CN110824521A - GNSS satellite positioning method and system and positioning terminal - Google Patents
GNSS satellite positioning method and system and positioning terminal Download PDFInfo
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- CN110824521A CN110824521A CN201810925640.1A CN201810925640A CN110824521A CN 110824521 A CN110824521 A CN 110824521A CN 201810925640 A CN201810925640 A CN 201810925640A CN 110824521 A CN110824521 A CN 110824521A
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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
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
The invention is suitable for the technical field of satellite positioning, and provides a GNSS satellite positioning method, a GNSS satellite positioning system and a positioning terminal, wherein the positioning method comprises the following steps: acquiring data of a receiver, wherein the data comprises deviation data and original observation data; acquiring an inter-station single-difference observation value based on the difference data and the original observation data; and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result. In the invention, an interstation single-difference filtering observation equation is established, and differential positioning calculation is carried out by utilizing deviation data constraint, so that the influence of signal frequency band deviation on a positioning result can be reduced, and the positioning accuracy is further improved.
Description
Technical Field
The invention belongs to the technical field of satellite positioning, and particularly relates to a GNSS satellite positioning method and system and a positioning terminal.
Background
The GNSS is called Global Navigation Satellite System (Global Navigation Satellite System), which refers to all Satellite Navigation systems in general, including Global, regional, and enhanced systems, such as GPS in the united states, Glonass in russia, Galileo in europe, and beidou Satellite Navigation System in china, and related enhanced systems, such as WAAS (wide area augmentation System) in the united states, EGNOS in europe (european geostationary Navigation overlay System), MSAS in japan (multi-functional transportation Satellite augmentation System), and the like, and also covers other Satellite Navigation systems to be built and later built.
The communication process between the satellite and the receiver is roughly as follows: the pseudo range and the carrier signal are transmitted to the satellite antenna through the hardware channel, are transmitted through the satellite antenna, are received by the antenna at the receiver end, are matched with the satellite signal of the receiver through the hardware channel, and the receiver obtains the corresponding carrier and pseudo range observed values. Because the initial phases of signals with different mechanisms and different frequencies are inconsistent, for different receivers and satellites, carrier deviation and pseudo-range deviation of corresponding signal observation values will have certain difference.
In the prior art, an observation value can be obtained through a single-difference or non-difference positioning model, but for the non-difference or single-difference positioning model, when parameters are not eliminated or combined, a deviation product of the non-difference or single-difference positioning model can be absorbed by ambiguity to influence the integer characteristic of the ambiguity; when the observation value is obtained by adopting a double difference mode, the signal time delay deviation between the receiver end and the satellite end can be directly eliminated through difference. Although the double difference method can avoid the influence of signal deviation between receivers by eliminating related parameters, the double difference method limits the combination method between observed values, so that all observed information of all constellations cannot be fully utilized, and positioning accuracy is influenced by missing some data.
Disclosure of Invention
The embodiment of the invention provides a GNSS satellite positioning method, a GNSS satellite positioning system and a GNSS satellite positioning terminal, and aims to solve the problem that in the prior art, the positioning accuracy is influenced because data in an observation process cannot be fully utilized.
A GNSS satellite positioning method comprising:
acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
acquiring an inter-station single-difference observation value based on the difference data and the original observation data;
and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.
Preferably, the obtaining inter-station single-difference observation values based on the differential data and the original observation data includes:
performing time synchronization based on the differential data and the original observation data to obtain synchronous data;
establishing an inter-station single-difference observation model based on the synchronous data;
and acquiring an inter-station single-difference observation value based on the inter-station single-difference observation model.
Preferably, the establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain differential positioning data includes:
establishing an interstation single-difference filtering observation equation based on the interstation single-difference observation model and the deviation data;
and carrying out differential positioning based on the interstation single difference filtering observation equation to obtain a differential positioning result.
Preferably, the inter-station single-difference observation model and the deviation data establishing an inter-station single-difference filtering observation equation comprise:
estimating positions, interstation single-difference ambiguity, intersystem deviation and frequency deviation based on the interstation single-difference observation model;
and utilizing the received deviation data as a known value for constraint, and establishing an inter-station single difference filtering observation equation.
Preferably, the differential positioning based on the inter-station single difference filtering observation equation, and obtaining a differential positioning result includes:
fixing the single-difference ambiguity between stations based on the single-difference filtering observation equation between stations;
and restoring the positions and the inter-station single-difference ambiguities corresponding to the fixed results, and the results of the inter-system deviation and the inter-frequency deviation based on the fixed single-difference ambiguities.
Preferably, the data of the acquisition receiver is specifically:
and receiving deviation data and original observation data sent by the reference station.
The invention also provides a GNSS satellite positioning system, comprising:
the first acquisition unit is used for acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
the second acquisition unit is used for acquiring an inter-station single-difference observation value based on the differential data and the original observation data;
and the differential positioning unit is used for establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain a differential positioning result.
The invention also provides a positioning terminal, which comprises a GNSS satellite positioning system, wherein the satellite positioning system comprises:
the first acquisition unit is used for acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
the second acquisition unit is used for acquiring an inter-station single-difference observation value based on the differential data and the original observation data;
and the differential positioning unit is used for establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain a differential positioning result.
The present invention also provides a memory storing a computer program, wherein the computer program is executed by a processor to perform the steps of:
acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
acquiring an inter-station single-difference observation value based on the difference data and the original observation data;
and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.
The invention also provides a service terminal, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the following steps:
acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
acquiring an inter-station single-difference observation value based on the difference data and the original observation data;
and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.
In the embodiment of the invention, an inter-station single-difference filtering observation equation is established, and differential positioning calculation is carried out by utilizing deviation data constraint, so that the influence of signal frequency band deviation on a positioning result can be reduced, and the positioning accuracy is further improved.
Drawings
FIG. 1 is a flowchart illustrating a GNSS satellite positioning method according to a first embodiment of the present invention;
FIG. 2 is a flowchart illustrating a step S2 of a GNSS satellite positioning method according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a step S3 of a GNSS satellite positioning method according to a first embodiment of the present invention;
FIG. 4 is a flowchart illustrating a step S32 of a GNSS satellite positioning method according to a first embodiment of the present invention;
FIG. 5 is a block diagram of a GNSS satellite positioning system according to a second embodiment of the present invention;
fig. 6 is a structural diagram of a service terminal according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In an embodiment of the present invention, a GNSS satellite positioning method includes: acquiring data of a receiver, wherein the data comprises deviation data and original observation data; acquiring an inter-station single-difference observation value based on the difference data and the original observation data; and establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 is a flowchart illustrating a GNSS satellite positioning method according to a first embodiment of the present invention, where the method includes:
step S1, acquiring data of the receiver;
specifically, observed data is acquired from a known receiver (target receiver), where the observed data includes deviation data (i.e. known deviation data) and original observed data, and after the data is acquired, the data is analyzed to obtain known receiver deviation data and original observed data, where the original observed data may include: inter-system deviation, inter-frequency deviation data, accurate coordinates of a reference station, observation data of a primary carrier of the reference station, primary pseudo-range data of the reference station and the like;
step S2, acquiring single difference observation values between stations based on the difference data and the original observation data;
specifically, an inter-station single-difference observation value is obtained based on the difference data and the original observation data;
step S3, establishing a single-difference filtering observation equation based on the single-difference observed value between stations and deviation data, and performing differential positioning to obtain differential positioning data;
specifically, a single-difference filtering observation equation is established based on the single-difference observed value between stations and deviation data, and then differential positioning is performed based on the single-difference filtering observation equation to obtain corresponding differential positioning data. For example, differential positioning data is estimated using the equation of single difference filtered observations between stations, such as: positioning position, deviation data, ambiguity and the like, setting the deviation data to be estimated so as to meet random walk characteristics, and taking the known deviation data as a pseudo-observation equation.
In the embodiment, the deviation data is used as a known parameter to participate in differential positioning calculation in actual positioning, so that the influence of signal frequency band deviation on a positioning result can be reduced, the positioning efficiency when the number of satellites is small can be improved, and the positioning accuracy is improved.
In a preferred embodiment of the present invention, as shown in fig. 2, a detailed flowchart of step S2 of the GNSS satellite positioning method according to the first embodiment of the present invention is provided, where the step S2 specifically includes:
step S21, time synchronization is carried out based on the differential data and the original observation data to obtain synchronous data;
specifically, based on differential data and original observation data, the synchronization of time data is realized by using the accurate GPS time carried in the differential data of the known receiver, and synchronous data is obtained;
step S22, establishing an inter-station single-difference observation model based on the synchronous data;
specifically, an inter-station single-difference observation model is established, and the inter-station single-difference observation model specifically comprises the following steps:
wherein s, k, j respectively represent a satellite, a receiver and a frequency number, j is 1, 2, … f, f represents the number of frequency segments, and delta represents a site single difference symbol;respectively representing single-difference pseudo-range observed quantity and carrier phase observed quantity of a satellite s between two receivers and on a frequency j;
representing the interstation homodyne geometric distance of the satellite s between two receivers; Δ δ tΔkAn interstation single difference value representing a receiver clock difference;
represents the single differenced pseudorange signal delay at the receiver end at frequency j;
represents the receiver single difference carrier phase signal delay at frequency j; lambda [ alpha ]jIs the carrier wavelength at frequency j;
is the single difference carrier integer ambiguity of the satellite s at two receiver frequencies j;
is the single difference pseudorange observed value and phase observed value noise of the satellite s on the frequency j; and c represents the speed of light.
In a preferred embodiment, the reason is that
Influence of, single difference carrier integer ambiguity to be estimated
The integer characteristic is lost, at this time, if the ambiguity is assumed to have the time invariant characteristic, and the inter-station single difference carrier pseudo range clock error obeys the white noise distribution, for each satellite constellation system, the single difference ambiguity corresponding to the satellite with the highest altitude angle of the initial epoch is selected as a zero reference value, and the satellite with the highest altitude angle is selected as a reference satellite (i.e. a reference satellite r), the pseudo range clock error is selected as a reference satellite
And carrier clock errorCan be respectively expressed as:
at this time, the base ambiguity of the non-reference satellite of the initial epoch over the frequency j can be expressed as:
wherein, S is not equal to r,
and the carrier ambiguity of the actual satellite s is expressed, absorbs the ambiguity of the reference satellite, offsets the carrier deviation influence and is restored to a fixable integer.
Step S23, acquiring an inter-station single-difference observation value based on the inter-station single-difference observation model;
specifically, the corresponding inter-station single-difference observation value is obtained based on the inter-station single-difference observation model.
In a preferred embodiment of the present invention, as shown in fig. 3, a detailed flowchart of step S3 of the GNSS satellite positioning method according to the first embodiment of the present invention is provided, where the step S3 specifically includes:
step S31, establishing an interstation single-difference filtering observation equation based on the interstation single-difference observation model and the deviation data;
specifically, data such as positions, inter-station single-difference ambiguity, inter-system deviation, inter-frequency deviation and the like are estimated based on an inter-station single-difference observation model, and then the received deviation data is used as a known value to carry out constraint to establish an inter-station single-difference filtering observation equation.
Further, known deviation data is usedAnd resolving the observation data corresponding to the interstation single-difference observation model, establishing a corresponding observation equation, and obtaining resolved data, wherein the resolving data specifically comprises the following steps:
specifically, deviation data is known
The method comprises the following steps: 
wherein: the above-mentioned
For the hardware delay variation between the receivers,
for the inter-carrier frequency offset between the receivers,for signal delay variation of carrier pseudoranges between receivers over band 1,
signal delay biases in band 1 for pseudoranges at different constellations between receivers,
is the difference in carrier offset over frequency band 1 between different constellations between receivers.
Establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation model, wherein the single-difference ambiguity of the reference satellite is 0, so that the single-difference ambiguity is not used as a parameter to be estimated, the observation unknown quantity only comprises a resolving position, the single-difference ambiguity and each deviation data to be estimated, and the inter-station single-difference filtering observation equation is as follows:
Xi＝[aXaN]T
wherein, aNFor the basic ambiguity of each observation system in each frequency band, for the parameters to be estimated that do not change with time, aXFor removing mouldsOther unknown parameters outside of the ambiguity include: x, y, z respectively represent the three-dimensional position of the receiver,
for the base pseudorange clock error for receiver band 1,
and (3) indicating deviation data of the receiver to be estimated, wherein the deviation is divided into each system and each frequency band and belongs to random walk parameters.
Step S32, carrying out differential positioning based on the single difference filtering observation equation between stations to obtain a differential positioning result;
specifically, based on an inter-station single difference filtering observation equation, the deviation data of the receiver is used as a known value to carry out constraint to carry out differential positioning, and a corresponding differential positioning result is obtained.
In a preferred embodiment of the present invention, as shown in fig. 4, a detailed flowchart of step S32 of the GNSS satellite positioning method according to the first embodiment of the present invention is provided, where the step S32 specifically includes: s321, fixing the single-difference ambiguity between stations based on the single-difference filtering observation equation between stations to obtain a fixed result;
specifically, the single-difference ambiguity between stations is fixed based on the single-difference filtering observation equation between stations, and the fixing result is as follows:
Step S322, based on the fixed single-difference ambiguity, restoring the position and inter-station single-difference ambiguity corresponding to the fixed result, and the inter-system deviation and inter-frequency deviation result;
specifically, after the ambiguity is fixed, other unknown parameters after the ambiguity is fixed are obtained, namely the unknown parameters comprise high-precision position information and high-precision deviation information, the deviation information sent by the known receiver is corrected by using the deviation information of the fixed solution result, and the position and inter-station single-difference ambiguity and system deviation and inter-frequency deviation results corresponding to the fixed result are restored.
In the embodiment, the deviation data is used as the known parameter to participate in differential positioning calculation in actual positioning, so that the influence of signal frequency band deviation on the positioning result can be reduced, the positioning efficiency when the number of satellites is small can be improved, and the positioning accuracy is improved.
And secondly, setting the satellite with the highest altitude angle as a reference satellite, setting the single-difference ambiguity of the reference satellite as 0, recovering the integer characteristic of the single-difference ambiguity and improving the reliability of the positioning result.
Example two:
as shown in fig. 5, a block diagram of a GNSS satellite positioning system according to a second embodiment of the present invention is provided, where the system includes: a first acquisition unit 1, a second acquisition unit 2 connected with the first acquisition unit 1, and a differential positioning unit 3 connected with the second acquisition unit 2, wherein:
a first acquiring unit 1, configured to acquire data of a receiver;
specifically, observed data is acquired from a known receiver (target receiver), where the observed data includes deviation data (i.e. known deviation data) and original observed data, and after the data is acquired, the data is analyzed to obtain known receiver deviation data and original observed data, where the original observed data may include: inter-system deviation, inter-frequency deviation data, accurate coordinates of a reference station, observation data of a primary carrier of the reference station, primary pseudo-range data of the reference station and the like;
a second obtaining unit 2, configured to obtain an inter-station single-difference observation value based on the difference data and the original observation data;
specifically, an inter-station single-difference observation value is obtained based on the difference data and the original observation data;
the differential positioning unit 3 is used for establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain differential positioning data;
specifically, a single-difference filtering observation equation is established based on the single-difference observed value between stations and deviation data, and then differential positioning is performed based on the single-difference filtering observation equation to obtain corresponding differential positioning data. For example, differential positioning data is estimated using the equation of single difference filtered observations between stations, such as: positioning position, deviation data, ambiguity and the like, setting the deviation data to be estimated so as to meet random walk characteristics, and taking the known deviation data as a pseudo-observation equation.
In the embodiment, the deviation data is used as a known parameter to participate in differential positioning calculation in actual positioning, so that the influence of signal frequency band deviation on a positioning result can be reduced, the positioning efficiency when the number of satellites is small can be improved, and the positioning accuracy is improved.
In a preferred embodiment of this embodiment, the second obtaining unit 2 specifically includes: a synchronization subunit, a model building subunit connected with the synchronization subunit, and an acquisition subunit connected with the model building subunit, wherein:
the synchronization subunit is used for carrying out time synchronization based on the differential data and the original observation data to obtain synchronization data;
specifically, based on differential data and original observation data, the synchronization of time data is realized by using the accurate GPS time carried in the differential data of the known receiver, and synchronous data is obtained;
the model establishing subunit is used for establishing an inter-station single-difference observation model based on the synchronous data;
specifically, an inter-station single-difference observation model is established, and the inter-station single-difference observation model specifically comprises the following steps:
wherein s, k, j respectively represent a satellite, a receiver and a frequency number, j is 1, 2, … f, f represents the number of frequency segments, and delta represents a site single difference symbol;respectively representing single-difference pseudo-range observed quantity and carrier phase observed quantity of a satellite s between two receivers and on a frequency j;
representing the interstation homodyne geometric distance of the satellite s between two receivers; Δ δ tΔkAn interstation single difference value representing a receiver clock difference;
represents the single differenced pseudorange signal delay at the receiver end at frequency j;
represents the receiver single difference carrier phase signal delay at frequency j; lambda [ alpha ]jIs the carrier wavelength at frequency j;
is the single difference carrier integer ambiguity of the satellite s at two receiver frequencies j;
is the single difference pseudorange observed value and phase observed value noise of the satellite s on the frequency j; and c represents the speed of light.
In a preferred embodiment, the reason is thatIs to be estimatedSingle difference carrier integer ambiguity ofThe integer characteristic is lost, at this time, if the ambiguity is assumed to have the time invariant characteristic, and the inter-station single difference carrier pseudo range clock error obeys the white noise distribution, for each satellite constellation system, the single difference ambiguity corresponding to the satellite with the highest altitude angle of the initial epoch is selected as a zero reference value, and the satellite with the highest altitude angle is selected as a reference satellite (i.e. a reference satellite r), the pseudo range clock error is selected as a reference satellite
And carrier clock error
Can be respectively expressed as:
at this time, the base ambiguity of the non-reference satellite of the initial epoch over the frequency j can be expressed as:
wherein, S is not equal to r,
and the carrier ambiguity of the actual satellite s is expressed, absorbs the ambiguity of the reference satellite, offsets the carrier deviation influence and is restored to a fixable integer.
The acquisition subunit is used for acquiring an inter-station single-difference observation value based on the inter-station single-difference observation model;
specifically, the corresponding inter-station single-difference observation value is obtained based on the inter-station single-difference observation model.
In a preferred embodiment of this embodiment, the differential positioning unit 3 specifically includes: an equation establishing subunit and a differential positioning subunit connected with the equation establishing subunit, wherein:
the equation establishing subunit is used for establishing an interstation single-difference filtering observation equation based on the interstation single-difference observation model and the deviation data;
specifically, data such as positions, inter-station single-difference ambiguity, inter-system deviation, inter-frequency deviation and the like are estimated based on an inter-station single-difference observation model, and then the received deviation data is used as a known value to carry out constraint to establish an inter-station single-difference filtering observation equation.
Further, known deviation data is used
And resolving the observation data corresponding to the interstation single-difference observation model, establishing a corresponding observation equation, and obtaining resolved data, wherein the resolving data specifically comprises the following steps:
specifically, deviation data is known
The method comprises the following steps:
wherein: said is
The hardware delay variation between the receivers is such that,
for the inter-carrier frequency offset between the receivers,for signal delay variation of carrier pseudoranges between receivers over band 1,
signal delay biases in band 1 for pseudoranges at different constellations between receivers,is the difference in carrier offset over frequency band 1 between different constellations between receivers.
Establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation model, wherein the single-difference ambiguity of the reference satellite is 0, so that the single-difference ambiguity is not used as a parameter to be estimated, the observation unknown quantity only comprises a resolving position, the single-difference ambiguity and each deviation data to be estimated, and the inter-station single-difference filtering observation equation is as follows:
Xi＝[aXaN]T
wherein, aNFor the basic ambiguity of each observation system in each frequency band, for the parameters to be estimated that do not change with time, aXFor other unknown parameters than ambiguities, including: x, y, z represent the three-dimensional position of the receiver,
for the base pseudorange clock error for receiver band 1,and (3) indicating deviation data of the receiver to be estimated, wherein the deviation is divided into each system and each frequency band and belongs to random walk parameters.
The differential positioning subunit is used for carrying out differential positioning based on an inter-station single-difference filtering observation equation to obtain a differential positioning result;
specifically, based on an inter-station single difference filtering observation equation, the deviation data of the receiver is used as a known value to carry out constraint to carry out differential positioning, and a corresponding differential positioning result is obtained.
In a preferred embodiment of this embodiment, the differential positioning subunit is specifically configured to:
fixing the single-difference ambiguity between stations based on the single-difference filtering observation equation between stations to obtain a fixed result;
specifically, the single-difference ambiguity between stations is fixed based on the single-difference filtering observation equation between stations, and the fixing result is as follows:
The device is also used for restoring the positions corresponding to the fixed results, the inter-station single-difference ambiguity, the inter-system deviation and the inter-frequency deviation results based on the fixed single-difference ambiguity;
specifically, after the ambiguity is fixed, other unknown parameters after the ambiguity is fixed are obtained, namely the unknown parameters comprise high-precision position information and high-precision deviation information, the deviation information sent by the known receiver is corrected by using the deviation information of the fixed solution result, and the position and inter-station single-difference ambiguity and system deviation and inter-frequency deviation results corresponding to the fixed result are restored.
In the embodiment, the deviation data is used as the known parameter to participate in differential positioning calculation in actual positioning, so that the influence of signal frequency band deviation on the positioning result can be reduced, the positioning efficiency when the number of satellites is small can be improved, and the positioning accuracy is improved.
And secondly, setting the satellite with the highest altitude angle as a reference satellite, setting the single-difference ambiguity of the reference satellite as 0, recovering the integer characteristic of the single-difference ambiguity and improving the reliability of the positioning result.
The present invention further provides a positioning terminal, which includes the GNSS satellite positioning system according to the second embodiment, and the detailed structure, the working principle, and the corresponding technical effects of the positioning system can refer to the description of the second embodiment, which is not described herein again.
Example three:
fig. 6 is a block diagram illustrating a service terminal according to a third embodiment of the present invention, where the service terminal includes: a memory (memory)61, a processor (processor)62, a communication Interface (communication Interface)63 and a bus 64, wherein the processor 62, the memory 61 and the communication Interface 63 complete mutual communication through the bus 64.
A memory 61 for storing various data;
specifically, the memory 61 is used for storing various data, such as data in communication, received data, and the like, and is not limited herein, and the memory further includes a plurality of computer programs.
A communication interface 63 for information transmission between communication devices of the service terminal;
the processor 62 is configured to invoke various computer programs in the memory 61 to execute a GNSS satellite positioning method provided in the first embodiment, for example:
acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
acquiring an inter-station single-difference observation value based on the difference data and the original observation data;
and establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.
In this embodiment, the service terminal may be a positioning service terminal, such as a GNSS positioning service terminal or the like, which is not limited herein.
In the embodiment, the deviation data is used as the known parameter to participate in differential positioning calculation in actual positioning, so that the influence of signal frequency band deviation on the positioning result can be reduced, the positioning efficiency when the number of satellites is small can be improved, and the positioning accuracy is improved.
The present invention further provides a memory, wherein the memory stores a plurality of computer programs, and the computer programs are invoked by the processor to execute a GNSS satellite positioning method according to the first embodiment.
In the invention, the deviation data is used as a known parameter to participate in differential positioning calculation in actual positioning, so that the influence of signal frequency band deviation on a positioning result can be reduced, the positioning efficiency when the number of satellites is small can be improved, and the positioning accuracy is improved.
And secondly, setting the satellite with the highest altitude angle as a reference satellite, setting the single-difference ambiguity of the reference satellite as 0, recovering the integer characteristic of the single-difference ambiguity and improving the reliability of the positioning result.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation.
Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A GNSS satellite positioning method, comprising:
acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
acquiring an inter-station single-difference observation value based on the difference data and the original observation data;
and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.
2. The method of claim 1, wherein the obtaining inter-station single-difference observations based on the difference data and the raw observation data comprises:
performing time synchronization based on the differential data and the original observation data to obtain synchronous data;
establishing an inter-station single-difference observation model based on the synchronous data;
and acquiring an inter-station single-difference observation value based on the inter-station single-difference observation model.
3. The positioning method according to claim 2, wherein the establishing of the inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning comprise:
establishing an interstation single-difference filtering observation equation based on the interstation single-difference observation model and the deviation data;
and carrying out differential positioning based on the interstation single difference filtering observation equation to obtain a differential positioning result.
4. The method of claim 3, wherein the establishing inter-station single-difference filtering observation equations based on the inter-station single-difference observation models and the deviation data comprises:
estimating positions, interstation single-difference ambiguity, intersystem deviation and frequency deviation based on the interstation single-difference observation model;
and utilizing the received deviation data as a known value for constraint, and establishing an inter-station single difference filtering observation equation.
5. The positioning method according to claim 4, wherein the differential positioning based on the inter-station single difference filtering observation equation to obtain a differential positioning result comprises:
fixing the single-difference ambiguity between stations based on the single-difference filtering observation equation between stations;
and restoring the positions and the inter-station single-difference ambiguities corresponding to the fixed results, and the results of the inter-system deviation and the inter-frequency deviation based on the fixed single-difference ambiguities.
6. The positioning method according to claim 1, wherein the acquiring of the data of the receiver is specifically:
and receiving deviation data and original observation data sent by the reference station.
7. A GNSS satellite positioning system, comprising:
the first acquisition unit is used for acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
the second acquisition unit is used for acquiring an inter-station single-difference observation value based on the differential data and the original observation data;
and the differential positioning unit is used for establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain a differential positioning result.
8. A positioning terminal, characterized in that the positioning terminal comprises a positioning unit and a GNSS satellite positioning system according to claim 7.
9. A memory storing a computer program, the computer program being executable by a processor to perform the steps of:
acquiring data of a receiver, wherein the data comprises deviation data and original observation data;
acquiring an inter-station single-difference observation value based on the difference data and the original observation data;
and establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.
10. A service terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the GNSS satellite positioning method according to any of claims 1 to 6.
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