CN111381261B - Positioning resolving method and device and satellite navigation receiver - Google Patents
Positioning resolving method and device and satellite navigation receiver Download PDFInfo
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- CN111381261B CN111381261B CN201811630091.1A CN201811630091A CN111381261B CN 111381261 B CN111381261 B CN 111381261B CN 201811630091 A CN201811630091 A CN 201811630091A CN 111381261 B CN111381261 B CN 111381261B
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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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- 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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
The embodiment of the invention is suitable for the technical field of positioning, and provides a positioning calculation method, a positioning calculation device and a satellite navigation receiver, wherein the method comprises the following steps: receiving a satellite navigation positioning signal; identifying whether a quadrature multiplexed binary offset carrier modulated signal QMBOC is included in the satellite navigation positioning signals; if the satellite navigation positioning signal does not comprise a QMBOC signal, positioning and resolving the satellite navigation positioning signal by adopting a preset first weight value; and if the satellite navigation positioning signal comprises the QMBOC signal, positioning and resolving the satellite navigation positioning signal by adopting a preset second weight value, wherein the preset second weight value is larger than the preset first weight value. The embodiment can improve the positioning precision and accuracy by utilizing the characteristics of the QMBOC signal.
Description
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to a positioning calculation method, a positioning calculation device, a satellite navigation receiver and a computer readable storage medium.
Background
The Beidou Satellite Navigation System (BeiDou Navigation Satellite System, BDS for short) is a global Satellite Navigation System developed by China. The Beidou satellite navigation system consists of a space section, a ground section and a user section, and can provide high-precision, high-reliability positioning, navigation and time service for various users all day long in the world.
When the Beidou satellite navigation system is used for positioning, satellite signals can be received through the satellite navigation receiver, and positioning is completed through a series of processing. Generally, a satellite navigation receiver consists of three parts, namely radio frequency receiving, baseband processing and PVT resolving. PVT solution refers to the solution of the position, velocity and time of the user receiver. PVT solutions generally include the following steps: (1) determining an observation time; (2) extracting navigation messages; (3) calculating the position, the speed, the elevation angle and the inclination angle of the satellite at the observation moment; (4) obtaining a pseudo-range measurement value; (5) calculating the position, the speed and the time of each user by using a positioning equation; (6) and converting the longitude and latitude of the user position.
However, different types of satellite navigation positioning system (GNSS) signals are different, and in the prior art, the processing method for the different types of GNSS signals is single, so that the positioning accuracy is easily affected, and the final positioning result has errors.
Disclosure of Invention
In view of this, embodiments of the present invention provide a positioning calculation method and apparatus, and a satellite navigation receiver, so as to solve the problem in the prior art that positioning accuracy is low when performing satellite navigation positioning.
A first aspect of an embodiment of the present invention provides a positioning calculation method, including:
receiving a satellite navigation positioning signal;
identifying whether the satellite navigation positioning signals comprise QMBOC signals;
if the satellite navigation positioning signal does not comprise a QMBOC signal, positioning and resolving the satellite navigation positioning signal by adopting a preset first weight value;
and if the satellite navigation positioning signal comprises the QMBOC signal, positioning and resolving the satellite navigation positioning signal by adopting a preset second weight value, wherein the preset second weight value is larger than the preset first weight value.
A second aspect of an embodiment of the present invention provides a positioning calculation apparatus, including:
the receiving module is used for receiving satellite navigation positioning signals;
the identification module is used for identifying whether the satellite navigation positioning signals comprise QMBOC signals or not;
the first positioning calculation module is used for positioning and calculating the positioning signal by adopting a preset first weight value if the satellite navigation positioning signal does not comprise a QMBOC signal;
and the second positioning calculation module is configured to perform positioning calculation on the satellite navigation positioning signal by using a preset second weight value if the satellite navigation positioning signal includes the QMBOC signal, where the preset second weight value is greater than the preset first weight value.
A third aspect of the embodiments of the present invention provides a satellite navigation receiver, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the positioning calculation method when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the steps of the positioning calculation method described above.
Compared with the prior art, the embodiment of the invention has the following advantages:
according to the embodiment of the invention, whether the received satellite navigation positioning signals include the QMBOC signals or not is identified, and the satellite navigation positioning signals can be positioned and resolved by adopting different weight values according to different identification results. Namely, if the satellite navigation positioning signal does not include a QMBOC signal, a smaller first weight value is adopted for positioning calculation; if the satellite navigation positioning signals comprise QMBOC signals, the satellite navigation positioning signals can be positioned and resolved by adopting a larger second weighted value, so that the positioning precision and accuracy can be improved by utilizing the characteristics of the QMBOC signals.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic flow chart diagram illustrating the steps of a positioning solution method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a PVT solution process according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning solver, in accordance with one embodiment of the invention;
fig. 4 is a schematic diagram of a satellite navigation receiver according to an embodiment of the invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The technical solution of the present invention will be described below by way of specific examples.
In satellite navigation Positioning, in order to provide better interoperability with other systems, the civil signal B1C of the beidou satellite navigation System adopts the QMBOC technology in the design process, which can not only meet the requirement of radio frequency compatibility with other signals of the same frequency point, but also ensure interoperability with the GPS (Global Positioning System) L1C signal and Galileo (Galileo satellite navigation System) E1 signal, and has higher ranging accuracy and robustness.
QMBOC modulates two component signals of BOC (Binary Offset Carrier), i.e., a BOC (1,1) component and a BOC (6,1) component, on two mutually orthogonal phases of a Carrier, respectively. Generally denoted BOC (sf, cf), where sf represents the subcarrier frequency and cf represents the pseudo code rate. Since sf and cf are both integer multiples of 1.023MHz, they can be expressed in literature as BOC (m, n), where m denotes the subcarrier frequency and n denotes the spreading code rate, which respectively denote m and n times 1.023 MHz.
Generally, a navigation-type receiver can process only the BOC (1,1) component, and obtain high interoperability with GPS L1C and Galileo E1 signals; the high-precision receiver may additionally receive the BOC (6,1) component to improve multipath immunity. Therefore, based on the QMBOC characteristics, the core concept of the embodiment of the present invention is to perform joint positioning solution by using the high interoperability of the BOC (1,1) component of QMBOC and the GPS L1C and Galileo E1 signals, and design a higher weight value for the relevant signals, so as to improve the accuracy and precision of satellite positioning.
Referring to fig. 1, a schematic flow chart illustrating steps of a positioning calculation method according to an embodiment of the present invention is shown, which may specifically include the following steps:
s101, receiving a satellite navigation positioning signal;
it should be noted that the main body for implementing the method may be a satellite navigation receiver. After receiving the satellite navigation positioning signal, the satellite navigation receiver can adopt different algorithms to perform positioning calculation on the positioning signal, and complete positioning based on the calculation result.
In the embodiment of the invention, the satellite navigation system is a Beidou satellite navigation system, a Galileo satellite navigation system and the like which broadcast QMBOC signals.
S102, identifying whether the satellite navigation positioning signals comprise QMBOC (quadrature multiplexing binary offset carrier modulation) signals or not;
in general, the QMBOC signals have an improvement effect on pseudoranges, and the characteristics of the QMBOC signals can be utilized to improve the accuracy and precision of positioning.
Therefore, in the embodiment of the present invention, after receiving the satellite navigation positioning signal, it may be first identified whether the satellite navigation positioning signal includes a QMBOC signal.
In general, a QMBOC signal refers to a signal type in which two component signals of BOC, i.e., a BOC (1,1) component and a BOC (6,1) component, are modulated on two mutually orthogonal phases of a carrier, respectively.
The identification of whether the satellite navigation positioning signals include the QMBOC signals refers to identification of whether the satellite navigation positioning signals include other types of beidou navigation satellite signals except for conventional signals such as B1I (satellite signals used by second generation beidou satellite navigation systems).
In a specific implementation, after receiving the satellite navigation positioning signal, different acquisition and tracking methods may be used in the baseband algorithm to determine whether any component signal of the QMBOC signal is tracked in the satellite navigation positioning signal. If any component signal of the QMBOC signal is tracked, for example, the BOC (1,1) component signal or the BOC (6,1) component signal, it may be identified that the QMBOC signal is included in the satellite navigation positioning signal. If any component signal of the QMBOC signal is not tracked, it may be identified that the QMBOC signal is not included in the satellite navigation positioning signal.
Generally, different acquisition and tracking methods are used in the baseband algorithm, and a corresponding signal is output after tracking is successful.
For example, if the baseband algorithm tracks the successful BOC (6,1), a BOC (6,1) signal is output, otherwise, the tracking is abnormal or not output; if the base band algorithm tracks the BOC (1,1) successfully, then a BOC (1,1) signal is output, otherwise, the tracking is abnormal or not output; if the baseband algorithm successfully tracks B1I, the B1I signal is output, otherwise the output tracks abnormal or no output.
In the embodiment of the invention, different calculation methods can be adopted for positioning calculation according to whether the satellite navigation positioning signals include the QMBOC signals. The positioning solution may include position velocity time solution PVT or high precision solution, and the high precision solution may further include real time kinematic solution RTK, precision single point positioning solution PPP or static baseline solution.
If the satellite navigation positioning signal does not include the QMBOC signal, step S103 may be executed; if the satellite navigation positioning signal includes a QMBOC signal, step S104 may be executed.
S103, positioning and resolving the satellite navigation positioning signal by adopting a preset first weight value;
in the embodiment of the present invention, if the received satellite navigation positioning signal does not include a QMBOC signal, it indicates that the currently received satellite navigation positioning signal does not include a BOC (1,1) signal nor a BOC (6,1) signal, and the BOC (1,1) component, the GPS L1C signal and the Galileo E1 signal cannot be used for joint positioning calculation according to the characteristics of the QMBOC, or the accuracy of positioning cannot be improved by using the anti-multipath characteristics of the BOC (6,1) component.
Therefore, for the currently received satellite navigation positioning signal, a lower weight value can be adopted to perform positioning calculation on the satellite navigation positioning signal.
The weight value is a manifestation of the signal quality being good or bad. Generally, the better the signal quality, the higher its weight value. The weighted value can be obtained by testing the pseudo-range precision of BOC (1,1), BOC (6,1) and B1I, specifically, the pseudo-range precision of each signal can be calculated by using a zero baseline double difference and a pseudo-range high order difference method, and the higher the precision is, the larger the weighted value is.
And S104, positioning and resolving the satellite navigation positioning signal by adopting a preset second weight value, wherein the preset second weight value is greater than the preset first weight value.
If the satellite navigation positioning signal includes a QMBOC signal, it indicates that the satellite navigation positioning signal includes at least one of a BOC (1,1) signal or a BOC (6,1) signal, or both of the two component signals.
In this case, the positioning accuracy can be improved in the positioning calculation by using the characteristics of QMBOC.
Therefore, in the embodiment of the present invention, if the positioning signal includes the QMBOC signal, it may be further identified whether the QMBOC signal includes a target signal of a specific component, which is the BOC (6,1) component signal.
Identifying whether the QMBOC signal includes a BOC (6,1) component signal may also use different acquisition and tracking methods in the baseband algorithm to confirm whether the BOC (6,1) component signal was successfully output.
If the QMBOC signal does not comprise the BOC (6,1) component signal, positioning calculation can be carried out on the positioning signal by adopting a preset second weight value; if the QMBOC signal includes a BOC (6,1) component signal, the positioning signal may be positioned and resolved by using a preset third weight value, where the preset third weight value is greater than the preset second weight value.
In the embodiment of the invention, by identifying whether the QMBOC signal comprises the BOC (6,1) component signal or not, the multipath resistance characteristic of the BOC (6,1) component signal can be utilized to improve the positioning precision and accuracy. Multipath resistance refers to resistance to multipath signals that result from the reflection of a real signal off an object. And the BOC (6,1) component signal is additionally received, which is equivalent to that a verification mode is added, and the reflected signal is easier to eliminate.
In the embodiment of the invention, whether the received satellite navigation positioning signals include the QMBOC signals or not is identified, and the satellite navigation positioning signals can be positioned and solved by adopting different weight values according to different identification results. Namely, if the satellite navigation positioning signal does not include a QMBOC signal, a smaller first weight value is adopted for positioning calculation; if the satellite navigation positioning signals comprise QMBOC signals, the satellite navigation positioning signals can be positioned and resolved by adopting a larger second weighted value, so that the positioning precision and accuracy can be improved by utilizing the characteristics of the QMBOC signals.
For ease of understanding, the positioning solution of the present invention is described below in a complete example. Fig. 2 is a schematic diagram of the PVT calculation process according to an embodiment of the present invention. According to the flow shown in fig. 2, when PVT calculation is started, it may be first identified whether the positioning signal includes a QMBOC signal, and if not, a weight value for positioning calculation may be designed to be a; if the QMBOC signal is included, it may be further identified whether the QMBOC signal includes a BOC (6,1) component signal. If the BOC (6,1) component signal is not included, the weight value of positioning calculation can be designed to be B; if the BOC (6,1) component signal is included, the weight value of the positioning solution can be designed to be C, and the size relation of the weight value is C > B > A.
After the weight values are designed, a weight matrix of the observation equation can be obtained by using the weight value calculation, so that the method can be used in a positioning algorithm (such as a weighted least square method or a kalman filtering method).
Of course, the complete positioning solution process also includes filter estimation and RAIM (Receiver Autonomous Integrity Monitoring) processes. Through the process, PVT calculation can be completed, and the positioning precision and accuracy of PVT calculation are improved.
It should be noted that, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the internal logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
Referring to fig. 3, a schematic diagram of a positioning solution according to an embodiment of the present invention is shown, which may specifically include the following modules:
a receiving module 301, configured to receive a satellite navigation positioning signal;
an identifying module 302, configured to identify whether the satellite navigation positioning signal includes a QMBOC signal;
a first positioning calculation module 303, configured to perform positioning calculation on the satellite navigation positioning signal by using a preset first weight value if the satellite navigation positioning signal does not include a QMBOC signal;
a second positioning calculation module 304, configured to perform positioning calculation on the satellite navigation positioning signal by using a preset second weight value if the satellite navigation positioning signal includes the QMBOC signal, where the preset second weight value is greater than the preset first weight value.
In this embodiment of the present invention, the identification module 302 may specifically include the following sub-modules:
a confirmation sub-module for confirming whether any component signal of the QMBOC signal is tracked in the satellite navigation positioning signal;
a first identification sub-module, configured to identify that the satellite navigation positioning signal includes the QMBOC signal if any component signal of the QMBOC signal is tracked;
a second identifying sub-module for identifying that the QMBOC signal is not included in the satellite navigation positioning signals if any of the component signals of the QMBOC signal is not tracked.
In this embodiment of the present invention, the second positioning calculating module 304 may specifically include the following sub-modules:
a target signal identification sub-module, configured to identify whether a target signal of a specific component is included in the QMBOC signal if the QMBOC signal is included in the satellite navigation positioning signal, where the target signal of the specific component is a binary offset carrier BOC (6,1) component signal;
the first positioning calculation sub-module is used for positioning and calculating the satellite navigation positioning signal by adopting a preset second weight value if the QMBOC (QMBOC) signal does not comprise the BOC (6,1) component signal;
and the second positioning calculation sub-module is used for positioning and calculating the satellite navigation positioning signal by adopting a preset third weight value if the QMBOC signal comprises the BOC (6,1) component signal, wherein the preset third weight value is larger than the preset second weight value.
In the embodiment of the present invention, the positioning solution may be a position velocity time solution PVT or a high precision solution, and the high precision solution may include a real time kinematic solution RTK, a precise single point positioning solution PPP, or a static baseline solution.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to the description of the method embodiment section for relevant points.
Referring to FIG. 4, a schematic diagram of a satellite navigation receiver according to one embodiment of the invention is shown. As shown in fig. 4, the satellite navigation receiver 400 of the present embodiment includes: a processor 410, a memory 420, and a computer program 421 stored in the memory 420 and executable on the processor 410. The processor 410, when executing the computer program 421, implements the steps in various embodiments of the positioning solution method described above, such as the steps S101 to S104 shown in fig. 1. Alternatively, the processor 410, when executing the computer program 421, implements the functions of the modules/units in the above device embodiments, such as the functions of the modules 301 to 304 shown in fig. 3.
Illustratively, the computer program 421 may be partitioned into one or more modules/units, which are stored in the memory 420 and executed by the processor 410 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution of the computer program 421 in the satellite navigation receiver 400. For example, the computer program 421 may be divided into a receiving module, an identifying module, a first positioning calculating module and a second positioning calculating module, and the specific functions of the modules are as follows:
the receiving module is used for receiving satellite navigation positioning signals;
the identification module is used for identifying whether the satellite navigation positioning signals comprise QMBOC signals or not;
the first positioning calculation module is used for positioning and calculating the satellite navigation positioning signal by adopting a preset first weight value if the satellite navigation positioning signal does not comprise a QMBOC signal;
and the second positioning calculation module is configured to perform positioning calculation on the satellite navigation positioning signal by using a preset second weight value if the satellite navigation positioning signal includes the QMBOC signal, where the preset second weight value is greater than the preset first weight value.
The satellite navigation receiver 400 may be a desktop computer, a notebook, a palm top computer, a cloud server, or other computing devices. The satellite navigation receiver 400 may include, but is not limited to, a processor 410, a memory 420. Those skilled in the art will appreciate that fig. 4 is merely an example of a satellite navigation receiver 400 and does not constitute a limitation of the satellite navigation receiver 400 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the satellite navigation receiver 400 may also include input and output devices, network access devices, buses, etc.
The Processor 410 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 420 may be an internal storage unit of the satellite navigation receiver 400, such as a hard disk or a memory of the satellite navigation receiver 400. The memory 420 may also be an external storage device of the satellite navigation receiver 400, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the satellite navigation receiver 400. Further, the memory 420 may also include both an internal storage unit and an external storage device of the satellite navigation receiver 400. The memory 420 is used for storing the computer program 421 and other programs and data required by the satellite navigation receiver 400. The memory 420 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that the foregoing division of the functional units and modules is merely illustrative for the convenience and simplicity of description. In practical applications, the above function allocation may be performed by different functional units or modules as needed, that is, the internal structure of the apparatus/terminal device is divided into different functional units or modules, so as to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
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.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the above embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and used by a processor to implement the steps of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A positioning solution method, comprising:
receiving a satellite navigation positioning signal;
identifying whether the satellite navigation positioning signals comprise QMBOC signals;
if the satellite navigation positioning signal does not comprise a QMBOC signal, positioning and resolving the satellite navigation positioning signal by adopting a preset first weight value;
and if the satellite navigation positioning signal comprises the QMBOC signal, positioning and resolving the satellite navigation positioning signal by adopting a preset second weight value, wherein the preset second weight value is greater than the preset first weight value, and the higher the precision is, the larger the weight value is.
2. The method of claim 1, wherein the step of identifying whether the satellite navigation positioning signals include QMBOC signals comprises:
determining whether any component signal of the QMBOC signal is tracked in the satellite navigation positioning signal;
if any component signal of the QMBOC signal is tracked, identifying that the QMBOC signal is included in the satellite navigation positioning signal;
identifying that the QMBOC signal is not included in the satellite navigation positioning signal if any of the component signals of the QMBOC signal is not tracked.
3. The method according to claim 1 or 2, wherein the step of performing a positioning solution on the satellite navigation positioning signal with a preset second weight value if the QMBOC signal is included in the satellite navigation positioning signal comprises:
if the QMBOC signal is included in the satellite navigation positioning signal, identifying whether the QMBOC signal includes a target signal of a specific component, wherein the target signal of the specific component is a BOC (6,1) component signal;
if the QMBOC signal does not comprise the BOC (6,1) component signal, positioning and resolving the satellite navigation positioning signal by adopting a preset second weight value;
and if the QMBOC signal comprises the BOC (6,1) component signal, positioning and resolving the satellite navigation positioning signal by adopting a preset third weight value, wherein the preset third weight value is larger than the preset second weight value.
4. The method of claim 3, wherein the positioning solutions are position velocity time solutions (PVT) or high precision solutions including Real Time Kinematic (RTK) solutions, precision single point positioning solutions (PPP) or static baseline solutions.
5. A positioning resolver, comprising:
the receiving module is used for receiving satellite navigation positioning signals;
the identification module is used for identifying whether the satellite navigation positioning signals comprise QMBOC signals or not;
the first positioning calculation module is used for positioning and calculating the positioning signal by adopting a preset first weight value if the satellite navigation positioning signal does not comprise a QMBOC signal;
and the second positioning calculation module is used for positioning and calculating the satellite navigation positioning signal by adopting a preset second weight value if the satellite navigation positioning signal comprises the QMBOC signal, wherein the preset second weight value is greater than the preset first weight value, and the higher the precision is, the larger the weight value is.
6. The apparatus of claim 5, wherein the identification module comprises:
a confirmation sub-module for confirming whether any component signal of the QMBOC signal is tracked in the satellite navigation positioning signal;
a first identification sub-module, configured to identify that the QMBOC signal is included in the satellite navigation positioning signal if any component signal of the QMBOC signal is tracked;
a second identifying sub-module for identifying that the QMBOC signal is not included in the satellite navigation positioning signals if any of the component signals of the QMBOC signal is not tracked.
7. The apparatus of claim 5 or 6, wherein the second positioning solution module comprises:
a target signal identification sub-module, configured to identify whether a target signal of a specific component is included in the QMBOC signal if the QMBOC signal is included in the satellite navigation positioning signal, where the target signal of the specific component is a BOC (6,1) component signal;
the first positioning calculation sub-module is used for positioning and calculating the satellite navigation positioning signal by adopting a preset second weight value if the QMBOC (QMBOC) signal does not comprise the BOC (6,1) component signal;
and the second positioning calculation sub-module is used for positioning and calculating the satellite navigation positioning signal by adopting a preset third weight value if the QMBOC signal comprises the BOC (6,1) component signal, wherein the preset third weight value is larger than the preset second weight value.
8. The apparatus of claim 7, wherein the positioning solution is a position velocity time solution PVT or a high precision solution comprising a real time kinematic solution RTK, a precision single point positioning solution PPP or a static baseline solution.
9. A satellite navigation receiver 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, implements the steps of the positioning calculation method according to any one of claims 1 to 4.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the positioning calculation method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811630091.1A CN111381261B (en) | 2018-12-29 | 2018-12-29 | Positioning resolving method and device and satellite navigation receiver |
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