CN110727006A - GNSS observation data generation method, storage medium and device - Google Patents
GNSS observation data generation method, storage medium and device Download PDFInfo
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- CN110727006A CN110727006A CN201910976939.4A CN201910976939A CN110727006A CN 110727006 A CN110727006 A CN 110727006A CN 201910976939 A CN201910976939 A CN 201910976939A CN 110727006 A CN110727006 A CN 110727006A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Abstract
The invention relates to the technical field of communication, and discloses a method for generating GNSS observation data, which monitors the communication state of a mobile station in any continuous time period; when the communication state interruption of the mobile station is monitored, the GNSS observation data generation is triggered; extracting historical epoch GNSS observation data in the epoch queue; and calculating to generate new observation data according to the historical epoch GNSS observation data. Accordingly, a storage medium storing a computer program for executing the method for generating GNSS observation data is disclosed. A device for generating GNSS observation data is also disclosed. Some technical effects of the invention are as follows: when the communication of the mobile station is interrupted, new GNSS observation data are generated by using the historical epoch data, thereby solving the positioning problem when the communication is interrupted.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a method, a storage medium, and an apparatus for generating GNSS observation data.
Background
In real life, mobile stations such as mobile phones often have communication interruptions for various reasons. When communication is interrupted, it is commonly adopted in the industry that a mobile station is switched into a single-point positioning mode, which causes great loss of positioning accuracy.
Disclosure of Invention
In order to at least solve the problem of positioning accuracy loss caused by communication interruption of a mobile station, the invention provides a method for generating GNSS observation data, which has the following technical scheme:
the method comprises the following steps: monitoring the communication state of the mobile station in any continuous time period; when the communication state interruption of the mobile station is monitored, the GNSS observation data generation is triggered; extracting historical epoch GNSS observation data in the epoch queue; and calculating to generate new observation data according to the historical epoch GNSS observation data.
Preferably, the calculation and generation of new observations is based on the acquired historical epoch GNSS observations: calculating the distance change Deltar between the satellite and the mobile station receiver of any adjacent epochtCalculating the change delta phi of the GNSS observation data of any adjacent epocht、Δρt(ii) a Calculating the average values delta phi and delta rho of the change of the GNSS observation data; GNSS observation data phi for generating t +1 epoch according to t epoch datat+1、ρt+1(ii) a Wherein phit+1＝Φt+ΔΦ，ρt+1＝ρt+Δρ。
Wherein Δ rt＝rt-rt-1，ΔΦt＝Φt-Φt-1-Δrt/λ，Δρt＝ρt-ρt-1-Δrt，Rho pseudo range observation, rhot+1Pseudorange observations, ρ, for t +1 epochstPseudorange observations, p, for t epochst-1A pseudorange observation for a t-1 epoch; phi is the observed value of carrier phase, phit+1、Φt、Φt-1Carrier phase observation values of t +1 epoch, t epoch and t-1 epoch respectively; r is the distance between the receiver antenna and the satellite, rt、rt-1The distances between the receiver antennas of the t epoch and the t-1 epoch and the satellite respectively; λ is the carrier phase wavelength.
Preferably, any preceding continuous period of time is 15 s.
Preferably, when the communication state of the mobile station is monitored to be normal, the epoch queue is updated correspondingly.
Preferably, the epoch queue length is 10 to 60 epochs.
Preferably, after the communication state of the mobile station is monitored to be interrupted, whether the number of epochs in the epoch queue is not less than a threshold value is detected, and if so, the generation of the GNSS observation data is triggered.
Preferably, the threshold is 10.
Preferably, the generated new observation data is marked as current epoch GNSS observation data, and the epoch queue is updated accordingly.
The invention accordingly proposes a readable storage medium on which a computer program is stored which is run by a processor to perform the aforementioned method.
The invention also provides a device for generating the GNSS observation data, which comprises a monitoring unit, a storage unit and a generating unit; the monitoring unit is used for monitoring the communication state of the reference station in any continuous time period, and triggering GNSS observation data generation when the communication state of the reference station is monitored to be interrupted; the storage unit is used for storing the epoch queue; the generation unit is used for extracting historical epoch GNSS observation data in the epoch queue and calculating and generating new observation data according to the historical epoch GNSS observation data.
Some effects of the invention are as follows: when the communication of the mobile station is interrupted, new GNSS observation data are generated by using the historical epoch data, thereby solving the positioning problem when the communication is interrupted.
Drawings
For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:
FIG. 1 is a flow diagram of a method for generating GNSS observation data as disclosed in some embodiments.
FIG. 2 is a schematic diagram of an apparatus for generating GNSS observation data disclosed in some embodiments.
Detailed Description
The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.
On the general idea, the invention discloses a method for generating a text, which comprises the following steps: monitoring the communication state of the mobile station in any continuous time period; when the communication state interruption of the mobile station is monitored, the GNSS observation data generation is triggered; extracting historical epoch GNSS observation data in the epoch queue; and calculating to generate new observation data according to the historical epoch GNSS observation data.
Accordingly, in one embodiment, the present invention provides a readable storage medium, which is used for reading a computer program stored on the storage medium and executing the method for generating GNSS observation data provided by the present invention.
Accordingly, in one embodiment, the present invention provides an apparatus, comprising a monitoring unit, a storage unit, and a generation unit; the monitoring unit is used for monitoring the communication state of the reference station in any continuous time period, and triggering GNSS observation data generation when the communication state of the reference station is monitored to be interrupted; the storage unit is used for storing the epoch queue; the generation unit is used for extracting historical epoch GNSS observation data in the epoch queue and calculating and generating new observation data according to the historical epoch GNSS observation data.
Some effects of the invention are as follows: when the communication of the mobile station is interrupted, new GNSS observation data is generated by utilizing the historical epoch GNSS observation data, so that the positioning problem when the communication is interrupted is solved.
GNSS herein refers to global satellite navigation systems, i.e., autonomous geospatial positioning satellite systems covering the world; including the GPS (Global Positioning System); GLONASS, GLONASS system; BDS is the Beidou satellite navigation system; galileo is the Galileo positioning system. The GNSS observation data refers to satellite observation quantities directly or indirectly acquired by a receiver, and mainly includes pseudo ranges, carrier phases and the like. The epoch queue refers to a queue for arranging and storing the GNSS observation data according to epochs; each historical epoch in the queue stores corresponding GNSS observation data.
In some embodiments, as shown in FIG. 1, the communication status of the mobile station is monitored for any continuous period of time; when the communication state interruption of the mobile station is monitored, the GNSS observation data generation is triggered; extracting historical epoch GNSS observation data in the epoch queue; and calculating to generate new observation data according to the historical epoch GNSS observation data.
In some embodiments, the communication status of the mobile station is monitored for any continuous period of time, as shown in fig. 1. The communication state determination is made by detecting whether the receiver of the mobile station has a new epoch or GNSS observation data input. When no new epoch or GNSS observation data is entered for a particular consecutive period of time, a mobile station communication outage is determined.
In some embodiments, the selectable range of values for any consecutive period of time may be from 1s to 30 s.
In some embodiments, any continuous period of time is set to 15 s.
In some embodiments, as shown in FIG. 1, GNSS observation data generation is triggered when a mobile station communication state interruption is monitored. The communication interruption of the mobile station is judged by detecting that the receiver of the mobile station does not have new epoch or GNSS observation data input in a certain continuous time period, and a generation instruction is sent. At this time, the monitoring unit of the mobile station issues an instruction to the generating unit, and the generating unit starts the operation.
In some embodiments, as shown in fig. 1, after the communication state of the mobile station is monitored to be interrupted, it is detected whether the number of historical epochs in the epoch queue is not less than a threshold, and if so, GNSS observation data generation is triggered. This is done to ensure that there is sufficient historical epoch GNSS observation data to make the subsequently generated GNSS observation data more accurate.
In some embodiments, the aforementioned threshold is set to 10.
In some embodiments, as shown in fig. 1, when the communication status of the mobile station is monitored to be normal, the obtained GNSS observation data of the latest epoch is stored in the storage unit of the mobile station, and the epoch queue is updated accordingly.
In some embodiments, as shown in FIG. 1, historical epoch GNSS observations in the epoch queue are extracted. Here, the latest part of the historical epoch or the whole historical epoch in the epoch queue may be extracted. Generally, the more epoch data, the more accurate the GNSS observation data generated by the subsequent fit.
In some embodiments, the length of the corresponding epoch queue is set to 10 to 60 epochs.
In some embodiments, as shown in FIG. 1, new observations are computed from GNSS observations over historical epochs. Specifically, the calculation and generation of new observations is based on the acquired historical epoch GNSS observations: calculating the distance change Deltar between the satellite and the mobile station receiver of any adjacent epochtCalculating the change delta phi of the GNSS observation data of any adjacent epocht、Δρt(ii) a Calculating the average values delta phi and delta rho of the change of the GNSS observation data; GNSS observation data phi for generating t +1 epoch according to t epoch datat+1、ρt+1。Φt+1＝Φt+ΔΦ
ρt+1＝ρt+Δρ
Wherein Δ rt＝rt-rt-1，ΔΦt＝Φt-Φt-1-Δrt/λ，Δρt＝ρt-ρt-1-Δrt，
Rho pseudo range observation, rhot+1Pseudorange observations, ρ, for t +1 epochstPseudorange observations, p, for t epochst-1A pseudorange observation for a t-1 epoch; phi is the observed value of carrier phase, phit+1、Φt、Φt-1Carrier phase observation values of t +1 epoch, t epoch and t-1 epoch respectively; r is the distance between the receiver antenna and the satellite, rt、rt-1The distances between the receiver antennas of the t epoch and the t-1 epoch and the satellite respectively; λ is the carrier phase wavelength.
In general, the t epoch carrier phase observation equation:
t-1 epoch carrier phase observation equation:
wherein, delta is the sum of the clock error of the satellite and the clock error of the receiver, deltat、δt-1The sum of the satellite clock error and the receiver clock error of the t epoch and the t-1 epoch respectively. I is the ionospheric error, It、It-1Ionospheric errors of t epoch and t-1 epoch, respectively. T is tropospheric error, Tt、Tt-1Tropospheric errors of t epoch and t-1 epoch, respectively. Epsilon is the noise of the measurement,
pseudo range measurement noise of t epoch and t-1 epoch respectively;the carrier phase measurement noise of t epoch and t-1 epoch respectively. c is the speed of light and N is the ambiguity.
When the t epoch is very close to the t-1 epoch, the errors of the ionosphere, the troposphere and the like are very close, and the observed values of the two epochs are subtracted to obtain:
Φt＝Φt-1+Δrt/λ+ΔΦt，
ρt＝ρt-1+Δrt+Δρt。
in some embodiments, the generation of new observations is tagged as current epoch GNSS observations and the epoch queue is updated accordingly. The new GNSS observation data is also stored in the memory unit of the mobile station.
In some embodiments, a readable storage medium is further disclosed, on which a computer program is stored, the computer program being executed by a processor to perform the method for generating GNSS observation data disclosed in all the aforementioned embodiments. The storage medium may be a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), a usb disk, a removable hard disk, or the like.
In some embodiments, as shown in fig. 2, a GNSS observation data generation apparatus is further disclosed, which includes a monitoring unit, a storage unit, and a generation unit; the monitoring unit is used for monitoring the communication state of the reference station in any continuous time period, and triggering GNSS observation data generation when the communication state of the reference station is monitored to be interrupted; the storage unit is used for storing the epoch queue; the generation unit is used for extracting historical epoch GNSS observation data in the epoch queue and calculating and generating new observation data according to the historical epoch GNSS observation data.
In some embodiments, the monitoring unit of the GNSS observation data generation apparatus performs communication state monitoring of the mobile station for a period of time within any continuous 15 s. The epoch queue length in the storage unit may also be monitored to monitor whether the epoch queue length meets a threshold requirement. And when the monitoring result meets the preset condition, the monitoring unit sends a corresponding instruction to the generating unit.
In some embodiments, the storage unit of the GNSS observation data generation apparatus stores an epoch queue length of 10 to 60 epochs. When the communication state of the mobile station is monitored to be normal, the acquired new epoch data is stored in the storage unit, and the epoch queue is updated correspondingly. When the generating unit generates a new observation data mark and the observation data is the current epoch GNSS observation data, the new observation data mark is stored in the storage unit, and the epoch queue is correspondingly updated. It can be understood that the storage unit may be disposed locally or in the cloud.
In some embodiments, the generation unit of the GNSS observation data generation apparatus performs: according to the acquired historical epoch GNSS observation data:
calculating the distance change Deltar between the satellite and the mobile station receiver of any adjacent epocht，
Calculating GNSS observation data change delta phi of any adjacent epocht、Δρt；
Calculating the average values delta phi and delta rho of the change of the GNSS observation data;
GNSS observation data phi for generating t +1 epoch according to t epoch datat+1、ρt+1；
Wherein phit+1＝Φt+ΔΦ
ρt+1＝ρt+Δρ
Wherein Δ rt＝rt-rt-1，ΔΦt＝Φt-Φt-1-Δrt/λ，Δρt＝ρt-ρt-1-Δrt，
Rho pseudo-range observed value, phi is carrier phase observed value, r is distance between receiver antenna and satellite, and lambda is carrier phase wavelength.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
- The GNSS observation data generation method is characterized by comprising the following steps:monitoring the communication state of the mobile station in any continuous time period;when the communication state interruption of the mobile station is monitored, the GNSS observation data generation is triggered;extracting historical epoch GNSS observation data in the epoch queue;and calculating to generate new observation data according to the historical epoch GNSS observation data.
- 2. The method of claim 1, wherein: the calculating and generating new observations is based on the acquired historical epoch GNSS observations:calculating the distance change Deltar between the satellite and the mobile station receiver of any adjacent epocht，Calculating GNSS observation data change delta phi of any adjacent epocht、Δρt；Calculating the average values delta phi and delta rho of the change of the GNSS observation data;GNSS observation data phi for generating t +1 epoch according to t epoch datat+1、ρt+1；Wherein phit+1＝Φt+ΔΦρt+1＝ρt+ΔρWherein Δ rt＝rt-rt-1，ΔΦt＝Φt-Φt-1-Δrt/λ，Δρt＝ρt-ρt-1-Δrt，
- 3. The method of claim 1, wherein: any continuous time period is 15 s.
- 4. The method of claim 1, further comprising: and when the communication state of the mobile station is monitored to be normal, updating the epoch queue correspondingly.
- 5. The method of claim 4, wherein: the length of the epoch queue is 10 to 60 epochs.
- 6. The method of claim 1, further comprising: and after the communication state interruption of the mobile station is monitored, detecting whether the number of the epochs in the epoch queue is not less than a threshold value, and if so, triggering the generation of GNSS observation data.
- 7. The method of claim 6, wherein: the threshold is 10.
- 8. The method of claim 1, wherein: further comprising: and marking the generated new observation data as the current epoch GNSS observation data, and correspondingly updating the epoch queue.
- 9. Readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which is run by a processor to perform the method of any of claims 1 to 8.
- A GNSS observation data generation apparatus, characterized in that:the device comprises a monitoring unit, a storage unit and a generation unit;the monitoring unit is used for monitoring the communication state of the mobile station in any continuous time period, and triggering GNSS observation data generation when the communication state interruption of the reference station is monitored;the storage unit is used for storing the epoch queue;the generation unit is used for extracting historical epoch GNSS observation data in the epoch queue and calculating and generating new observation data according to the historical epoch GNSS observation data.
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