CN111308525A - Method for establishing GPS/BDS short-term inter-system deviation model and forecasting method thereof - Google Patents
Method for establishing GPS/BDS short-term inter-system deviation model and forecasting method thereof Download PDFInfo
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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
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/243—Demodulation of navigation message
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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Abstract
The invention discloses a method for establishing a GPS/BDS short-term intersystem deviation model, which can be used for calculating the GPS/BDS short-term intersystem deviation and comprises the following steps: selecting parameters of the system to obtain parameter vectors including inter-system deviation parameters, processing the parameter vectors by using an extended Kalman filtering estimation algorithm and a filtering algorithm to filter smooth denoising in sequence to obtain a smoothed inter-system deviation sequence, performing characteristic analysis on the obtained smoothed inter-system deviation sequence, and confirming the expression form of the GPS/BDS short-term inter-system deviation model obtained by analysis by using a frequency spectrum analysis method and a least square method to establish the GPS/BDS short-term inter-system deviation model. Therefore, the calculation model can be used for accurately estimating the inter-system deviation in the GPS/BDS dual-system combined positioning, and the inter-system deviation at the subsequent moment can be predicted according to the model, so that real-time accurate positioning service is provided for users.
Description
Technical Field
The invention relates to the field of multi-Satellite precision positioning in a Global Navigation Satellite System (GNSS), in particular to a method for establishing a calculation model for short-term and medium-term System deviation in GPS/BDS dual-System combined positioning and a forecasting method thereof.
Background
With the gradual realization and stable operation of the second generation of the chinese BeiDou Navigation Satellite System (BDS), the gradual modernization of the Global positioning System (GPS for short), the gradual recovery and improvement of the russian GLONASS Satellite Navigation System (globanyanavigationsnaya Sputnikovaya Sistema, GLONASS for short), the gradual development of the european Galileo Satellite positioning System (Galileo Satellite Navigation System, Galileo for short), the development of the four large single Satellite systems expands and realizes the modernization of the GNSS System, more and more Navigation Satellite systems can provide Navigation and positioning services for Satellite Navigation users, and the usability, accuracy, completeness, reliability and the like of the users are improved and optimized.
The positioning of a single system is subject to the problems of less number of visible satellites, poorer geometrical distribution of constellations, weak integrity of a satellite system and the like in some special environments, such as urban high-rise buildings, canyon areas, dense forests and the like, so that the reliability and the accuracy of navigation positioning are greatly influenced. In combination with the foregoing, the multi-system navigation data fusion positioning can utilize each navigation system to perform information complementation and information cooperation, which has gradually become a hotspot and an important development direction of the navigation system research in recent years.
The multi-system navigation data fusion positioning not only has more perfect constellation distribution than a single system, but also has the advantages of more visible satellite numbers, higher satellite reliability and the like. In order to perform multi-System navigation data fusion better, it is necessary to fully consider various System errors such as space-time reference difference, Inter-System Bias (ISB) and the like. The intersystem bias includes coordinate system bias, time system bias, and the like. Therefore, when the multi-system navigation data are fused and positioned, if the deviation among the systems can be estimated accurately, the reliability, the accuracy and the like of the multi-system navigation data fusion and positioning in the GNSS can be greatly improved.
The GPS and BDS dual-system combined positioning in the multi-system navigation data fusion positioning can improve the positioning accuracy, reliability and usability. In general, a general calculation model can be constructed for the systematic deviation in the GPS/BDS dual-system combined positioning, and the user can directly obtain the position information according to the calculation model. The accurate construction of the GPS/BDS short-term intersystem deviation model can provide a quick and accurate resolving result for a user, forecast the intersystem deviation at a subsequent moment and provide real-time accurate positioning service for the user.
Therefore, in the technical field of dual-system combined positioning of GPS and BDS, how to construct a general and accurate calculation model for short-term inter-system bias of GPS/BDS and directly provide accurate location information to users accordingly has become one of the problems to be actively solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a method for establishing a short-term intersystem deviation model of a GPS/BDS and a forecasting method thereof, which can establish a universal and accurate calculation model for the intersystem deviation in the combined positioning of the GPS and BDS. Therefore, short-term intersystem deviation in the GPS and BDS dual-system combined positioning can be accurately estimated in the GPS/BDS dual-system combined positioning, intersystem deviation at subsequent time can be forecasted, and real-time accurate positioning service is provided for users.
To achieve at least one of the above advantages or other advantages, an embodiment of the present invention provides a method for modeling short-term inter-system bias of a GPS/BDS, which can be used to calculate short-term inter-system bias of the GPS/BDS. The term "short term" as used herein generally means one day, up to a period of not more than one week.
The method for establishing the GPS/BDS short-term intersystem deviation model mainly comprises the following steps:
selecting parameters of a GPS/BDS system to obtain parameter vectors, wherein the obtained parameter vectors comprise deviation parameters between the GPS/BDS systems;
estimating the parameter vector by using extended Kalman filtering to obtain a deviation sequence between original systems;
filtering, smoothing and denoising the obtained original intersystem deviation sequence by using a filtering algorithm to obtain a smoothed intersystem deviation sequence;
performing characteristic analysis on the obtained smoothed intersystem deviation sequence to obtain a GPS/BDS short-term intersystem deviation model in the form of superposition of a quadratic polynomial on a plurality of periodic functions, and
and respectively obtaining a period term, a term coefficient and a constant term in the periodic function by using a spectrum analysis method and a least square method so as to establish a short-term intersystem deviation model of the GPS/BDS.
Further, the parameter vector obtained in the foregoing step further includes a location parameter, a receiver clock error parameter, a troposphere parameter, a GPS system ambiguity parameter, and a BDS system ambiguity parameter.
Further, the filtering algorithm used in the foregoing step is preferably a windowed median filtering algorithm.
Further, a characteristic analysis method is used for analyzing a trend item and a period item of the smoothed systematic deviation sequence.
Further, the expression of the short-term inter-system bias model of the GPS/BDS obtained by the foregoing method steps is:
wherein A, B, C represents the second order coefficient, the first order coefficient and the constant term of the second order polynomial, respectively;
are periodic terms of different periodic functions;
is shown asA time difference between the previous time and a reference time to be calculated;
、
respectively representing the current time and the reference time to be calculated; di and Ei are the amplitudes of the cos and sin trigonometric functions, respectively.
To achieve at least one of the above advantages or other advantages, a further embodiment of the present invention provides a method for forecasting short-term intersystem offset of a GPS/BDS, which is used for calculating the short-term intersystem offset of the GPS/BDS at a reference time to be calculated.
The forecasting method of the short-term intersystem deviation of the GPS/BDS mainly comprises the following steps:
determining the current time and a reference time to be calculated;
calculating the time difference between the current time and the reference time to be calculated; and
and substituting the calculated time difference into the established GPS/BDS short-term intersystem deviation model, and calculating and forecasting the GPS/BDS short-term intersystem deviation of the reference time to be calculated.
Therefore, by utilizing the method for establishing the short-term intersystem deviation model of the GPS/BDS and the forecasting method thereof, a universal and accurate calculation model can be established for the intersystem deviation in the combined positioning of the GPS and BDS. Therefore, a fast and accurate resolving result can be provided for a user in the GPS/BDS dual-system combined positioning, and the inter-system deviation at the subsequent moment can be forecast according to the calculation model, so that real-time accurate positioning service is provided for the user.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application, are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a flow chart of a method of the present invention for modeling short term inter-GPS/BDS bias; and
FIG. 2 is a flow chart of the method for forecasting short term inter-system bias of GPS/BDS in the present invention.
Detailed Description
Specific structural and functional details disclosed herein are merely representative and are provided for purposes of describing example embodiments of the present invention. The present invention may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "center," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the positional or orientational relationships indicated in the drawings to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. Furthermore, the term "comprises" and any variations thereof is intended to cover non-exclusive inclusions.
In the description of the present invention, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are used broadly and can be, for example, fixedly, detachably, or integrally connected, mechanically or electrically connected, directly or indirectly connected through an intermediate medium, or communicated between two components. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for establishing a short term inter-system bias model of GPS/BDS according to the present invention. To achieve at least one of the above advantages or other advantages, an embodiment of the present invention provides a method for modeling short-term inter-system bias of a GPS/BDS, which can be used to calculate short-term inter-system bias of the GPS/BDS. The term "short term" as used herein generally means one day, up to a period of not more than one week.
The method for establishing the short-term inter-system bias model of the GPS/BDS mainly comprises the following steps:
step one (S01) of selecting parameters of the GPS/BDS system to obtain parameter vectors, wherein the obtained parameter vectors comprise a deviation parameter and a position parameter between the GPS/BDS systems, a receiver clock error parameter, a troposphere parameter, a GPS system ambiguity parameter and a BDS system ambiguity parameter,
wherein, the deviation parameter between the GPS system and the BDS system is set as
The position parameters are respectively
The receiver clock difference parameter is
Tropospheric parameters
GPS system ambiguity parameter
And BDS System ambiguity parameter
. The corresponding parameter vector expression (1) is:
step two (S02) estimating the parameter vector expression (1) by using an estimation method of the extended Kalman filtering so as to obtain an original inter-system deviation sequence of the GPS/BDS inter-system deviationISB_O;
Step three (S03) of estimating an original inter-system bias sequence of the acquired GPS/BDS inter-system biasISB_OIn the presence of certain noise term, the filtering algorithm is used to obtain the original intersystem deviation sequenceISB_OFiltering, smoothing and denoising, and further obtaining a group of cleaner systematic deviation sequences after smoothingISB_S;
Step four (S04) of smoothing the obtained inter-system bias sequenceISB_SPerforming characteristic analysis, analyzing the trend term, the period term and the like of the GPS/BDS inter-system deviation, further obtaining a GPS/BDS short-term inter-system deviation model, wherein the obtained GPS/BDS short-term inter-system deviation model has a form that a quadratic polynomial is superposed with a plurality of periodic functions, and
and step five (S05) accurately estimating the period term of the periodic function in the form of superposing a plurality of periodic functions on the quadratic polynomial by using a frequency spectrum analysis method, accurately estimating the quadratic term, the first order term, the constant term and each coefficient of the periodic function in the quadratic polynomial by using a least square estimation method, and establishing a GPS/BDS short-term intersystem deviation model according to the estimation result.
Further, the filtering algorithm used in the foregoing step is preferably a windowed median filtering algorithm.
In the method for establishing the GPS/BDS short-term inter-system deviation model, the parameter vector is estimated by using the extended Kalman filtering, so that the precision of the estimated parameter can be improved, and meanwhile, the error of the GPS/BDS short-term inter-system deviation model can be smoothed by using the windowed median filtering algorithm to smooth the error, so that the calculation precision of the obtained GPS/BDS short-term inter-system deviation model can be improved.
Further, the expression (2) of the short-term inter-system bias model of the GPS/BDS obtained according to the foregoing method steps is:
wherein A, B, C represents the second order coefficient, the first order coefficient and the constant term of the second order polynomial, respectively;
are periodic terms of different periodic functions;
representing the time difference between the current time and a reference time to be calculated;
、
respectively representing the current time and the reference time to be calculated; di and Ei are the amplitudes of the cos and sin trigonometric functions, respectively。
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for forecasting short term inter-system bias of GPS/BDS according to the present invention. To achieve at least one of the above advantages or other advantages, another embodiment of the present invention provides a method for forecasting short term intersystem bias of a GPS/BDS, which can calculate the short term intersystem bias of the GPS/BDS at a reference time to be calculated by using the short term intersystem bias model of the GPS/BDS obtained by the foregoing method.
The forecasting method of the short-term intersystem deviation of the GPS/BDS mainly comprises the following steps:
step one (S11) of determining the current time
And a reference time to be calculated
；
Step two (S12) of calculating the current time
With reference time to be calculated
The time difference t between; and
step three (S13) of substituting the calculated time difference t into the expression (2) of the GPS/BDS short-term intersystem deviation model established in the previous step and calculating and forecasting the reference time to be calculated
Short term GPS/BDS inter-system bias ISB.
According to the two methods, the acquired short-term intersystem deviation model of the GPS/BDS is used for forecasting the short-term intersystem deviation of the subsequent time in the GPS/BDS dual-system combination, and more reliable and accurate real-time positioning service is provided for users.
In summary, the method for establishing a short-term inter-system bias model of GPS/BDS and the forecasting method thereof provided by the present invention can create a general and accurate calculation model for inter-system bias in dual-system combined positioning of GPS and BDS. Therefore, a fast and accurate resolving result can be provided for a user in the GPS/BDS dual-system combined positioning, and the inter-system deviation at the subsequent moment can be forecast according to the calculation model, so that real-time accurate positioning service is provided for the user.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A method for modeling short term inter-system bias of GPS/BDS, which can be used to calculate short term inter-system bias of GPS/BDS, the method comprising:
selecting parameters of a GPS/BDS system to obtain parameter vectors, wherein the parameter vectors comprise deviation parameters between the GPS/BDS systems;
estimating the parameter vector by using extended Kalman filtering to obtain a deviation sequence between original systems;
filtering, smoothing and denoising the original intersystem deviation sequence by using a filtering algorithm to obtain a smoothed intersystem deviation sequence;
performing characteristic analysis on the smoothed intersystem deviation sequence to obtain a GPS/BDS short-term intersystem deviation model which has a form of superposing a plurality of periodic functions by a quadratic polynomial, and
and respectively obtaining a period term, a term coefficient and a constant term in the periodic function by using a spectrum analysis method and a least square method so as to establish a short-term intersystem deviation model of the GPS/BDS.
2. The method of claim 1, wherein the parameter vector further comprises a location parameter, a receiver clock error parameter, a tropospheric parameter, a GPS system ambiguity parameter, and a BDS system ambiguity parameter.
3. A method of modeling short term intersystem bias of GPS/BDS as claimed in claim 1 wherein the filtering algorithm is a windowed median filtering algorithm.
4. The method for modeling short-term intersystem bias of GPS/BDS as claimed in claim 1, wherein said feature analysis method is applied to analyze trend term and period term of said smoothed sequence of intersystem bias.
5. The method of claim 1, wherein the short term inter-system bias model of GPS/BDS is expressed as:
wherein A, B, C represents the second order coefficient, the first order coefficient and the constant term of the second order polynomial, respectively;
are periodic terms of different periodic functions;
representing the time difference between the current time and a reference time to be calculated;
、
respectively representing the current time and the reference time to be calculated; di and Ei are the amplitudes of the cos and sin trigonometric functions, respectively.
6. A method for forecasting short term intersystem bias of a GPS/BDS, the method comprising:
determining the current time and a reference time to be calculated;
calculating the time difference between the current time and the reference time to be calculated; and
and substituting the time difference into the established GPS/BDS short-term intersystem deviation model, and calculating and forecasting the GPS/BDS short-term intersystem deviation.
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