CN110865402B - Precise single-point positioning method and positioning device and recording medium thereof - Google Patents
Precise single-point positioning method and positioning device and recording medium thereof Download PDFInfo
- Publication number
- CN110865402B CN110865402B CN201811601450.0A CN201811601450A CN110865402B CN 110865402 B CN110865402 B CN 110865402B CN 201811601450 A CN201811601450 A CN 201811601450A CN 110865402 B CN110865402 B CN 110865402B
- Authority
- CN
- China
- Prior art keywords
- satellite
- satellite signal
- signal
- data
- positioning
- 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.)
- Active
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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Abstract
A precise single-point positioning method and a positioning device thereof. The precise point-location method includes obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. And performing smoothing processing on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, wherein the satellite positioning data comprises corrected code data and corrected carrier phase data.
Description
Technical Field
The present invention relates to satellite positioning technology, and more particularly, to a precise point-to-point positioning method, a positioning apparatus and a recording medium.
Background
With the development of electronic information, information on a map is also being electronized. It is common practice to locate positioning components on electronic maps in conjunction with other technologies, including Satellite Positioning System (SPS) technology. In practical applications, when a User Equipment (UE) is a mobile User Equipment (UE), such as a mobile phone or a navigation device, the UE generally has a positioning function to allow the user to locate the position on a map. There are various ways of positioning, of which satellite positioning is one method.
Disclosure of Invention
The invention provides a precise single-point positioning technology which can at least accelerate the initial convergence time.
In one embodiment, a method for precise point positioning performed by a user equipment includes obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. And performing smoothing processing on the code data combined with the satellite signal to obtain satellite positioning data required by positioning, wherein the satellite positioning data comprises corrected code data and corrected carrier phase data.
In one embodiment, the present invention also provides a precise point positioning apparatus, which includes a processor and a register collectively configured to process operations including obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. Combining the first satellite signal and the second satellite signal to eliminate a signal error and obtain a combined satellite signal. And performing smoothing processing on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, wherein the satellite positioning data comprises corrected code data and corrected carrier phase data.
In one embodiment, the present invention also provides a method for precise point positioning, performed by a user equipment, including receiving an error correction processed satellite positioning signal from a target satellite at a time interval, where the current time is nth reception, n being a positive integer, and the satellite positioning signal includes nth code data and carrier phase data. And performing smoothing processing on the current nth time code data to obtain the smoothed nth time code data. The smoothing process recurses at the current time point n and includes: taking the current nth time code data as a first item, taking the sum of the current nth time smoothed code data and the current nth time carrier phase data and the previous nth-1 time carrier phase data as a second item, and summing the first item and the second item by parameters a 'and (1-a') respectively to obtain the current nth time recursively smoothed code data. The parameter a 'includes satellite elevation angle of the satellite relative to the user equipment, and the parameter a' decreases as the satellite elevation angle increases.
In one embodiment, the present invention also provides a recording medium recording program code, the program code being obtained by a processor of a ue to perform the precise point positioning method as described above.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a schematic diagram of a positioning mechanism of a satellite positioning system according to an embodiment of the invention.
FIG. 2 is a schematic diagram of a precise positioning apparatus in a user equipment according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a precise point positioning method according to an embodiment of the invention.
FIG. 4 is a schematic diagram of an elevation smoothing mechanism in a precise point positioning method according to an embodiment of the present invention.
List of reference numerals
50: satellite group
50a,50b,50 c: satellite
52: user equipment
54: reference station
56: network control center
58: ground connection system
60: network
105: antenna with a shield
110: receiver with a phase locked loop
120: processor with a memory for storing a plurality of data
130: buffer memory
140: memory device
142: error correction module
144: differential processing module
146: adaptable carrier smoothing module
148: precision point-to-point positioning (PPP) processing module
150: input/output device
200: precise single-point positioning device
S100, S102, S104, S106, S108, S110: step (ii) of
Detailed Description
The present invention relates to a precise point positioning technology used in a satellite positioning system. The precise single-point positioning technology provided by the invention can at least shorten the convergence time.
The present invention will be described below by way of examples, but the present invention is not limited to the examples.
When the user equipment needs to be located on the ground, radio signals from satellites are received. This radio signal provides coordinate information for the satellite. The position of the user equipment is typically derived from the signals of four differently located satellites. The Satellite Positioning System includes, for example, a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), such as Beidou Navigation Satellite System (BDS) of the chinese System, Galileo (Galileo) of the european System, and GLONASS (GLONASS) of the russian System, and so on.
In the positioning mechanism of the satellite positioning system, Precision Point Positioning (PPP) is a technology widely used and studied in recent years, and is characterized in that it is not limited by the baseline distance between the mobile station and the reference station in Real Time Kinematic (RTK) technology, and can provide the user with the positioning accuracy varying from tens of centimeters to several centimeters.
The performance of precise point positioning is related to the convergence time. The initial convergence time of the precise point positioning is too long, for example, 20 to 40 minutes or longer, which is a problem to be considered.
Fig. 1 is a schematic diagram of a positioning mechanism of a satellite positioning system according to an embodiment of the invention. Referring to fig. 1, the satellite positioning system includes a satellite group 50 composed of a plurality of satellites 50a,50b,50c, in this embodiment, three satellites are taken as an example. These satellites may be of the same type or different types, such as those of the glonass (global Navigation Satellite system) system, gps (global Positioning system) system, and so on.
The user equipment 52 with a receiver of a satellite positioning system is for example arranged in a vehicle, the position of which may be moved as desired. The receiving end of the satellite positioning system may also contain a reference station 54 that is disposed at a fixed location. The number of reference stations 54 is not limited to one, and may be plural as needed.
Each satellite 50a,50b,50c of the satellite cluster 50 may send information about the satellite's current position to the reference station 54 and the ue 52, respectively. The signal received directly by the user equipment 52 is the original first signal. The reference station 54, which is located at a fixed location, also receives signals transmitted by the satellites at the same time. The signals received by the reference stations 54 are first processed to obtain general error correction data, which is used as the second signal, and in one embodiment, the error correction data is the primary error correction data. The reference station 54 transmits the second signal to the ue 52 through the network control center 56 and the network 60, so that the ue 52 can obtain the second signal. The user equipment 52 modifies the first signal according to the second signal to obtain a satellite signal corresponding to the operating frequency. Satellite signals of different frequencies may be provided by the same satellite with multi-frequency capability or by different satellites, typically the same satellite.
Alternatively, the user equipment 52 may obtain the second signal without the network 60, for example, the network control center 56 may transmit the second signal to the ground-based (uplink) system 58 and then to the satellite 50c, and then to the user equipment 52 from the satellite 50 c.
The reception of satellite signals involves a variety of errors including, for example, satellite time table errors, receiver time table errors, satellite orbit offset errors, ionospheric errors, tropospheric errors, noise, and so forth. The second signal generated by the reference station 54 may provide general error correction for the satellite, such as satellite orbit offset error and satellite time table error.
For a typical multi-frequency satellite, the satellite in the satellite positioning system uses at least one carrier frequency signal. The user equipment receives a carrier frequency signal of the satellite during the positioning operation. If the ionosphere effect is to be eliminated, another carrier frequency signal can be obtained, and the ionosphere error effect can be eliminated after a plurality of carrier frequency signals are combined. The other carrier frequency signal may be acquired from the same satellite or from a different satellite.
In one embodiment, the precision single point positioning device is disposed or placed in the user equipment 52. In one embodiment, the user device 52 may be mobile, such as a vehicle, train, ship, airplane, or drone, which may be moving rapidly, or may sometimes enter a tunnel and then exit the tunnel rapidly to re-receive satellite signals. FIG. 2 is a schematic diagram of a precise positioning apparatus in a user equipment according to an embodiment of the present invention. Fig. 3 is a schematic diagram of a precise point positioning method according to an embodiment of the invention.
The ue 52 may include or consist of the architecture of the fine positioning apparatus 200 shown in fig. 2 in one of many embodiments. Referring to fig. 2, the precise point positioning apparatus 200 at least includes a receiver 110, a processor 120, a register 130, a memory device 140, and an input/output device 150. In another embodiment, the precision single point positioning device 200 may include an antenna 105. The precise single-point positioning apparatus 200 can eliminate various error sources such as receiver timing error, receiver hardware delay and initial phase error based on a between satellite first difference (BSSD) technique for the received signal. In addition, the Precise Point Positioning apparatus 200 may further introduce an adaptive carrier smoothing technique to reduce the noise level of the code observed quantity after the first difference, and then perform a Precise Point Positioning (PPP) operation on the processed signal. The entire architecture will be described below.
The precise point positioning Device 200 is, for example, a smart phone or a Navigation Device (Navigation Device) used in a vehicle, such as a vehicle, a train, a ship, an airplane or a drone.
The receiver 110 is configured to wirelessly communicate with different communication systems and to receive radio signals transmitted from satellites. The radio signal provides information about the relative position of the corresponding satellite. In an embodiment, the position and/or velocity of the user equipment may be derived from signals of a plurality, e.g. three, satellites at different positions. Examples of the communication System include a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), a Galileo (Galileo) in the european System, a Beidou Navigation Satellite System (BDS) in the chinese System, and a Global Navigation Satellite System (GLONASS) in the russian System.
The processor 120 may be, for example, a Central Processing Unit (CPU), a microcontroller (microcontroller), an Application Specific Integrated Circuit (ASIC), etc., or a Programmable Logic Device (PLD) or a Field Programmable Gate Array (FPGA) with specific design programming.
The register 130 is used for temporarily storing information required to be temporarily stored in the operation process of the processor 120, and may be, for example, a Cache (Cache Memory) or the like.
The memory device 140 is used for storing various functional modules that can be executed by the processor 120, and in this embodiment includes, for example, an error correction module 142, a difference processing module 144 for performing a first time difference (BSSD) between satellites, an adaptive carrier smoothing module 146, and a Precision Point Positioning (PPP) processing module 148. The Memory device 140 may be a Volatile Memory (Volatile Memory), such as a Random Access Memory (RAM) or a Read-Only Memory (ROM). The memory device 140 may also be a Non-volatile memory (Non-volatile memory), such as a hard disk, a flash memory (flash memory), a solid state storage (solid state storage), or the like.
The Input/Output (Input/Output) device 150 is used for outputting or inputting data. The processor 120 of the precise positioning apparatus 200 eliminates various error sources from the received signal based on a primary difference between satellites (BSSD), and may introduce an adaptive carrier smoothing technique to reduce the noise level of the code observed quantity after the primary difference, and after performing a precise positioning (PPP) operation on the processed signal, the processed signal is Output through the Input/Output (Input/Output) device 150.
Referring to fig. 3, fig. 3 is a schematic diagram of a precise point positioning method according to an embodiment of the invention. In one embodiment, the precise positioning method of fig. 3 may be performed according to the architecture of the precise positioning apparatus 200 of fig. 2.
In one embodiment, the operation of fine point positioning may include using processing code. The program code required for this is recorded on a recording medium. The recording medium may be an internal recording medium including the memory device 140 or an external recording medium readable by the pinpoint device 200 of the ue. In one embodiment, the error correction module 142, the difference processing module 144, the adaptive carrier smoothing processing module 146, and the fine positioning processing module 148 may be hardware, firmware, or software or machine executable code stored in the memory device 140 and loaded and executed by the processor 120.
In step S100, the receiver 110 receives code data and carrier phase data. In step S102, the error correction module 142 corrects an ionospheric error. In one embodiment, after the operation is started, data is acquired and processed every predetermined time interval, and the nth acquired data is represented by a time point n. In one embodiment, the operation is performed continuously in a loop. Corresponding to the accumulation of time, the nth time refers to a time point after n time intervals, and n is a positive integer. Initially, starting with n-1 as an example, n-1 represents the first received satellite signal, which continues to receive the original (raw) satellite signal belonging to each satellite. In one embodiment, the subsequent signal smoothing is recursive, and refers to the data at the previous time point, so the satellite positioning data obtained when n is 1 has not been smoothed, which can be used for the smoothing at the time point when n is 2 in the recursive operation.
In step S100, the receiver 110 receives an original first frequency signal, corrects the original first frequency signal by primary error correction data to obtain a satellite signal of a first frequency, the satellite signal of the first frequency includes code observed data and carrier-phase observed data, the code observed data is abbreviated as code data, and P is the number P of code-phase observed data 1 (n) or P 1 Means that the carrier phase observation data is referred to as carrier phase data for short, in phi 1 (n) or phi 1 Where satellite signals at a first frequency are denoted with the subscript 1. In one embodiment, the receiver 110 receives the original second frequency signal, corrects the original second frequency signal by the primary error correction data to obtain a second frequency satellite signal, and eliminates ionospheric errors using the second frequency satellite signal, which contains the code data P 2 (n) and carrier phase data phi 2 (n), the satellite signal of the second frequency is denoted by the subscript 2. In one embodiment, the satellite signals of the second frequency may be transmitted by a different frequency channel than the same satellite from which the satellite signals of the first frequency are transmitted. In another embodiment, the satellite signals of the second frequency may be transmitted from a different satellite than the satellite signals of the first frequency. In one embodiment, the satellite signal (P) is at a first frequency 1 ，Φ 1 ) With satellite signals (P) of a second frequency 2 ，Φ 2 ) The signals are corrected satellite orbit offset errors and satellite time table errors.
In step S102, the error correction module 142 corrects the satellite signal (P) according to the first frequency 1 ，Φ 1 ) With satellite signals (P) of a second frequency 2 ，Φ 2 ) The combination of (2) is processed to eliminate ionospheric errors and obtain ionosphere-free (ionosphere)ere-free), including code data P, as distinguished by the following notation 3 3 And carrier phase data phi 3 As shown in formula (1):
p3: pointer corresponding to code data without ion layer
Phi 3: pointer corresponding to ionosphere-free carrier phase data
ρ: geometrical distance of receiver to satellite
c: speed of light
r: relative to the index of the receiver
dt r : receiver time table error
T: tropospheric delay
Epsilon: unmodeled errors, e.g. some temperature noise, multipath effects, etc
N': carrier uncommitted value without ionosphere combination
λ: wavelength of light
In one embodiment, satellite signals (P) at a first frequency are transmitted 1 ，Φ 1 ) With satellite signals (P) of a second frequency 2 ，Φ 2 ) Linear combination to eliminate ionospheric errors and obtain code data P 3 And carrier phase data phi 3 。
In one embodiment, the convergence time of the fine single point positioning technique may be long because the dual frequency ionospheric-free linear combination, while eliminating ionospheric errors, may also amplify noise energy.
After step S102, step S104 is executed, and the difference processing module 144 performs a mechanism of primary difference between satellites to eliminate errors related to the receiver. In one embodiment, the receiver is, for example, the fine single point positioning apparatus 200 of fig. 2. In one embodiment, the receiver-related errors include receiver timing errors, receiver hardware delays, and initial phase errors. In one embodiment, the processing of a differential may slightly amplify the noise level of the observed quantity. In an embodiment of the present invention, the step S106 is executed by the adaptive carrier smoothing module 146 to perform smoothing, so as to effectively shorten the convergence time and improve the positioning efficiency.
In one embodiment, the code data and carrier phase data to be smoothed in the adaptable carrier smoothing module 146 is first subjected to a one-time difference mechanism between satellites. That is, the mechanism for performing the first difference between satellites in step S104 is performed first, and then the smoothing process in step S106 is performed.
The mechanism of the first difference between satellites is described below. One of the satellites can be taken as a reference satellite, and the pointer k represents the reference satellite in this embodiment, for example, the satellite 50a in fig. 1. In an embodiment where any of the active satellites in the plurality of satellites other than the reference satellite, for example the satellite intended to be incorporated in the satellite positioning, is referred to as the target satellite, at least three target satellites of data are required for positioning. In this embodiment, the target satellite is represented by a pointer l, which is variable according to the number of satellites actually involved in positioning. The target satellite is, for example, one of the satellites 50b,50c, and the like.
That is, the one-time difference between satellites is that one of a plurality of satellites is used as a reference satellite to provide a reference satellite signal, and one or more of the plurality of satellites other than the reference satellite is a target satellite providing a target satellite signal, wherein the reference satellite signal and the target satellite signal are combined to eliminate common errors.
In one embodiment, the target satellite signal after ionospheric error elimination is the first satellite signal (P) l 3 ，Φ l 3 ) The reference satellite signal after eliminating the ionospheric error is the second satellite signal (P) k 3 ，Φ k 3 ). After one-time difference processing between the satellites, a combined satellite signal is obtained, and the combined satellite signal comprises BSSD code data P kl 3 And BSSD carrierPhase data phi kl 3 As shown in formula (2):
ρ kl : subtraction of the geometrical distances of the receiver to satellite k and satellite l
T kl : receiver to satellite k and satellite l tropospheric delay subtraction
N': receiver subtraction of carrier uncertainty values of ionospheric-free combinations of satellite k and satellite l
λ: wavelength of light
Δε P3 : receiver-to-satellite k and satellite l code data unmodeled error subtraction
Δε Φ3 : receiver to satellite k minus satellite l carrier phase data unmodeled error
In one embodiment, the last term Δ ε in the code data P3 The error of (2) may be slightly amplified after the inter-satellite difference processing, and then a smoothing process may be performed, in step S106, where the BSSD code data and the BSSD carrier phase data used in the smoothing process are data for which the inter-satellite difference processing has been completed.
The following describes the smoothing mechanism of the adaptive carrier smoothing module 146, which is a recursive mechanism that can use the buffer 130 and the processor 120 for temporary storage. As shown in fig. 3, the buffer 130 records the BSSD carrier phase data of the (n-1) th time and the smoothed BSSD code data, step S110, and after the adaptive carrier smoothing module 146 completes the smoothing process of the nth time, step S106, updates the BSSD carrier phase data of the nth time and the smoothed BSSD code data in the buffer 130 (step S110), and outputs the BSSD carrier phase data of the nth time and the smoothed BSSD code data to the precise standalone positioning processing module 148 for performing the subsequent precise standalone positioning process, step S108, so as to obtain the location of the precise standalone positioning apparatus 200 and position the precise standalone positioning apparatus 200. In fig. 2, the adaptive carrier smoothing module 146 outputs the smoothed code data and the carrier phase data after the first difference processing between the satellites and the smoothing processing to the precise point positioning processing module 148, in step S108, the positioning processing of the precise point positioning of the nth time is performed. In one embodiment, the precise point positioning processing module 148 performs positioning with data of a plurality of target satellites, wherein the reference satellite of each target satellite can be shared or different for each target satellite. The invention is not limited to the selection of reference satellites. In one embodiment, the satellite positioning data includes corrected code data and corrected carrier phase data, the nth BSSD carrier phase data is the corrected carrier phase data, and the nth smoothed BSSD code data is the corrected code data.
In one embodiment, the smoothing process of the present invention is applied to the code data P kl 3 And carrying out smoothing treatment. In one embodiment, if the code data P obtained by smoothing at time n is based on recursion at time n, with reference to equation (3) kl 3,SM (n) is the smoothed coded data P of the (n-1) th time kl 3,SM (n-1) n-th BSSD code data P kl 3 (n) and BSSD carrier phase data Φ 3 kl The weights are summed with the parameters "a" and "(1-a)" as in formula (3):
the parameter "a" of "a" and "(1-a)" is continuously changed with the processing time, and a is 1/n.
The pointer n is a time point of the nth reception data, which is a time point of n time intervals from the start point in terms of time. The subscript "SM" is representative of the result after the smoothing process. The first term of equation (3) is the parameter "a" and the current timeThe code data P of the point n after one-time differential processing between satellites kl 3 The product of (n). The second item comprises
The product of (1-a). The first term and the second term are summed to obtain the smoothed code data P kl 3,SM (n) of (a). When the observation time increases, it represents that the n value is increased, and the smoothed code data P kl 3,SM Second term of (n)
The effect of (a) will be increased. In addition, the superscript "kl" refers to the processing that a difference between the reference satellite k and the target satellite l is completed.
In addition, step S106 is a recursive method, and the first recursive smoothing process may input an appropriate initial value, which is p, for example kl 3,SM (1)＝p kl 3 (1)。
FIG. 4 is a schematic diagram of an elevation smoothing mechanism in a precise point positioning method according to an embodiment of the present invention. Referring to FIG. 4, in one embodiment, the satellite has an elevation angle θ 2 Larger, the satellite is closer to above the receiver. The quality of the satellite signal at this time may be better. Conversely, the satellite elevation angle theta 1 Smaller, satellites are closer to the horizontal direction of the receiver and the quality of the satellite signal may be worse.
Based on the satellite elevation angle theta, the smoothing process can be added with the satellite elevation angle theta effect to add the code data with the satellite elevation angle correction, as shown in formula (4), the parameter a is modified as follows:
thus, referring to equations (3) and (4), when the satellite elevation angle θ is large (e.g., close to 90 degrees), the parameter "a" is more close to zero, as shown in the second equation (3)Item(s)
The smoothing speed can be increased by increasing the weight of (2). Conversely, when the satellite elevation angle θ is small (e.g., close to 0 degrees), the weight of the second term in equation (3) is reduced, and the smoothing speed is slowed down, which is the same as or similar to the smoothing speed without considering the satellite elevation angle θ.
In one embodiment, considering the smoothing effect of the satellite elevation angle θ, it can also be applied to data without a difference processing between satellites, i.e. step S104 is omitted. For the current target satellite, taking pointer l as an example, equation (3) changes to equation (5):
in view of the foregoing, the invention may include at least the following features.
In one embodiment, a method for precise point positioning performed by a user equipment includes obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. Combining the first satellite signal and the second satellite signal to eliminate a signal error and obtain a combined satellite signal. And performing smoothing processing on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, wherein the satellite positioning data comprises corrected code data and corrected carrier phase data.
In one embodiment, a precise point positioning apparatus includes a processor and a register collectively configured to process operations including obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. And performing smoothing processing on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, wherein the satellite positioning data comprises corrected code data and corrected carrier phase data.
In one embodiment, the step or operation of combining the first satellite signal and the second satellite signal to remove the signal error and obtain the combined satellite signal in the precise point positioning method or apparatus comprises: and eliminating a first ionospheric error of the first satellite signal and a second ionospheric error of the second satellite signal.
In one embodiment, the step or operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further comprises: and performing a difference processing between satellites by using the first satellite signal and the second satellite signal to eliminate common errors.
In one embodiment, in the precise point-to-point positioning method or apparatus, the one-time difference between the satellites is obtained by taking one of a plurality of satellites as the reference satellite, the reference satellite provides the second satellite signal, one of the plurality of satellites other than the reference satellite is the target satellite, and the target satellite provides the first satellite signal.
In one embodiment, in the precise point positioning method or apparatus, the smoothing process includes: taking the current code data of the combined satellite signal as a first item, taking the sum of the code data of the combined satellite signal subjected to recursive smoothing of the previous time and the current recursive carrier phase data and the previous recursive carrier phase data as a second item, and summing the first item and the second item by using parameters a and (1-a) weight respectively to obtain the satellite positioning data subjected to recursive smoothing of the current time.
In one embodiment, in the precise point positioning method or apparatus, the parameter a includes a satellite elevation angle of a satellite relative to the user equipment, wherein the parameter a decreases as the satellite elevation angle increases.
In one embodiment, in the method or apparatus for precise point positioning, the parameter a is 1/n, wherein the first satellite signal and the second satellite signal are received at an interval, wherein the parameter n is the nth time the first satellite signal and the second satellite signal are received, and n is a positive integer.
In one embodiment, in the precise point positioning method or apparatus, the parameter a is (1- θ/90)/n, and the parameter θ is the satellite elevation angle, wherein the first satellite signal and the second satellite signal are received at a time interval, wherein the parameter n is the nth reception of the first satellite signal and the second satellite signal, and n is a positive integer.
In one embodiment, in the precise point positioning method or apparatus, each of the first satellite signal and the second satellite signal of the user equipment comprises primary error correction data received by a reference station, wherein the reference station receives radio signals of the reference satellite and the target satellite respectively and generates the primary error correction data.
In one embodiment, in the precise point positioning method or apparatus, each of the first satellite signal and the second satellite signal includes code data and carrier phase data.
In one embodiment, the present invention also provides a method for precise point positioning, which is performed by a user equipment and includes receiving a satellite positioning signal obtained after an error correction process by a target satellite at an interval, wherein the current time is nth reception, and n is a positive integer, wherein the satellite positioning signal includes nth code data and carrier phase data. And performing smoothing processing on the current nth time code data to obtain the smoothed nth time code data. The smoothing process recurses at the current time point n and includes: taking the current nth time code data as a first item, taking the sum of the nth-1 time smoothed code data and the current nth time carrier phase data and the previous nth-1 time carrier phase data as a second item, and summing the first item and the second item by parameters a 'and (1-a') respectively to obtain the current nth time recursively smoothed code data. The parameter a 'includes a correction of the satellite elevation angle of the satellite relative to the user device such that the parameter a' decreases as the satellite elevation angle increases.
In one embodiment, the method for precise point positioning, wherein the parameter a' comprises a multiplier of (1- θ/90), and the parameter θ is the satellite elevation.
In one embodiment, in the precise single-point positioning method, the parameter a' is (1- θ/90)/n with time.
In one embodiment, the present invention also provides a recording medium recording program code, the program code being obtained by a processor of a ue to perform the precise point positioning method as described above.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (13)
1. A precise point positioning method, performed by a User Equipment (UE), comprises:
obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite;
combining the first satellite signal and the second satellite signal to eliminate signal error and obtain a combined satellite signal; and
smoothing the code data combined with the satellite signal to obtain satellite positioning data required for positioning, wherein the satellite positioning data comprises corrected code data and corrected carrier phase data
Wherein the smoothing process includes:
taking the current code data of the combined satellite signal as a first item, taking the sum of the code data of the combined satellite signal after the previous recursion smoothing and the current recursive carrier phase data and the previous recursive carrier phase data as a second item, and summing the first item and the second item by parameters a and (1-a) weight respectively to obtain the satellite positioning data after the current recursion smoothing,
wherein the parameter a includes a satellite elevation angle of a satellite relative to the user equipment, wherein the parameter a is (1-theta/90)/n, wherein the first satellite signal and the second satellite signal are received once every time interval, wherein the parameter n is the nth time the first satellite signal and the second satellite signal are received, n is a positive integer, and the parameter theta is the satellite elevation angle.
2. The method of claim 1, wherein the combining the first satellite signal and the second satellite signal to remove the signal error and obtain the combined satellite signal comprises:
eliminating a first ionospheric error of the first satellite signal; and
a second ionospheric error of the second satellite signal is cancelled.
3. The precise point positioning method according to claim 2, wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further comprises:
and performing a difference processing between satellites by using the first satellite signal and the second satellite signal to eliminate common errors.
4. The method of claim 3, wherein the first inter-satellite difference is obtained by taking one of a plurality of satellites as the reference satellite providing the second satellite signal, and one of the plurality of satellites other than the reference satellite providing the first satellite signal as the target satellite.
5. The method of claim 1, wherein each of the first satellite signal and the second satellite signal of the ue comprises primary error correction data received by a reference station, wherein the reference station receives radio signals of the reference satellite and the target satellite respectively and generates the primary error correction data.
6. The precise point location method of claim 1, wherein each of the first satellite signal and the second satellite signal comprises code data and carrier phase data.
7. A precision point location apparatus comprising a processor and a buffer configured to process operations comprising:
obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite;
combining the first satellite signal and the second satellite signal to eliminate signal error and obtain a combined satellite signal; and
smoothing the code data combined with the satellite signal to obtain satellite positioning data required for positioning, wherein the satellite positioning data comprises corrected code data and corrected carrier phase data
Wherein the smoothing process comprises:
taking the current code data of the combined satellite signal as a first item, taking the sum of the code data of the combined satellite signal after the previous recursion smoothing and the current recursive carrier phase data and the previous recursive carrier phase data as a second item, and summing the first item and the second item by parameters a and (1-a) weight respectively to obtain the satellite positioning data after the current recursion smoothing,
wherein the parameter a includes a satellite elevation angle of a satellite relative to the user equipment, wherein the parameter a is (1-theta/90)/n, wherein the first satellite signal and the second satellite signal are received once every time interval, wherein the parameter n is the nth time the first satellite signal and the second satellite signal are received, n is a positive integer, and the parameter theta is the satellite elevation angle.
8. The precise point location device of claim 7, wherein the operation of combining the first satellite signal and the second satellite signal to remove the signal error and obtain the combined satellite signal comprises:
eliminating a first ionospheric error of the first satellite signal; and
a second ionospheric error of the second satellite signal is cancelled.
9. The apparatus of claim 8, wherein combining the first satellite signal and the second satellite signal to remove the signal error and obtain the combined satellite signal further comprises:
and performing a difference processing between satellites by using the first satellite signal and the second satellite signal to eliminate common errors.
10. The apparatus of claim 9, wherein the inter-satellite first difference is obtained by taking one of a plurality of satellites as the reference satellite providing the second satellite signal and one of the plurality of satellites other than the reference satellite as the target satellite providing the first satellite signal.
11. The apparatus of claim 7 wherein each of the first satellite signal and the second satellite signal of the user equipment comprises primary error correction data received by a reference station, wherein the reference station receives radio signals of the reference satellite and the target satellite, respectively, and generates the primary error correction data.
12. The apparatus of claim 7, wherein each of the first satellite signal and the second satellite signal comprises code data and carrier phase data.
13. A recording medium recording program code, the program code being obtained by a processor of a user equipment to execute the precise point location method according to claim 1.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201862722997P | 2018-08-27 | 2018-08-27 | |
| US62/722,997 | 2018-08-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110865402A CN110865402A (en) | 2020-03-06 |
| CN110865402B true CN110865402B (en) | 2022-07-26 |
Family
ID=69651874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811601450.0A Active CN110865402B (en) | 2018-08-27 | 2018-12-26 | Precise single-point positioning method and positioning device and recording medium thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110865402B (en) |
| TW (1) | TWI683122B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102096084A (en) * | 2010-12-09 | 2011-06-15 | 东南大学 | Precise point positioning (PPP) method based on inter-satellite combination difference |
| CN102426372A (en) * | 2011-10-31 | 2012-04-25 | 北京中微星通电子有限公司 | Carrier smoothing pseudo range method and device |
| CN103344978A (en) * | 2013-07-04 | 2013-10-09 | 武汉大学 | Area enhanced precision positioning service method suitable for large-scale users |
| CN104459737A (en) * | 2014-12-02 | 2015-03-25 | 东南大学 | Satellite positioning method based on real-time beacon differential |
| CN105807300A (en) * | 2016-03-17 | 2016-07-27 | 孙红星 | Method for high-precision dynamic point positioning through big dipper double frequency receiver |
| CN108363079A (en) * | 2018-01-30 | 2018-08-03 | 上海交通大学 | A kind of GNSS pseudorange double difference localization methods and system towards portable intelligent device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7117417B2 (en) * | 2003-07-30 | 2006-10-03 | Navcom Technology, Inc. | Method for generating clock corrections for a wide-area or global differential GPS system |
| US8018377B2 (en) * | 2009-01-23 | 2011-09-13 | Her Majesty The Queen In Right Of Canada As Represented By The Minister Of Natural Resources | Decoupled clock model with ambiguity datum fixing |
| US8456354B2 (en) * | 2009-11-25 | 2013-06-04 | Nexteq Navigation Corporation | System and method for applying augmentation corrections for GNSS positioning |
| US8659474B2 (en) * | 2011-01-12 | 2014-02-25 | Navcom Technology, Inc. | Navigation system and method for resolving integer ambiguities using double difference ambiguity constraints |
| DE102012202095A1 (en) * | 2011-02-14 | 2012-08-16 | Trimble Navigation Ltd. | Method for processing set of global navigation satellite system signal data for e.g. global positioning system, involves using network ambiguities and ionospheric delays to estimate ionospheric phase bias per satellite |
| US9612341B2 (en) * | 2012-12-28 | 2017-04-04 | Trimble Inc. | GNSS receiver positioning system |
| CN108196272A (en) * | 2017-12-29 | 2018-06-22 | 中国电子科技集团公司第二十研究所 | A kind of satellite navigation positioning device and method based on real-time accurate One-Point Location |
-
2018
- 2018-12-26 TW TW107147245A patent/TWI683122B/en active
- 2018-12-26 CN CN201811601450.0A patent/CN110865402B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102096084A (en) * | 2010-12-09 | 2011-06-15 | 东南大学 | Precise point positioning (PPP) method based on inter-satellite combination difference |
| CN102426372A (en) * | 2011-10-31 | 2012-04-25 | 北京中微星通电子有限公司 | Carrier smoothing pseudo range method and device |
| CN103344978A (en) * | 2013-07-04 | 2013-10-09 | 武汉大学 | Area enhanced precision positioning service method suitable for large-scale users |
| CN104459737A (en) * | 2014-12-02 | 2015-03-25 | 东南大学 | Satellite positioning method based on real-time beacon differential |
| CN105807300A (en) * | 2016-03-17 | 2016-07-27 | 孙红星 | Method for high-precision dynamic point positioning through big dipper double frequency receiver |
| CN108363079A (en) * | 2018-01-30 | 2018-08-03 | 上海交通大学 | A kind of GNSS pseudorange double difference localization methods and system towards portable intelligent device |
Non-Patent Citations (5)
| Title |
|---|
| 《Efficient Between-Satellite Single-Difference Precise Point Positioning Model》;Mohamed Elsobeiey，et al;《JOURNAL OF SURVEYING ENGINEERING》;20140531;第140卷(第2期);正文第2页 * |
| 《GNSS最优载波相位平滑伪距研究》;刘广军，等;《飞行器测控学报》;20150430;第34卷(第2期);正文第1节 * |
| 《Optimal Hatch Filter with an Adaptive Smoothing Time Based on SBAS》;Xiao Zhang,et al;《International Conference on on Soft Computing in Information Communication Technology》;20140601;全文 * |
| 《Optimal Hatch Filter with an Adaptive Smoothing Window Width》;Byungwoon Park,et al.;《THE JOURNAL OF NAVIGATION》;20080731;第61卷(第3期);全文 * |
| 《一种降低电离层梯度影响的Hatch滤波算法》;黄正纲;《计算机与数字工程》;20170731;第40卷(第7期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI683122B (en) | 2020-01-21 |
| TW202009519A (en) | 2020-03-01 |
| CN110865402A (en) | 2020-03-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhao et al. | Initial results of precise orbit and clock determination for COMPASS navigation satellite system | |
| US8400354B2 (en) | Method and system for calibrating group delay errors in a combined GPS and GLONASS receiver | |
| US7859454B2 (en) | Method and system for calibrating group delay errors in a combined GPS and GLONASS receiver | |
| CN108027444B (en) | Satellite navigation receiver using bias estimation for relative positioning | |
| CN109196381A (en) | Quick determination by auxiliary data to exact position | |
| Marques et al. | Accuracy assessment of Precise Point Positioning with multi-constellation GNSS data under ionospheric scintillation effects | |
| JP6279078B2 (en) | Conversion device and program | |
| EP3408686B1 (en) | Hybrid rtk | |
| Su et al. | Triple-frequency carrier phase precise time and frequency transfer models for BDS-3 | |
| US20230258817A1 (en) | Antenna phase center compensation for orbital assistance data | |
| JP2005517931A (en) | Prediction and correction of ionospheric errors in satellite positioning systems. | |
| CN111045034A (en) | GNSS multi-system real-time precise time transfer method and system based on broadcast ephemeris | |
| CN110531396B (en) | Mobile station positioning method and device, and computer readable storage medium | |
| EP2864810A1 (en) | Selection of a subset of global navigation satellite system measurements based on relation between shifts in target parameters and sum of residuals | |
| EP3620825B1 (en) | Precise point positioning method and positioning apparatus and recording medium thereof | |
| CN112505729B (en) | Method for determining satellite number, method for determining terminal position, device and medium | |
| CN110865402B (en) | Precise single-point positioning method and positioning device and recording medium thereof | |
| Eissfeller et al. | Receiver architecture | |
| US20210181358A1 (en) | Using SDP Relaxation for Optimization of the Satellites Set Chosen for Positioning | |
| EP2177929A1 (en) | Navigation-satellite tracking method and receiving station | |
| KR20170140675A (en) | Method for measuring position based on global navigation satellite system | |
| D SRI | COMPARATIVE ANALYSIS OF RECEIVER POSITION COMPUTATIONAL ALGORITHMS | |
| CN114076968A (en) | High-precision navigation system and method and navigation terminal equipment | |
| CN114966768A (en) | Positioning method and computer program product |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |