the ionosphere and the troposphere, and performing parameter estimation and ambiguity fixation again based on a virtual observation equation and the non-combined precise single-point positioning observation equation in the step (101) to obtain a receiver clock error delta t and a receiver carrier phase deviation Fcsb，fIonospheric delay parameter IiTropospheric delay parameter TiAnd carrier phase integer ambiguity
Figure BDA0002258714840000099
(203) Obtaining pseudo-post-test residuals based on ionospheric delay, tropospheric delay and carrier phase integer ambiguities
Figure BDA00022587148400000910
Sum carrier phase post-test residual
Figure BDA00022587148400000911
The following formula is adopted:
Figure BDA00022587148400000912
Figure BDA00022587148400000913
3. and constructing a multi-path error model of the pseudo-range and the carrier phase by taking the altitude angle and the azimuth angle as characteristic quantities according to the post-test residuals of the pseudo-range and the carrier phase of all satellites.
In the post-pseudorange-a-test residuals and the carrier-phase-a-test residuals, the principal component thereof is a multipath error, and therefore, the post-pseudorange-a-test residuals are based thereon
Figure BDA00022587148400000914
Sum carrier phase post-test residual
Figure BDA00022587148400000915
Constructing pseudo-range multi-path error model MP by using altitude angle and azimuth angle as characteristic quantitiesfMultipath error model of sum carrier phase
Figure BDA00022587148400000916
The model adopts the following formula:
Figure BDA00022587148400000917
Figure BDA0002258714840000101
Figure BDA0002258714840000102
wherein Sig is a sign function, el and az monitor the elevation angle and azimuth angle of the station and satellite sight respectively, Ns is the summation of the Sig function, N is the number of satellites at time t, t0 is the start time, tN is the end time, elS and azS represent discrete sampling points defined in two dimensions of the elevation angle and azimuth angle respectively, wherein the range of elevation angle is 0 ° to 90 °, the range of azimuth angle is 0 ° to 360 °, and the sampling interval is generally selected to be 5 °.
4. Aiming at real-time pseudo-range and carrier phase observation data of a monitoring station, a multi-path error model of the pseudo-range and the carrier phase is adopted to compensate the multi-path error; and calculating the basic quantity of the LAAS differential enhanced pseudo range and the carrier phase based on the compensated data.
(401) The pseudo range and carrier phase multi-path error real-time compensation of the monitoring station adopts the following method:
pseudoranges received in real time for a monitoring station
Figure BDA0002258714840000103
And carrier phase measurements
Figure BDA0002258714840000104
The multi-path model is adopted for compensation, and the compensation method comprises the following steps:
Figure BDA0002258714840000105
Figure BDA0002258714840000106
(402) the LAAS ground system carries out LAAS differential enhancement information basic quantity according to the real-time pseudo-range and carrier phase measurement value after the correction of the monitoring station
Figure BDA0002258714840000107
And
Figure BDA0002258714840000108
the following formula is adopted for the calculation of (1):
Figure BDA0002258714840000111
Figure BDA0002258714840000112
Figure BDA0002258714840000113
the geometric distance between the monitoring station and the satellite is obtained based on the precise coordinates known to the monitoring station and the broadcast ephemeris parameters. Based on the above obtaining
Figure BDA0002258714840000114
And
Figure BDA0002258714840000115
the multi-path error is greatly weakened, and the LAAS abnormal risk distinguishing efficiency and the information generation enhancing precision are improved.
In summary, the invention provides a multi-path error separation and compensation method suitable for LAAS, aiming at the problem that pseudo-range and carrier phase multi-path errors can not be separated simultaneously, the invention designs a pseudo-range and carrier phase multi-path error synchronous separation method based on precise single-point positioning ambiguity fixing and information constraint, and simultaneously constructs a multi-path error model of a height angle and an azimuth angle aiming at the multi-path error compensation requirement of a monitoring station of the LAAS system, thereby meeting the real-time compensation requirement of the monitoring station, reducing the time required by LAAS pseudo-range smoothing, improving the integrity monitoring resolution of the LAAS system and improving the precision of differential enhanced information.
The invention solves the problems of multipath error separation, modeling and real-time compensation of the pseudo range and carrier phase observed quantity of the LAAS monitoring station, greatly weakens the adverse effect of the multipath error on the continuity and the availability of the LAAS system, is particularly suitable for multipath error compensation of GNSS data of a CORS station, and has important engineering practical application value.

Claims (4)

1. A multi-path error modeling method suitable for LAAS is characterized by comprising the following steps:
(1) under the support of an IGS precision product, determining carrier phase ambiguity, ionosphere delay and troposphere delay information of all satellites by adopting a non-combined precision single-point positioning processing method based on the GNSS pseudo-range of a ground monitoring station and historical observation data of carrier phases;
(2) fitting and smoothing the ionospheric delay and tropospheric delay information of all satellites, taking the fitting and smoothing result as a virtual observed quantity on the basis, adding strong constraint, estimating and determining the ambiguity of the carrier phase again, and simultaneously obtaining the post-test residual errors of pseudo ranges and the carrier phase;
(3) aiming at the post-test residual errors of pseudo ranges and carrier phases of all satellites, constructing a multi-path error model of the pseudo ranges and the carrier phases by taking altitude angles and azimuth angles as characteristic quantities;
the specific implementation mode is as follows:
residual error after based on pseudo range test
Figure FDA0003059454280000011
Sum carrier phase post-test residual
Figure FDA0003059454280000012
Constructing pseudo-range multi-path error model MP by using altitude angle and azimuth angle as characteristic quantitiesfMultipath error model of sum carrier phase
Figure FDA0003059454280000013
The model adopts the following formula:
Figure FDA0003059454280000014
Figure FDA0003059454280000015
Figure FDA0003059454280000016
wherein, Sig is a sign function, el and az are respectively an elevation angle and an azimuth angle of a monitoring station and a satellite sight line, Ns is the summation of the Sig function, N is the number of satellites at time t, t0 is a start time, tN is an end time, elS and azS respectively represent discrete sampling points defined in two dimensions of the elevation angle and the azimuth angle, wherein the elevation angle ranges from 0 ° to 90 °, the azimuth angle ranges from 0 ° to 360 °, and the sampling interval is selected to be 5 °;
(4) aiming at real-time pseudo-range and carrier phase observation data of a monitoring station, a multi-path error model of the pseudo-range and the carrier phase is adopted to compensate the multi-path error; and calculating the basic quantity of the LAAS differential enhanced pseudo range and the carrier phase based on the compensated data.
2. The method for modeling multipath error applicable to LAAS of claim 1, wherein the step (1) is implemented by:
(101) based on historical observation data of a GNSS pseudo-range and a carrier phase of a ground monitoring station, the adopted non-combined precise point positioning observation equation is as follows:
Figure FDA0003059454280000021
Figure FDA0003059454280000022
wherein the content of the first and second substances,
Figure FDA0003059454280000023
and
Figure FDA0003059454280000024
respectively representing pseudorange and carrier phase measurements of the f-frequencies of the i-satellites observed by the ground monitoring station,
Figure FDA0003059454280000025
and
Figure FDA0003059454280000026
pseudo range noise and carrier phase noise respectively representing the f-frequencies of the i-satellites observed by the ground monitoring station,
Figure FDA0003059454280000027
representing the geometric distance, I, between the ground monitoring station and the satellite IiAnd gammafIonospheric delay and proportionality coefficient, T, respectively representing the reference frequency corresponding to the i satellite observed by the ground monitoring stationiAnd MelRepresenting tropospheric delay and projection function, respectively, deltatiAnd δ t represent the satellite clock offset of the i satellite and the receiver clock offset of the ground monitoring station, λ, respectivelyfAnd
Figure FDA0003059454280000028
representing the carrier phase wavelength and the carrier phase integer ambiguity of the i satellite respectively,
Figure FDA0003059454280000029
the pseudorange code phase bias representing the i satellite f frequency,
Figure FDA00030594542800000210
and
Figure FDA00030594542800000211
respectively representing pseudo-range multipath and carrier multipath of the frequency of the observation i satellite f of the ground monitoring station,
Figure FDA00030594542800000212
integer phase offsets representing carrier phases, including satellite phase offsets
Figure FDA00030594542800000213
And receiver phase deviation Fcsb，fThe expression is as follows:
Figure FDA00030594542800000214
(102) the carrier phase ambiguity, ionospheric delay and tropospheric delay estimation method based on the non-combined precise single-point positioning observation equation comprises the following steps:
known quantities were obtained based on IGS precision products: satellite phase deviation
Figure FDA0003059454280000031
Pseudorange code bias
Figure FDA0003059454280000032
And satellite clock difference deltatiSubstituting the obtained data into a non-combined precise single-point positioning observation equation, and accurately obtaining the data under the known precise coordinates of the ground monitoring station and the support of the IGS precise ephemeris
Figure FDA0003059454280000033
Therefore, the estimation parameters of the equation comprise receiver clock difference deltat and receiver carrier phase deviation Fcsb，fIonospheric delay parameter IiTropospheric delay parameter TiAnd carrier phase integer ambiguity
Figure FDA0003059454280000034
In parameter estimation, the ionospheric delay parameter I is aimed atiTropospheric delay parameter TiAnd receiver carrier phase offset Fcsb，fCorresponding constraint is added to avoid instability of results caused by equation singularity, and based on the method, carrier phase floating ambiguity of all satellites can be obtained by adopting a Kalman filtering estimation method
Figure FDA0003059454280000035
Then, the LAMBDA method is adopted to obtain the carrier phase integer ambiguity of each satellite
Figure FDA0003059454280000036
So as to obtain the ionospheric delay parameter I after ambiguity fixing solutioniAnd tropospheric delay Ti。
3. The method as claimed in claim 2, wherein the step (2) is performed by:
(201) the ionospheric delay and tropospheric delay information of all satellites are respectively removed through fitting smoothing of a time window to eliminate ionospheric delay or tropospheric delay with estimation errors; the method comprises the following steps:
ys(t)＝p0，i+p1，it+p2，it2
wherein p is0，i、p1，iAnd p2，iAs fitting coefficient, ys(t) is the corresponding delay observed quantity, if the residual error in the fitting is too large, the corresponding gross error is removed, the fitting is carried out again, the fitting value is used for replacing a field value, and the satellite ionosphere delay information after smoothing is obtained
Figure FDA0003059454280000038
And tropospheric delay information
Figure FDA0003059454280000037
(202) Ionospheric delay information smoothed based on fitting
Figure FDA0003059454280000041
And tropospheric delay information
Figure FDA0003059454280000042
As a virtual observed quantity, adding strong constraint information; ionospheric delay information
Figure FDA0003059454280000043
And tropospheric delay information
Figure FDA0003059454280000044
The virtual observation equation of (a) is as follows:
Figure FDA0003059454280000045
Figure FDA0003059454280000046
wherein
Figure FDA0003059454280000047
And
Figure FDA0003059454280000048
matrices of weights, ε, representing ionospheric and convective delays, respectivelyI，iAnd εT，iRespectively representing the observation deviation of the ionosphere and the troposphere, and performing parameter estimation and ambiguity fixation again based on a virtual observation equation and the non-combined precise single-point positioning observation equation in the step (101) to obtain a receiver clock error delta t and a receiver carrier phase deviation Fcsb，fIonospheric delay parameter IiTropospheric delay parameter TiAnd carrier phase integer ambiguity
Figure FDA0003059454280000049
(203) Obtaining pseudo-post-test residuals based on ionospheric delay, tropospheric delay and carrier phase integer ambiguities
Figure FDA00030594542800000410
Sum carrier phase post-test residual
Figure FDA00030594542800000411
The following formula is adopted:
Figure FDA00030594542800000412
Figure FDA00030594542800000413
4. the method for modeling multipath error applicable to LAAS of claim 1, wherein the step (4) is implemented as follows:
(401) pseudoranges received in real time for a monitoring station
Figure FDA00030594542800000414
And carrier phase measurements
Figure FDA00030594542800000415
The multi-path model is adopted for compensation, and the compensation method comprises the following steps:
Figure FDA00030594542800000416
Figure FDA0003059454280000051
(402) the LAAS ground system carries out LAAS differential enhancement information basic quantity according to the real-time pseudo-range and carrier phase measurement value after the correction of the monitoring station
Figure FDA0003059454280000052
And
Figure FDA0003059454280000053
the following formula is adopted for the calculation of (1):
Figure FDA0003059454280000054
Figure FDA0003059454280000055
Figure FDA0003059454280000056
the geometric distance between the monitoring station and the satellite is obtained based on the precise coordinates known to the monitoring station and the broadcast ephemeris parameters.
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