CN111413720B - Multi-frequency Beidou carrier phase difference/INS combined positioning method - Google Patents

Multi-frequency Beidou carrier phase difference/INS combined positioning method Download PDF

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CN111413720B
CN111413720B CN202010204107.3A CN202010204107A CN111413720B CN 111413720 B CN111413720 B CN 111413720B CN 202010204107 A CN202010204107 A CN 202010204107A CN 111413720 B CN111413720 B CN 111413720B
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difference
ins
double
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CN111413720A (en
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李亮
程春
杨福鑫
刘媛媛
李慧
赵琳
李强
刘亚勇
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Harbin Engineering University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

The invention belongs to the technical field of ship/carrier-based aircraft navigation, and particularly relates to a multi-frequency Beidou carrier phase difference/INS combined positioning method. The invention includes: step 1, a mobile station broadcasts a positioning request to a differential reference station through a sea surface radio communication link; and 2, after the reference station acquires a positioning request of the mobile station, capturing navigation and observation information broadcast by the Beidou satellite navigation positioning system, coding and modulating the navigation and observation information to generate differential correction, and broadcasting the differential correction to the mobile station through a sea surface radio communication link. The method fully utilizes the characteristics that the INS autonomous navigation is high in short-time prediction accuracy and is not interfered by the outside, improves the positioning continuity, utilizes the characteristic that the carrier phase ambiguity is fast in step-by-step solving speed, improves the positioning instantaneity, and really realizes the real-time high-accuracy high-continuity positioning of the ship/carrier-based aircraft.

Description

Multi-frequency Beidou carrier phase difference/INS combined positioning method
Technical Field
The invention belongs to the technical field of ship/carrier-based aircraft navigation, and particularly relates to a multi-frequency Beidou carrier phase difference/INS combined positioning method.
Background
Landing of shipboard aircrafts or helicopters and the like on offshore platforms has profound significance for national defense construction, naval equipment research and development, aircraft carrier fighting capacity formation and the like in China. In order to strengthen the marine military strength of China and expand the development and utilization of the sea, research for providing a high-precision positioning method for a carrier moving at high speed on the sea is urgently needed. The carrier phase differential positioning technology based on the Beidou navigation satellite system becomes one of the methods for effectively realizing marine carrier positioning by the advantages of high positioning accuracy, wide action range, low cost control and the like. The method mainly comprises the steps that a reference station receiver is used for continuously observing a Beidou satellite, fine and smooth observation data and survey station coordinates are transmitted to a mobile station through a radio transmission device in real time, the mobile station receives satellite navigation and observation information and receives reference station information through a radio receiving device, and data are processed in real time according to a relative positioning principle so as to realize positioning with centimeter-level precision.
However, the above technologies are limited to a certain extent in the application background of carrier-based aircraft landing and the like, mainly including that the satellite signals are shielded and continuous positioning cannot be realized, and the traditional carrier phase differential ambiguity resolution method such as the LAMBDA algorithm consumes much time and cannot resolve the carrier coordinates of high-speed flight in real time. The INS is used as an autonomous navigation positioning system, although the positioning error can be rapidly increased along with the accumulation of time, the INS is not interfered by the outside, the signal is not lost, and the short-time precision is higher, so that the INS is used for assisting the differential positioning of the Beidou carrier phase, and is the key point for really improving the positioning continuity. The Beidou satellite broadcasts signals of three intermediate frequencies, and the combination of various measured values can be constructed through the combination of signals of different frequencies. The wide lane measurement value has longer wavelength, and the ambiguity of the whole circumference of the wide lane measurement value is easier to solve than the ambiguity of the narrow lane measurement value, so that the method for constructing the wide lane ambiguity by using the combination of the multi-frequency observation values and then quickly solving the ambiguity parameter along the sequence from the widest lane combination to the narrowest lane combination is the key point for realizing real-time positioning in the real sense. In conclusion, the design of a novel multi-frequency Beidou carrier phase difference/INS combined positioning technology based on INS autonomous navigation and step-by-step ambiguity fast resolving features has considerable urgency.
Disclosure of Invention
The invention aims to provide a multi-frequency Beidou carrier phase difference/INS combined positioning method.
The purpose of the invention is realized as follows:
a multi-frequency Beidou carrier phase difference/INS combined positioning method comprises the following steps:
step 1, a mobile station broadcasts a positioning request to a differential reference station through a sea surface radio communication link;
step 2, after a positioning request of the mobile station is acquired by the reference station, the navigation and observation information broadcast by the Beidou satellite navigation positioning system is captured and coded and modulated to generate a differential correction quantity, and then the differential correction quantity is broadcast to the mobile station through a sea surface radio communication link;
step 3, after the mobile station obtains the differential correction of the reference station, combining the self-received Beidou navigation and observation information and INS position prediction information to construct a double-difference observation model and a random model between the carrier phase of the INS predicted position and the pseudo-range station;
step 4, under the condition of fully considering ionosphere and troposphere errors, constructing ultra-wide lane MW and wide lane observed quantities, and realizing rapid resolving of ambiguity by using a near-distance rounding method;
step 5, constructing a narrow lane ambiguity resolution model under a geometric correlation (GB) constraint mode based on the constraint requirement of the ionosphere-combined noise under the assistance of the ambiguity of the ultra-wide lane and the wide lane; using a nearby rounding algorithm to complete the aviation calculation of a relative baseline fixed solution;
and 6, finally, realizing the precise calculation of the mobile station coordinate based on the reference station coordinate and broadcasting the calculation result to the reference station, wherein the reference station guides the flight of the mobile station by using the positioning information of the mobile station.
After the mobile station obtains the differential correction of the reference station in the step 3, a carrier phase of an INS predicted position and an inter-satellite double-difference observation model and a random model between pseudo-range stations are constructed by combining Beidou navigation and observation information received by the mobile station and INS position prediction information, so that the continuity of a positioning result can be effectively improved;
in the step 4, under the condition of fully considering ionosphere and troposphere errors, ultra-wide lane MW and wide lane observed quantities are constructed, and the ambiguity is rapidly resolved by using a near-distance rounding method;
constructing a narrow lane ambiguity resolution model in a geometric correlation (GB) constraint mode based on the constraint requirement of the ionosphere-combined noise under the assistance of the ambiguity of the ultra-wide lane and the wide lane in the step 5; utilizing a near rounding algorithm to complete the on-the-fly solution of the relative baseline fixed solution; the step-by-step ambiguity resolution effectively improves the resolution speed and guarantees the real-time performance of positioning.
The invention has the beneficial effects that:
the method fully utilizes the characteristics that the INS autonomous navigation is high in short-time prediction accuracy and is not interfered by the outside, improves the positioning continuity, utilizes the characteristic that the carrier phase ambiguity is fast in step-by-step solving speed, improves the positioning instantaneity, and really realizes the real-time high-accuracy high-continuity positioning of the ship/carrier-based aircraft.
Drawings
Fig. 1 is a schematic diagram of an embodiment of a multi-frequency Beidou carrier phase difference/INS combined positioning technology applying the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention relates to a multi-frequency Beidou carrier phase difference/INS combined positioning technology, which specifically comprises the following steps:
step 1, the mobile station sends a positioning request to the reference station
The mobile station uses the radio navigation transceiver to transmit a location request signal in broadcast form to the reference station. The mobile station adopts an active positioning mode and transmits a positioning request signal when positioning is required.
Step 2, the reference station broadcasts the difference correction quantity to the mobile station
After a positioning request of a mobile user is acquired by a reference station, navigation and observation information broadcasted by a Beidou satellite navigation positioning system is received at the same time to generate self position information; and then coding and modulating the observation information, the navigation information, the INS information and the coordinate information of the reference station to generate differential correction, and finally broadcasting the differential correction to the mobile station in a broadcasting mode through a sea surface radio communication link.
Step 3, constructing observation model and random model of mobile station
After the mobile station acquires the differential correction quantity broadcasted by the reference station in the step 2, the mobile station combines the self-received Beidou navigation and observation information and the INS position prediction information, and constructs a carrier phase and pseudo-range inter-satellite double-difference observation model relative to the INS prediction position based on INS-assisted Beidou multi-frequency integer ambiguity fast resolving and error propagation rules of smooth compensation Beidou interrupt positioning,
Figure GDA0002528306350000031
in the formula (I), the compound is shown in the specification,
Figure GDA0002528306350000035
two differential operations are performed; p and phi are respectively the pseudo range of the Beidou satellite and the observed quantity of the carrier phase; δ x is the relative position error between the carrier body of the aircraft carrier and two ends of the carrier-based aircraft; rhoINSThe distance measurement approximate calculation value is generated according to the superposition of the last differential calculation position calculation and the INS prediction position; h is a double-difference observation geometric matrix; n and epsilon represent double-differenced carrier phase ambiguity and observation noise, respectively.
Constructing a double-difference random model based on the altitude angle weighting theory and the error propagation rule of the double-difference model,
Figure GDA0002528306350000032
Figure GDA0002528306350000033
wherein D and S represent the double-difference and single-difference transformation matrices, respectively, and θ represents the altitude of the satellite.
Step 4, constructing and resolving ambiguities of the ultra-wide lane and the wide lane
The method comprises the steps of establishing ultra-wide lane and wide lane observation quantities by fully considering the influence of atmospheric errors including ionospheric delay errors and observation noises thereof on integer ambiguity resolution efficiency, and realizing the fast resolution of ambiguity by using a near rounding method;
double-difference ultra-wide lane carrier phase measurement value phiw23The observed equation of (a) is that,
Figure GDA0002528306350000034
wherein λw23The wavelength of the ultra-wide lane combined observed quantity is shown, r and T represent the satellite distance and troposphere delay, Iw23，Nw23And εφ,w23And respectively representing double-difference ionospheric delay, double-difference phase ambiguity parameters and observation noise of the ultra-wide lane combination.
If we ignore double-differenced ionospheric delay residuals under short baseline conditions, then
Figure GDA0002528306350000041
Wherein
Figure GDA0002528306350000042
Representing double differenced pseudorange measurements broadcast by the beidou B3 signal. Because of lambdaw23The wavelength is longer, so that the ultra-wide lane ambiguity can be correctly solved through an integer arithmetic.
Double-difference wide-lane carrier phase measurement value phiw12The observed equation of (a) is that,
Figure GDA0002528306350000043
wherein λw12Wavelength, I, representing combined observations of wide-lanew12，Nw12And εφ,w12Double differential ionospheric delay, double differential respectively representing wide-lane combinationsPhase ambiguity parameters and observation noise.
If the double difference ionospheric delay residue under the condition of short baseline is ignored, then
Figure GDA0002528306350000044
Wherein
Figure GDA0002528306350000045
Because of lambdaw12The wavelength is longer, so that the widelane ambiguity can be correctly solved through an integer algorithm.
Step 5, constructing a narrow lane ambiguity resolution model and solving the narrow lane ambiguity
Constructing a narrow lane ambiguity resolution model in a geometric correlation (GB) constraint mode based on the constraint requirement of a ionosphere-combined noise under the assistance of the ambiguity of an ultra-wide lane and a wide lane;
Figure GDA0002528306350000046
in which H is Hs,1A matrix representation of (a); epsilon*,INSRespectively representing the position updating errors of the ship and the shipboard aircraft INS. Using a nearby rounding algorithm to complete the aviation calculation of a relative baseline fixed solution;
and 6, realizing the precise calculation of the mobile station coordinate based on the reference station coordinate and broadcasting the calculation result to the reference station, wherein the reference station guides the flight of the mobile station by using the positioning information of the mobile station.
In summary, the invention relates to a method for rapidly resolving a base line between a reference station and a mobile station by using a Beidou satellite receiver and an INS sensor according to the characteristics of high short-time prediction precision and no external interference of INS autonomous navigation and the characteristic of high step-by-step solving speed of carrier phase ambiguity, and finally, the real-time rapid high-precision high-continuity solution of mobile station coordinates is realized. Based on the characteristics that the INS autonomous navigation short-time prediction precision is high and the INS autonomous navigation short-time prediction precision is not interfered by the outside and the characteristic that the carrier phase ambiguity step-by-step solving speed is high, the position information output by the INS sensor is utilized to assist multi-frequency Beidou carrier phase differential positioning, and the problems that satellite signals cannot be shielded and positioned, the resolving speed is low and the like in the Beidou carrier phase differential positioning technology are solved through the ambiguity step-by-step solving technology, so that the positioning result with higher precision and better continuity is obtained quickly. The invention is composed of a reference station, a sea surface radio communication link, a mobile station and the like. The method of the invention comprises the following steps: the mobile station broadcasts a positioning request to the differential reference station through a sea-surface radio communication link; the reference station captures navigation and observation information broadcasted by a Beidou satellite navigation positioning system, encodes and modulates the navigation and observation information to generate a differential correction quantity, and then broadcasts the differential correction quantity to the mobile station through a sea surface radio communication link; after the mobile station obtains the differential correction of the reference station, a carrier phase of an INS predicted position and an inter-satellite double-difference observation model and a random model between pseudo-range stations are constructed by combining Beidou navigation and observation information received by the mobile station and INS position prediction information; under the condition of fully considering ionosphere and troposphere errors, constructing ultra-wide lane MW and wide lane observed quantities, and realizing rapid resolving of ambiguity by using a near rounding method; under the assistance of the ambiguity of the ultra-wide lane and the wide lane, a narrow lane ambiguity resolution model in a geometric correlation (GB) constraint mode is constructed based on the constraint requirement of the ionosphere-combined noise, and the near rounding algorithm is utilized to complete the aeronautical resolution relative to a baseline fixed solution. And finally, realizing the precise calculation of the coordinates of the mobile station based on the coordinates of the reference station. The method solves the problem of signal discontinuity in satellite navigation positioning by utilizing the characteristics of high short-time prediction precision and no external interference of INS autonomous navigation, realizes parameter rapid resolving by utilizing a carrier phase ambiguity step-by-step solving technology, realizes real-time high-precision high-continuity positioning, and provides accurate baseline information for development and utilization of extended marine environments such as marine surveying and mapping, automatic carrier landing of carrier-based aircraft and the like.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and 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 (1)

1. A multi-frequency Beidou carrier phase difference/INS combined positioning method is characterized by comprising the following steps:
step 1, a mobile station broadcasts a positioning request to a differential reference station through a sea surface radio communication link;
step 2, after acquiring a positioning request of the mobile station, the reference station captures navigation and observation information broadcast by a Beidou satellite navigation positioning system, encodes and modulates the navigation and observation information to generate differential correction, and then broadcasts the differential correction to the mobile station through a sea surface radio communication link;
step 3, after the mobile station obtains the differential correction of the reference station, combining the Beidou navigation and observation information received by the mobile station and the INS position prediction information to construct a carrier phase of the INS prediction position and an inter-satellite double-difference observation model and a random model between pseudo-range stations;
step 4, under the condition of fully considering ionosphere and troposphere errors, constructing ultra-wide lane MW and wide lane observed quantities, and realizing rapid resolving of ambiguity by using a near-distance rounding method;
step 5, constructing a narrow lane ambiguity resolution model in a geometric correlation constraint mode based on the constraint requirement of the deionization stratum-combined noise with the assistance of the ambiguity of the ultra-wide lane and the wide lane; using a nearby rounding algorithm to complete the aviation calculation of a relative baseline fixed solution;
step 6, finally, realizing the precise calculation of the mobile station coordinate based on the reference station coordinate and broadcasting the calculation result to the reference station, wherein the reference station guides the flight of the mobile station by using the positioning information of the mobile station;
after the mobile station acquires the differential correction quantity broadcasted by the reference station in the step 2, the mobile station combines the self-received Beidou navigation and observation information and the INS position prediction information, and constructs a carrier phase and pseudo-range inter-satellite double-difference observation model relative to the INS prediction position based on INS-assisted Beidou multi-frequency integer ambiguity fast resolving and error propagation rules of smooth compensation Beidou interrupt positioning,
Figure FDA0003627407960000011
wherein Δ ^ is two difference operations; p and phi are respectively the pseudo range of the Beidou satellite and the observed quantity of the carrier phase; δ x is the relative position error between the carrier body of the aircraft carrier and two ends of the carrier-based aircraft; rhoINSThe distance measurement approximate calculation value is generated according to the superposition of the last differential calculation position calculation and the INS prediction position; h is a double-difference observation geometric matrix; n and epsilon respectively represent double-difference carrier phase ambiguity and observation noise;
constructing a double-difference random model based on the altitude angle weighting theory and the error propagation rule of the double-difference model,
Figure FDA0003627407960000012
Figure FDA0003627407960000013
σ(εφ)＝0.005(1+1/sin(θ))
Figure FDA0003627407960000014
Figure FDA0003627407960000015
σ(εp)＝0.5(1+1/sin(θ))
d and S respectively represent double difference and single difference transformation matrixes, and theta represents the altitude angle of the satellite;
double-difference ultra-wide lane carrier phase measured value phiw23The observed equation of (a) is that,
Figure FDA0003627407960000021
wherein λ isw23Representing combined observed quantity of ultra-wide laneR and T denote the station-to-satellite distance and tropospheric delay, Iw23，Nw23And epsilonφ,w23Respectively representing double-difference ionospheric delay, double-difference phase ambiguity parameters and observation noise of the ultra-wide lane combination;
if the double difference ionospheric delay residue under the condition of short baseline is ignored, then
Figure FDA0003627407960000022
Wherein Δ ^ p3Representing double-differenced pseudorange measurements broadcast by the Beidou B3 signal;
double-difference wide-lane carrier phase measurement value phiw12The observed equation of (a) is that,
Figure FDA0003627407960000023
wherein λw12Wavelength, I, representing combined observations of wide-lanew12，Nw12And εφ,w12Respectively representing double-difference ionosphere delay, double-difference phase ambiguity parameters and observation noise of the wide lane combination;
if we ignore double-differenced ionospheric delay residuals under short baseline conditions, then
Figure FDA0003627407960000024
Wherein
Figure FDA0003627407960000025
Constructing a narrow lane ambiguity resolution model in a geometric correlation (namely in a constrained mode) based on the constrained requirement of the ionosphere-combined noise under the assistance of the ultra-wide lane ambiguity and the wide lane ambiguity;
Figure FDA0003627407960000026
in which H is Hs,1A matrix representation of (a); epsilon*,INSRespectively representing the position updating errors of the ship and carrier INS, and completing the aeronautical solution 'of the relative baseline fixed solution by using the nearby rounding algorithm'
After the mobile station obtains the differential correction of the reference station in the step 3, a carrier phase of an INS predicted position and an inter-satellite double-difference observation model and a random model between pseudo-range stations are constructed by combining Beidou navigation and observation information received by the mobile station and INS position prediction information, so that the continuity of a positioning result can be effectively improved;
in step 5, under the assistance of super-wide lane and wide lane ambiguity, constructing a narrow lane ambiguity resolution model in a geometric correlation (GB) constraint mode based on the requirement that ionosphere-combined noise can be constrained; utilizing a near rounding algorithm to complete the on-the-fly solution of the relative baseline fixed solution; the step-by-step ambiguity resolution effectively improves the resolution speed and guarantees the positioning real-time performance.
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