CN110824517A - Code measurement pseudo range GPS absolute positioning method - Google Patents

Code measurement pseudo range GPS absolute positioning method Download PDF

Info

Publication number
CN110824517A
CN110824517A CN201911152136.3A CN201911152136A CN110824517A CN 110824517 A CN110824517 A CN 110824517A CN 201911152136 A CN201911152136 A CN 201911152136A CN 110824517 A CN110824517 A CN 110824517A
Authority
CN
China
Prior art keywords
gps
receiver
gps receiver
coordinate
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911152136.3A
Other languages
Chinese (zh)
Inventor
常占强
钱淑君
王延巧
何兰婷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Capital Normal University
Original Assignee
Capital Normal University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Capital Normal University filed Critical Capital Normal University
Priority to CN201911152136.3A priority Critical patent/CN110824517A/en
Publication of CN110824517A publication Critical patent/CN110824517A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • G01S19/40—Correcting position, velocity or attitude

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a code measurement pseudo range GPS absolute positioning method, which collects GPS satellite coordinate data received by a GPS receiver, pseudo range from the GPS satellite to the receiver, ionosphere delay and troposphere delay; the mathematical model provided by the invention is used for estimating the rough coordinates of the receiver as initial coordinates, an observation equation set is formed according to the coordinates of each GPS satellite, the pseudo distance from the satellite to the receiver, the ionosphere and the troposphere delay, the equation set is solved, and the accurate coordinates of the GPS receiver are obtained; and then taking the acquired receiver coordinates as initial coordinates, calculating the coefficients of the observation equation set, and solving the equation set, so as to iterate and acquire more accurate receiver coordinates. The method and the model provided by the invention can accurately obtain the coordinates of the GPS receiver by only using 4 GPS satellite observation values under the condition of no receiver initial coordinates. The method of the invention overcomes the problem that the conventional code-measuring pseudorange absolute positioning method needs to know the initial coordinate of the receiver, and has obvious advantages compared with a differential solution method which needs to observe more than 5 satellites.

Description

Code measurement pseudo range GPS absolute positioning method
Technical Field
The invention can be applied to the fields of vehicle navigation, public security traffic, disaster rescue, travel exploration, geographical investigation, geological survey, resource exploration, cadastral measurement, fine agriculture and the like. The invention provides a method for accurately acquiring a three-dimensional space coordinate of a GPS receiver in the technical field.
Background
The GPS code measurement pseudo-range absolute positioning only needs one GPS receiver, is simple and convenient to operate, low in cost and high in speed, and is widely applied to the fields of vehicle navigation, public security traffic, disaster rescue, travel exploration, geographic investigation, geological survey, resource exploration, cadastral measurement, fine agriculture and the like. In modern large cities, high buildings or structures, or mountainous areas, hilly terrain, mountainous and mountainous peaks of peaks and dense forests, severely block and obscure satellite signals. Therefore, it is very important to research and develop a method for obtaining accurate GPS receiver coordinates when receiving less GPS satellite signals and without initial GPS station coordinates. At present, the code measurement pseudorange GPS absolute single point positioning is mainly realized by the following methods at home and abroad:
method 1. conventional method, otherwise known as general method. The code-measuring pseudo-range from each GPS satellite to the receiver is used as an observed quantity, and a code-measuring pseudo-range absolute positioning observation equation set is listed, so that the relation between the known GPS satellite coordinate and the unknown receiver coordinate is established. Because the GPS code measurement pseudo range single point positioning observation equation is nonlinear, the GPS code measurement pseudo range single point positioning observation equation is generally linearized by Taylor series expansion, and the solution of the observation equation is solved by using a linear least square method, namely the accurate coordinate value of the GPS receiver is obtained. The method for acquiring the coordinates of the GPS receiver needs synchronous observation data of more than 4 GPS satellites, and if the observation data of more than 4 satellites exceeds the observation data of the 4 satellites, the least square solution of an observation equation is solved by using a least square method.
(see [1] Lissajou. GPS principle and application [ M ], 21 st college textbook, scientific Press, 2003; [2] Liuji residue. GPS satellite navigation positioning principle and method [ M ], scientific Press, 2003 ]; [3] Zhouyomi plan, Yijijun, Zhouyi. GPS satellite measurement principle and application [ M ], surveying and mapping Press, 1997 ]; [4] Elliott Kaplan, ChristopherHegarty, Understand GPS: printies and applications [ M ], Secondedition 2006ARTH HOUSE, INCORPORATION)
Method 2. difference method. Different from the method 1, the method does not carry out linearization on code measurement pseudo-range observation equations, but carries out difference solving on each observation equation so as to eliminate nonlinear terms in the observation equations, and then solves the observation equations to directly solve the three-dimensional rectangular coordinates of the GPS receiver.
(see [5] Liu Dale, et al. principles and data processing of Global Positioning System (GPS) [ M ]. Shanghai: Tongji university Press, 1996; [6] Guoqiying, et al. several algorithms for absolute positioning of GPS code-measuring pseudoranges, survey and drawing science, 2005,30(5):26-28)
In the method 1, the initial coordinates of the GPS receiver need to be known, and then the accurate coordinates of the GPS receiver are obtained by solving the observation equation set. This method cannot be implemented without the GPS receiver initial coordinates. Even if the initial coordinate of the GPS receiver is known, if the deviation between the initial value and the accurate value of the coordinate of the observation station is large, the model error of the secondary tiny amount is omitted, the calculation result is influenced by the model error which cannot be ignored, and even the accurate coordinate cannot be obtained through iterative divergence.
Method 2 should be noted that this method needs to receive more than 5 GPS satellite signals at the same time to list more than 5 pseudorange observation equations, so as to ensure the linear independence of the equations after the difference processing between the observation equations. This clearly limits the range of application of the method, especially in urban areas, high building groups, structures, mountainous and hilly lands, mountainous and mountainous peaks and peaks over peaks terrains and dense forests, which can obscure the GPS signals seriously and in many cases, it is impossible to receive more than 5 GPS satellite signals at the same time.
From the above, it is known that: how to obtain the accurate three-dimensional space coordinate of a GPS receiver under the condition of receiving less GPS satellite signals (without increasing the number of GPS observation satellites) and without an initial GPS coordinate value is one of the core contents and research hotspot directions of code measurement pseudorange GPS single-point positioning.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art, and provides a code-measuring pseudorange GPS absolute positioning method to obtain the accurate three-dimensional space coordinate of a GPS receiver under the condition of receiving less GPS satellite signals and having no GPS initial coordinate value.
The technical scheme for solving the problems is as follows:
a code measurement pseudorange GPS absolute positioning method comprises the following steps:
step 1: data collection: collecting coordinate data of GPS satellites received by a GPS receiver, pseudo distances from each GPS satellite to the GPS receiver and corresponding ionosphere delay and troposphere delay data;
step 2: the mathematical model provided by the invention utilizes the data acquired in the step 1 to estimate the approximate coordinates of the GPS receiver, and provides data support for the step 3;
and step 3: and (2) calculating the coefficients of the observation equation set after the Taylor series linearization by taking the approximate coordinates of the GPS receiver obtained in the step (2) as initial coordinate values according to the coordinates of the GPS satellites, the pseudo distances from the GPS satellites to the GPS receiver, and the corresponding ionospheric delay and tropospheric delay, and solving the solution (or least square solution) of the linear equation set to obtain accurate coordinates of the GPS receiver. Simultaneously providing data support for the step 4;
and 4, step 4: and (3) aiming to obtain more accurate GPS receiver coordinates, taking the GPS receiver coordinate values obtained from the step (3) as initial coordinates of the next GPS receiver, calculating the coefficients of the observation equation set, obtaining the solution (least square solution) of the linear equation set, and obtaining more accurate GPS receiver coordinates. And iterating until the coordinate difference of the GPS receiver obtained in the previous and subsequent times meets the precision requirement of the user.
The step 1 is realized by the following specific steps:
(1) real-time ephemeris data of a GPS satellite received by a GPS receiver;
(2) extracting ionosphere delay and troposphere delay from the real-time ephemeris data, and correcting a receiver code measurement pseudo range to obtain the distance from the corrected GPS satellite to the receiver:
Figure BDA0002283833950000031
in the formula (1), i is a GPS satellite number, and i is 1,2,3, 4; rhoiAfter the delay of the ionosphere and the troposphere is corrected from the receiver to the No. i GPS satelliteThe distance of (d);
Figure BDA0002283833950000032
the pseudo range from the satellite measured by the No. i GPS receiver to the measuring station; delta IiAnd δ TiDelay data for the corresponding ionosphere and troposphere;
(3) obtaining the coordinates of each GPS satellite in a ground-fixed coordinate system, namely X from the GPS real-time ephemeris datai,Yi,ZiAnd the three-dimensional coordinate data are respectively the three-dimensional coordinate data of the No. i GPS satellite.
The step 2 is realized by the following specific steps:
(1) according to the three-dimensional coordinate data of the GPS satellite which can be received by the GPS receiver, the pseudo distance from each GPS satellite to the GPS receiver, and the corresponding ionospheric delay and tropospheric delay, each coefficient in the coefficient matrix is calculated by adopting the following formula:
ai＝2(Xi+1-Xi) (2)
bi＝2(Yi+1-Yi) (3)
ci＝2(Zi+1-Zi) (4)
Figure BDA0002283833950000033
a in the formulae (2), (3) and (4)i，bi，ciRespectively coefficient matrix coefficients; l in formula (5)iIs the free term vector coefficient; the row and column numbers of the i coefficient matrix, i is 1,2 and 3;
(2) the system of equations for solving the initial coordinates of the receiver is formed by the coefficients, and the matrix form is as follows:
Figure BDA0002283833950000034
(6) wherein A is a coefficient matrix:
Figure BDA0002283833950000036
for the initial coordinate vector of the receiver,
Figure BDA0002283833950000037
l is a vector of the free terms,
Figure BDA0002283833950000038
(3) solving equation set (6), the receiver initial approximate coordinates are:
Figure BDA0002283833950000039
all of the above equations provide mathematical models for the present invention,
Figure BDA00022838339500000310
i.e. the calculated initial approximate coordinates of the GPS receiver.
The step 3 is realized by the following steps:
(1) calculating the coefficients of the observation equation set linearized by the taylor series according to the GPS satellite coordinate values, the pseudoranges of the satellites to the GPS receiver, the corresponding ionospheric and tropospheric delays, and the initial coordinate values of the GPS receiver obtained in step 2:
Figure BDA0002283833950000041
in the formula (8), the coefficient matrix
Figure BDA0002283833950000042
Receiver coordinate correction vector
Figure BDA0002283833950000043
δ X, δ Y, δ Z are correction amounts in the direction X, Y, Z, respectively; free term vector
Figure BDA0002283833950000044
Wherein:
Figure BDA0002283833950000045
Figure BDA0002283833950000046
c is the speed of light, and c is 299792.458 km/s;
Figure BDA0002283833950000047
(2) solving the equation set (8) to obtain the coordinate correction vector of the GPS receiver
Figure BDA00022838339500000410
(3) And (3) correcting the initial approximate coordinate of the GPS receiver obtained in the step (2) to obtain the accurate GPS receiver coordinate:
Figure BDA00022838339500000411
Figure BDA00022838339500000412
in order to correct the exact GPS receiver coordinates after correction,
the step 4 is realized by the following steps:
(1) and (3) aiming to acquire more accurate GPS receiver coordinates, and iterating the step (3), wherein the iteration process is as follows:
the precise GPS receiver coordinate obtained in the step 3
Figure BDA00022838339500000414
As initial coordinates for the next GPS receiver, i.e.
Figure BDA00022838339500000415
Will be provided with
Figure BDA00022838339500000416
Substituting into step 3 to obtain ki、mi、niAnd a new coefficient matrix B is obtained,
and solving the equation set (8) again to obtain a new GPS receiver coordinate correction:
Figure BDA00022838339500000417
correcting the precise GPS receiver coordinate obtained in the step 3 to obtain a more precise GPS receiver coordinate
Figure BDA00022838339500000418
(2) And iterating until the coordinate difference of the GPS receiver obtained in the previous and subsequent times meets the precision requirement of the user.
The method is used for acquiring the accurate coordinate value of the GPS receiver under the condition that only 4 GPS satellite observation values exist and no initial coordinate of the GPS receiver exists.
Compared with the prior art, the invention has the beneficial effects that:
(1) compared with the prior method 1, the invention can accurately obtain the coordinate value of the GPS receiver by using 4 GPS satellite observation values under the condition of no initial coordinate of the GPS receiver. Whereas method 1 must know the initial coordinates of the GPS receiver. In addition, if the initial coordinates are too different from the actual coordinates, the iterative divergence cannot acquire accurate coordinate values.
(2) Compared with the prior method 2, under the condition of no initial coordinate of the GPS receiver, the invention can accurately obtain the coordinate value of the GPS receiver by only using 4 observation values of the GPS satellites. Whereas method 2 requires more than 5 GPS satellite observations.
In practical application, the method of the present invention is suitable for GPS code measurement pseudorange absolute positioning navigation in urban areas, high building groups, structures, mountainous and hilly mountainous and mountainous. In these cases, the GPS signals are severely blocked, and in many cases, more than 5 GPS satellite signals cannot be received at the same time.
Drawings
Fig. 1 is a flowchart of a code measurement pseudorange GPS absolute positioning method according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, the present invention provides a flowchart of a code measurement pseudorange GPS absolute positioning method, which comprises the following specific steps:
step 1: data collection: collecting coordinate data of GPS satellites received by a GPS receiver, pseudo distances from each GPS satellite to the GPS receiver, corresponding data such as ionospheric delay, tropospheric delay and the like;
(1) collecting real-time ephemeris data of a GPS satellite received by a GPS receiver;
(2) extracting ionosphere delay and troposphere delay from the real-time ephemeris data, and correcting a receiver code measurement pseudo range to obtain the distance from the corrected GPS satellite to the receiver:
Figure BDA0002283833950000051
in the formula (1), i is a GPS satellite number, and i is 1,2,3, 4; rhoiThe distance from the receiver to the No. i GPS satellite after delay correction of the ionosphere and the troposphere;
Figure BDA0002283833950000052
the pseudo range from the satellite measured by the No. i GPS receiver to the measuring station; delta IiAnd δ TiCorresponding ionospheric and tropospheric delays.
(3) Obtaining the coordinates of each GPS satellite in a ground-fixed coordinate system, namely X from the GPS real-time ephemeris datai,Yi,ZiThree-dimensional coordinate components of the i-th GPS satellite, respectively.
Step 2: the mathematical model provided by the invention is used for estimating the approximate coordinates of the GPS receiver, and data support is provided for the step 3;
(1) calculating each coefficient in the coefficient matrix by the following formula according to the coordinate data of the GPS satellite which can be received by the GPS receiver, the pseudo distance from each GPS satellite to the GPS receiver, and the corresponding ionospheric delay and tropospheric delay:
ai＝2(Xi+1-Xi) (2)
bi＝2(Yi+1-Yi) (3)
ci＝2(Zi+1-Zi) (4)
Figure BDA0002283833950000061
a in the formulae (2), (3) and (4)i，bi，ciRespectively coefficient matrix coefficients; l in formula (5)iIs the free term vector coefficient; i is the row and column number of the coefficient matrix, i is 1,2, 3.
(2) The system of equations for solving the initial coordinates of the receiver is formed by the coefficients, and the matrix form is as follows:
Figure BDA0002283833950000062
in equation (6), a is a coefficient matrix:
Figure BDA0002283833950000063
for the initial coordinate vector of the receiver,
Figure BDA0002283833950000065
l is a vector of the free terms,
(3) solving the equation set (6) to obtain the initial coordinates of the receiver as:
Figure BDA0002283833950000067
and step 3: and (2) calculating the coefficients of the observation equation set after the Taylor series linearization by taking the approximate coordinates of the GPS receiver obtained in the step (2) as initial coordinate values according to the coordinates of the GPS satellites, the pseudo distances from the GPS satellites to the GPS receiver, and the corresponding ionospheric delay and tropospheric delay, and solving the solution (or least square solution) of the linear equation set to obtain accurate coordinates of the GPS receiver. Simultaneously providing data support for the step 4;
(1) calculating the coefficients of the observation equation set linearized by the taylor series according to the GPS satellite coordinate values acquired by the GPS receiver, the pseudoranges of the satellites to the GPS receiver, the corresponding ionospheric and tropospheric delays, and the initial coordinate values of the GPS receiver obtained in step 2:
Figure BDA0002283833950000068
Figure BDA0002283833950000069
Figure BDA00022838339500000610
Figure BDA00022838339500000611
k in the formulae (8), (9) and (10)i,mi,niRespectively coefficient matrix coefficients; w in formula (11)iAre the free term vector coefficients, wherein,
Figure BDA00022838339500000612
i is the row and column number of the coefficient matrix, i is 1,2,3, 4.
(2) The above coefficients form an observation equation set to obtain the accurate coordinate of the GPS receiver, and the matrix form is as follows:
Figure BDA00022838339500000613
in the formula (12), B is a coefficient matrix,
Figure BDA0002283833950000071
wherein c is the speed of light, and c is 299792.458 km/s;
Figure BDA0002283833950000072
the vector is corrected for the receiver coordinates and,δ X, δ Y, δ Z are correction amounts in the direction X, Y, Z, respectively; w is a free term vector
Figure BDA0002283833950000074
(3) Solving the system of linear equations (12) to obtain the GPS receiver coordinate correction vector:
Figure BDA0002283833950000075
(4) and (3) correcting the initial approximate coordinate of the GPS receiver obtained in the step (2) to obtain the accurate GPS receiver coordinate:
Figure BDA0002283833950000076
in order to correct the exact GPS receiver coordinates after correction,
Figure BDA0002283833950000078
and 4, step 4: more accurate GPS receiver coordinates are to be acquired.
(1) Using the GPS receiver coordinate value obtained from step 3 as the next GPS receiver initial coordinateThen, the coefficients B and W of the observation equation set are calculated according to the step 3, and the solution (least square solution) of the linear equation set is solved
Figure BDA00022838339500000710
More accurate GPS receiver coordinates can be obtained.
(2) And iterating until the coordinate difference of the GPS receiver obtained in the two times meets the precision requirement of the user.
Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A code measurement pseudorange GPS absolute positioning method is characterized by comprising the following steps:
step 1: acquiring coordinate data of GPS satellites received by a GPS receiver, pseudo distances from each GPS satellite to the GPS receiver and corresponding ionized layer delay and troposphere delay data;
step 2: estimating the initial approximate coordinates of the GPS receiver by using the mathematical model provided by the invention;
and step 3: according to the GPS satellite coordinates, the pseudo distances from each GPS satellite to the GPS receiver, the corresponding ionosphere delay and troposphere delay, calculating the observation equation set coefficients linearized by the Taylor series by taking the GPS receiver approximate coordinates obtained in the step 2 as initial coordinate values, and solving the solution or least square solution of the linear equation set to obtain accurate GPS receiver coordinates;
and 4, step 4: calculating the coefficient of the observation equation set by taking the GPS receiver coordinate obtained from the step 3 as the next initial coordinate of the GPS receiver, and obtaining the solution or least square solution of the linear equation set to obtain more accurate GPS receiver coordinate; and iterating until the coordinate difference of the GPS receiver obtained in the previous and subsequent times meets the precision requirement of the user.
2. The code-measuring pseudorange GPS absolute positioning method according to claim 1, characterized in that: the step 1 is realized by the following specific steps:
(1) real-time ephemeris data of a GPS satellite received by a GPS receiver;
(2) extracting ionosphere delay and troposphere delay from the real-time ephemeris data, and correcting a receiver code measurement pseudo range to obtain the distance from the corrected GPS satellite to the receiver:
Figure FDA0002283833940000011
in the formula (1), i is a GPS satellite number, and i is 1,2,3, 4; rhoiThe distance from the receiver to the No. i GPS satellite after delay correction of the ionosphere and the troposphere;
Figure FDA0002283833940000012
the pseudo range from the satellite measured by the No. i GPS receiver to the measuring station; delta IiAnd δ TiDelay data for the corresponding ionosphere and troposphere;
(3) obtaining the coordinates of each GPS satellite in a ground-fixed coordinate system, namely X from the GPS real-time ephemeris datai,Yi,ZiAnd the three-dimensional coordinate data are respectively the three-dimensional coordinate data of the No. i GPS satellite.
3. The code-measuring pseudorange GPS absolute positioning method according to claim 1, characterized in that: the step 2 is realized by the following specific steps:
(1) according to the three-dimensional coordinate data of the GPS satellite which can be received by the GPS receiver, the pseudo distance from each GPS satellite to the GPS receiver, and the corresponding ionospheric delay and tropospheric delay, each coefficient in the coefficient matrix is calculated by adopting the following formula:
ai＝2(Xi+1-Xi) (2)
bi＝2(Yi+1-Yi) (3)
ci＝2(Zi+1-Zi) (4)
Figure FDA0002283833940000021
a in the formulae (2), (3) and (4)i，bi，ciRespectively coefficient matrix coefficients; l in formula (5)iIs the free term vector coefficient; the row and column numbers of the i coefficient matrix, i is 1,2 and 3;
(2) the system of equations for solving the initial coordinates of the receiver is formed by the coefficients, and the matrix form is as follows:
Figure FDA0002283833940000022
(6) wherein A is a coefficient matrix:
Figure FDA0002283833940000023
Figure FDA0002283833940000024
for the initial coordinate vector of the receiver,
Figure FDA0002283833940000025
l is a vector of the free terms,
Figure FDA0002283833940000026
(3) solving equation set (6), the receiver initial approximate coordinates are:
Figure FDA0002283833940000027
all of the above equations provide mathematical models for the present invention,
Figure FDA0002283833940000028
i.e. the calculated initial approximate coordinates of the GPS receiver.
4. The code-measuring pseudorange GPS absolute positioning method according to claim 1, characterized in that: the step 3 is realized by the following steps:
(1) calculating the coefficients of the observation equation set linearized by the taylor series according to the GPS satellite coordinate values, the pseudoranges of the satellites to the GPS receiver, the corresponding ionospheric and tropospheric delays, and the initial coordinate values of the GPS receiver obtained in step 2:
Figure FDA0002283833940000029
in the formula (8), the coefficient matrixReceiver coordinate correction vector
Figure FDA00022838339400000211
δ X, δ Y, δ Z are correction amounts in the direction X, Y, Z, respectively; free term vector
Figure FDA00022838339400000212
Wherein:
Figure FDA00022838339400000213
Figure FDA00022838339400000214
c is the speed of light, and c is 299792.458 km/s;
Figure FDA00022838339400000215
(i＝1,2,3,4)，
Figure FDA00022838339400000216
Figure FDA00022838339400000217
(2) solving the equation set (8) to obtain the coordinate correction vector of the GPS receiver
Figure FDA00022838339400000218
Figure FDA00022838339400000219
(3) And (3) correcting the initial approximate coordinate of the GPS receiver obtained in the step (2) to obtain the accurate GPS receiver coordinate:
Figure FDA0002283833940000031
Figure FDA0002283833940000032
in order to correct the exact GPS receiver coordinates after correction,
Figure FDA0002283833940000033
5. the code-measuring pseudorange GPS absolute positioning method according to claim 1, characterized in that: the step 4 is realized by the following steps:
(1) and (3) aiming to acquire more accurate GPS receiver coordinates, and iterating the step (3), wherein the iteration process is as follows:
the precise GPS receiver coordinate obtained in the step 3
Figure FDA0002283833940000034
As initial coordinates for the next GPS receiver, i.e.
Figure FDA0002283833940000035
Will be provided with
Figure FDA0002283833940000036
Substituting into step 3 to obtain ki、mi、niAnd a new coefficient matrix B is obtained,
and solving the equation set (8) again to obtain a new GPS receiver coordinate correction:
Figure FDA0002283833940000037
correcting the precise GPS receiver coordinate obtained in the step 3 to obtain a more precise GPS receiver coordinate
Figure FDA0002283833940000038
(2) And iterating until the coordinate difference of the GPS receiver obtained in the previous and subsequent times meets the precision requirement of the user.
6. The code-measuring pseudorange GPS absolute positioning method according to claim 1, characterized in that: the method is used for acquiring the accurate coordinate value of the GPS receiver under the condition that only 4 GPS satellite observation values exist and the initial coordinate of the GPS receiver does not exist.
CN201911152136.3A 2019-11-22 2019-11-22 Code measurement pseudo range GPS absolute positioning method Pending CN110824517A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911152136.3A CN110824517A (en) 2019-11-22 2019-11-22 Code measurement pseudo range GPS absolute positioning method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911152136.3A CN110824517A (en) 2019-11-22 2019-11-22 Code measurement pseudo range GPS absolute positioning method

Publications (1)

Publication Number Publication Date
CN110824517A true CN110824517A (en) 2020-02-21

Family

ID=69557982

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911152136.3A Pending CN110824517A (en) 2019-11-22 2019-11-22 Code measurement pseudo range GPS absolute positioning method

Country Status (1)

Country Link
CN (1) CN110824517A (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5986603A (en) * 1996-02-14 1999-11-16 Trimble Navigation Limited Geometric utilization of exact solutions of the pseudorange equations
CN102486540A (en) * 2010-12-06 2012-06-06 中国科学院微电子研究所 Quick positioning method applied to global satellite positioning and navigating system
CN103033825A (en) * 2012-12-26 2013-04-10 江苏科技大学 Positioning calculating method of global navigation satellite system (GNSS) receiver
CN103364801A (en) * 2012-03-30 2013-10-23 中国科学院国家天文台 A method for multiplying positioning precision in a satellite navigation positioning system
CN103399334A (en) * 2013-07-30 2013-11-20 中国科学院国家天文台 Method for improving positioning precision of satellite navigation system on basis of ultra-precise code
CN104865587A (en) * 2015-06-15 2015-08-26 中国人民解放军国防科学技术大学 Quick locating method based on GEO constellation coarse location for Beidou receiver
US20150276934A1 (en) * 2014-04-01 2015-10-01 The United States Of America As Represented By The Secretary Of The Navy Correlated gps pseudorange error estimation method
CN106569241A (en) * 2016-09-27 2017-04-19 北京航空航天大学 Single frequency high precision positioning method based on GNSS

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5986603A (en) * 1996-02-14 1999-11-16 Trimble Navigation Limited Geometric utilization of exact solutions of the pseudorange equations
CN102486540A (en) * 2010-12-06 2012-06-06 中国科学院微电子研究所 Quick positioning method applied to global satellite positioning and navigating system
CN103364801A (en) * 2012-03-30 2013-10-23 中国科学院国家天文台 A method for multiplying positioning precision in a satellite navigation positioning system
CN103033825A (en) * 2012-12-26 2013-04-10 江苏科技大学 Positioning calculating method of global navigation satellite system (GNSS) receiver
CN103399334A (en) * 2013-07-30 2013-11-20 中国科学院国家天文台 Method for improving positioning precision of satellite navigation system on basis of ultra-precise code
US20150276934A1 (en) * 2014-04-01 2015-10-01 The United States Of America As Represented By The Secretary Of The Navy Correlated gps pseudorange error estimation method
CN104865587A (en) * 2015-06-15 2015-08-26 中国人民解放军国防科学技术大学 Quick locating method based on GEO constellation coarse location for Beidou receiver
CN106569241A (en) * 2016-09-27 2017-04-19 北京航空航天大学 Single frequency high precision positioning method based on GNSS

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
张婷: "GPS接收机导航解算及其DSP实现", 《中国优秀博硕士学位论文全文数据库(硕士)基础科学辑（月刊）》 *
田安红等: "一种改进的GPS测码伪距单点定位算法", 《重庆邮电大学学报(自然科学版)》 *
郭秋英等: "GPS测码伪距绝对定位的几种算法", 《测绘科学》 *

Similar Documents

Publication Publication Date Title
CN106970398B (en) Satellite visibility analysis and ephemeris forecasting method considering satellite shielding condition
CN105467415B (en) A kind of SUAV RTK relative positioning methods constrained based on difference pressure altitude
CN105301601A (en) Global navigation satellite system (GNSS) ionosphere delayed three-dimensional modeling method suitable for global area
CN105242292A (en) Pseudo-range differential positioning method of long base line
CN110749907A (en) Clock error compensation method and system based on receiver in Beidou mobile positioning
CN105510945A (en) PPP positioning method applied to satellite navigation landing outfield detection
CN115421172B (en) Beidou deformation monitoring method based on real-time and quasi-real-time combination
CN103529482A (en) Method for determining dynamic accelerated speed of carrier precisely
CN107121689A (en) GLONASS inter-frequency deviation single epoch method for quick estimating
CN110907971B (en) Satellite positioning method and device for high-altitude equipment, computer equipment and storage medium
CN106934113A (en) Suitable for the modeling method of the improved polynomial of the vertical total electron content modeling in region ionosphere
Bramanto et al. Long-range single baseline RTK GNSS positioning for land cadastral survey mapping
CN101266153B (en) Mapping engineering top total station accuracy assessment method
CN105738931A (en) GPS point positioning system based on Kalman filtering
CN103760582B (en) A kind of optimization method blocking satellite double-difference observation structure under environment
CN109613582A (en) A kind of vehicle-mounted real-time single-frequency meter level pseudorange localization method
Du et al. Experimental study on GPS non-linear least squares positioning algorithm
CN104991265A (en) Beidou satellite navigation system user uniformity positioning method
CN115902968A (en) PPP terminal positioning method based on Beidou third GEO broadcast enhancement information
US11808608B2 (en) Systems and methods for extending the spatial coverage of a reference pressure network
CN107144866B (en) Method and system for coordinating satellite positioning based on digital compass
CN110824517A (en) Code measurement pseudo range GPS absolute positioning method
CN114779301A (en) Satellite navigation real-time precise single-point positioning method based on broadcast ephemeris
CN108008367A (en) Ionosphere error correction method for satellite-borne single-navigation-pass InSAR system
CN103389502B (en) Method for determining carrier acceleration at high precision on basis of multiple ground base stations

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20200221