CN111830538A - Satellite positioning method - Google Patents
Satellite positioning method Download PDFInfo
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- CN111830538A CN111830538A CN202010727537.3A CN202010727537A CN111830538A CN 111830538 A CN111830538 A CN 111830538A CN 202010727537 A CN202010727537 A CN 202010727537A CN 111830538 A CN111830538 A CN 111830538A
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- satellite
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- receiver
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000004364 calculation method Methods 0.000 claims description 32
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—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
-
- 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
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- 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
-
- 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
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
Abstract
The invention discloses a satellite positioning method, which is characterized in that the method is suitable for a Global Positioning System (GPS) receiver, the GPS receiver and a plurality of satellites respectively have a virtual distance, each virtual distance comprises an integer code value and a decimal code value, and the GPS receiver comprises: a radio frequency front end unit for receiving signals transmitted by each satellite, the signals not including satellite ephemeris; a satellite signal capturing unit electrically connected to the RF front-end unit for capturing the signal received by the RF front-end unit from each satellite and calculating a code phase of the signal transmitted by each satellite. According to the satellite positioning method and the receiver provided by the invention, the received satellite signals are identified, and the satellite information of each satellite navigation system corresponding to the satellite signals is obtained for positioning, so that the support for various satellite navigation systems is realized, and the positioning accuracy can be improved.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a satellite positioning method.
Background
The Global Positioning System (GPS) is a very widely used satellite Positioning System in the world. If the GPS is used singly for positioning, the use of the satellite positioning system and the positioning accuracy can be influenced due to the existence of factors such as different countries, regions and even shelters.
Satellite positioning has long been an important indicator technology for outdoor positioning due to its many advantages, such as high global coverage (up to 98%), high accuracy, rapidity, time saving, wide application, mobile positioning, etc.
The positioning procedure of the conventional satellite positioning receiver can be divided into three procedures of acquisition, tracking and positioning. In the acquisition process, the satellite positioning receiver is used to calculate the code phase and Doppler shift of the satellites visible in the sky. In the tracking procedure, the satellite positioning receiver is used to synchronize the local signal with the satellite signal, and further to solve the parameters such as the satellite ephemeris, which is an indispensable parameter in the subsequent positioning procedure and includes the absolute transmission time of the satellite and the satellite orbit information. In the positioning procedure, the satellite positioning receiver is used to obtain the correct satellite position and the virtual distance between the satellite and the satellite positioning receiver according to the parameters such as the satellite ephemeris, and calculate the position of the satellite.
For a conventional satellite positioning receiver, once the ephemeris information of a satellite cannot be normally obtained in a tracking procedure, the absolute transmission time of the satellite and the satellite orbit information cannot be obtained; in the absence of the absolute time of transmission and the satellite orbit information, the conventional satellite positioning receiver cannot obtain the correct satellite position and the virtual distance between the satellite and the satellite positioning receiver, and thus cannot calculate the positioning position of the user.
A conventional satellite positioning receiver may include a radio frequency front end unit, a satellite signal acquisition unit, a satellite signal tracking unit, and a positioning calculation unit, wherein the radio frequency front end unit is used as a communication interface between a satellite and the satellite positioning receiver, and the satellite signal acquisition unit, the satellite signal tracking unit, and the positioning calculation unit are respectively used for executing three procedures of acquisition, tracking, and positioning. Since the transmission rate of satellite ephemeris transmitted by the satellite is very low (about 50bps), it takes a very long time (about 30 seconds to several minutes) for the satellite signal tracking unit to download and process a piece of complete satellite ephemeris data (including the absolute transmission time of the satellite and the satellite orbit information) from the satellite. Therefore, the conventional satellite positioning receiver generally has a problem that the first positioning (or cold-start) speed is too slow, which results in too long waiting time for the user or affects the application level.
In view of this, how to improve the problem that the initial positioning speed of the conventional satellite positioning receiver is too slow because the satellite signal tracking unit needs to spend too much time downloading from the satellite and processing a complete satellite ephemeris is an important problem to be overcome in the technical field.
Disclosure of Invention
In view of this, the present invention provides a satellite positioning method, which can fully utilize the positioning advantages of various satellite positioning systems, ensure positioning performance, receive and process positioning data of one satellite positioning system at the same time, reduce computation, further improve positioning speed, and reduce power consumption.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for positioning a satellite, the method being applicable to a GPS receiver having a virtual distance between the GPS receiver and a plurality of satellites, each virtual distance including an integer code value and a decimal code value, the GPS receiver comprising: a radio frequency front end unit for receiving signals transmitted by each satellite, the signals not including satellite ephemeris; a satellite signal capturing unit electrically connected to the RF front-end unit for capturing the signal received by the RF front-end unit from each satellite and calculating a code phase of the signal transmitted by each satellite; a satellite virtual distance calculating device electrically connected to the satellite signal capturing unit, and comprising: a receiver for receiving the code phase of the signal transmitted by each satellite from the satellite signal acquisition unit; and a processor electrically connected to the receiver and configured to perform the following operations: calculating the decimal code value of each virtual distance according to each code phase; defining an approximate point location; carrying out a linearization technique treatment on the position of the approximate point; calculating a unit vector matrix of the approximate point location to each of the satellites based on the linearization technique process; calculating an estimated decimal value of each virtual distance according to each unit vector matrix and each decimal value; and approximating each estimated decimal value to each decimal value through an iterative algorithm to calculate the integer value of each virtual distance, and calculating each virtual distance according to each decimal value and each integer value; and a positioning calculation unit electrically connected to the satellite virtual distance calculation device and used for positioning the GPS receiver according to the virtual distances calculated by the satellite virtual distance calculation device; further comprising: detecting whether satellite signals received by a receiver come from different n satellite navigation systems, wherein n is an integer greater than 1; if so, calculating the positioning information of the receiver and the displacement corresponding to the clock deviation of the GPS receiver relative to each satellite navigation system according to the satellite information of the positioning satellite in each satellite navigation system; the step of calculating the positioning information of the GPS receiver and the displacement amount corresponding to the clock bias of the GPS receiver with respect to each satellite navigation system from the satellite information of the positioning satellite in each satellite navigation system includes: allocating resources for positioning satellites in each of the satellite navigation systems; tracking and capturing each positioning satellite distributed with resources to obtain satellite information including pseudo range, coordinate information, speed information and frequency information of each positioning satellite; and calculating positioning information and the displacement amount of the GPS receiver from the satellite information.
Preferably, in the above satellite positioning method, the step of detecting whether the satellite signals received by the receiver are from different n satellite navigation systems includes: judging whether the satellite signal comes from a Beidou satellite navigation system, a global positioning system or a Galileo satellite navigation system according to the I branch common ranging code of the received satellite signal, and judging whether the satellite signal comes from a Gronass satellite navigation system according to the frequency of the received satellite signal.
Preferably, in the above satellite positioning method, each of the satellite positioning receivers has a virtual distance with each of the satellites, each of the virtual distances includes an integer code value and a decimal code value, the satellite positioning receiver includes a radio frequency front end unit, a satellite signal acquisition unit, a satellite virtual distance calculation device, and a positioning calculation unit, and the satellite positioning method includes the following steps:
(a) enabling the radio frequency front end unit to receive signals transmitted by each satellite, wherein the signals do not contain satellite ephemeris;
(b) the satellite signal acquisition unit is used for acquiring the signal received by the radio frequency front end unit from each satellite and calculating a code phase of the signal transmitted by each satellite;
(c) enabling the satellite virtual distance calculating device to receive the code phase of the signal transmitted by each satellite from the satellite signal acquisition unit;
(d) enabling the satellite virtual distance calculation device to calculate the decimal value of each virtual distance according to each code phase;
(e) enabling the satellite virtual distance calculation device to define an approximate point position;
(f) enabling the satellite virtual distance calculation device to calculate each virtual distance according to the approximate point position and each decimal value; calculating each virtual distance according to each decimal code value and each integer code value; and (g) causing the positioning calculation unit to position the satellite positioning receiver based on the virtual distances calculated by the satellite virtual distance calculation means; the step (f) further comprises the following steps:
(f1) making a processor perform a linearization technique processing on the approximate point position;
(f3) causing the processor to calculate a unit vector matrix of the approximate point location to each of the satellites based on the linearization technique process;
(f5) enabling the processor to calculate an estimated decimal value of each virtual distance according to each unit vector matrix and each decimal value; and (f6) causing the processor to approximate each of the estimated fractional code values to each of the fractional code values via an iterative algorithm to calculate each of the integer code values.
Compared with the prior art, the satellite positioning method and the receiver provided by the invention have the advantages that the satellite signals are identified, and the satellite information of each satellite navigation system corresponding to the satellite signals is acquired for positioning, so that the support for various satellite navigation systems is realized, and the positioning accuracy can be improved.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the implementation of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to a satellite positioning method disclosed by the present invention, which specifically includes:
the GPS receiver is suitable for a GPS receiver, each of the GPS receiver and a plurality of satellites has a virtual distance, each virtual distance comprises an integer code value and a decimal code value, the GPS receiver comprises: a radio frequency front end unit for receiving signals transmitted by each satellite, the signals not including satellite ephemeris; a satellite signal capturing unit electrically connected to the RF front-end unit for capturing the signal received by the RF front-end unit from each satellite and calculating a code phase of the signal transmitted by each satellite; a satellite virtual distance calculating device electrically connected to the satellite signal capturing unit, and comprising: a receiver for receiving the code phase of the signal transmitted by each satellite from the satellite signal acquisition unit; and a processor electrically connected to the receiver and configured to perform the following operations: calculating the decimal code value of each virtual distance according to each code phase; defining an approximate point location; carrying out a linearization technique treatment on the position of the approximate point; calculating a unit vector matrix of the approximate point location to each of the satellites based on the linearization technique process; calculating an estimated decimal value of each virtual distance according to each unit vector matrix and each decimal value; and approximating each estimated decimal value to each decimal value through an iterative algorithm to calculate the integer value of each virtual distance, and calculating each virtual distance according to each decimal value and each integer value; and a positioning calculation unit electrically connected to the satellite virtual distance calculation device and used for positioning the GPS receiver according to the virtual distances calculated by the satellite virtual distance calculation device; further comprising: detecting whether satellite signals received by a receiver come from different n satellite navigation systems, wherein n is an integer greater than 1; if so, calculating the positioning information of the receiver and the displacement corresponding to the clock deviation of the GPS receiver relative to each satellite navigation system according to the satellite information of the positioning satellite in each satellite navigation system; the step of calculating the positioning information of the GPS receiver and the displacement amount corresponding to the clock bias of the GPS receiver with respect to each satellite navigation system from the satellite information of the positioning satellite in each satellite navigation system includes: allocating resources for positioning satellites in each of the satellite navigation systems; tracking and capturing each positioning satellite distributed with resources to obtain satellite information including pseudo range, coordinate information, speed information and frequency information of each positioning satellite; and calculating positioning information and the displacement amount of the GPS receiver from the satellite information.
In order to further optimize the above technical solution, the step of detecting whether the satellite signals received by the receiver are from different n satellite navigation systems includes: judging whether the satellite signal comes from a Beidou satellite navigation system, a global positioning system or a Galileo satellite navigation system according to the I branch common ranging code of the received satellite signal, and judging whether the satellite signal comes from a Gronass satellite navigation system according to the frequency of the received satellite signal.
In order to further optimize the above technical solution, each of the satellite positioning receiver and the plurality of satellites has a virtual distance, each of the virtual distances includes an integer code value and a decimal code value, the satellite positioning receiver includes a radio frequency front end unit, a satellite signal acquisition unit, a satellite virtual distance calculation device, and a positioning calculation unit, the satellite positioning method includes the following steps:
(a) enabling the radio frequency front end unit to receive signals transmitted by each satellite, wherein the signals do not contain satellite ephemeris;
(b) the satellite signal acquisition unit is used for acquiring the signal received by the radio frequency front end unit from each satellite and calculating a code phase of the signal transmitted by each satellite;
(c) enabling the satellite virtual distance calculating device to receive the code phase of the signal transmitted by each satellite from the satellite signal acquisition unit;
(d) enabling the satellite virtual distance calculation device to calculate the decimal value of each virtual distance according to each code phase;
(e) enabling the satellite virtual distance calculation device to define an approximate point position;
(f) enabling the satellite virtual distance calculation device to calculate each virtual distance according to the approximate point position and each decimal value; calculating each virtual distance according to each decimal code value and each integer code value; and (g) causing the positioning calculation unit to position the satellite positioning receiver based on the virtual distances calculated by the satellite virtual distance calculation means; the step (f) further comprises the following steps:
(f1) making a processor perform a linearization technique processing on the approximate point position;
(f3) causing the processor to calculate a unit vector matrix of the approximate point location to each of the satellites based on the linearization technique process;
(f5) enabling the processor to calculate an estimated decimal value of each virtual distance according to each unit vector matrix and each decimal value; and (f6) causing the processor to approximate each of the estimated fractional code values to each of the fractional code values via an iterative algorithm to calculate each of the integer code values.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A method for positioning a satellite, the method being applicable to a GPS receiver having a virtual distance between the GPS receiver and a plurality of satellites, each virtual distance including an integer code value and a decimal code value, the GPS receiver comprising: a radio frequency front end unit for receiving signals transmitted by each satellite, the signals not including satellite ephemeris; a satellite signal capturing unit electrically connected to the RF front-end unit for capturing the signal received by the RF front-end unit from each satellite and calculating a code phase of the signal transmitted by each satellite; a satellite virtual distance calculating device electrically connected to the satellite signal capturing unit, and comprising: a receiver for receiving the code phase of the signal transmitted by each satellite from the satellite signal acquisition unit; and a processor electrically connected to the receiver and configured to perform the following operations: calculating the decimal code value of each virtual distance according to each code phase; defining an approximate point location; carrying out a linearization technique treatment on the position of the approximate point; calculating a unit vector matrix of the approximate point location to each of the satellites based on the linearization technique process; calculating an estimated decimal value of each virtual distance according to each unit vector matrix and each decimal value; and approximating each estimated decimal value to each decimal value through an iterative algorithm to calculate the integer value of each virtual distance, and calculating each virtual distance according to each decimal value and each integer value; and a positioning calculation unit electrically connected to the satellite virtual distance calculation device and used for positioning the GPS receiver according to the virtual distances calculated by the satellite virtual distance calculation device; further comprising: detecting whether satellite signals received by a receiver come from different n satellite navigation systems, wherein n is an integer greater than 1; if so, calculating the positioning information of the receiver and the displacement corresponding to the clock deviation of the GPS receiver relative to each satellite navigation system according to the satellite information of the positioning satellite in each satellite navigation system; the step of calculating the positioning information of the GPS receiver and the displacement amount corresponding to the clock bias of the GPS receiver with respect to each satellite navigation system from the satellite information of the positioning satellite in each satellite navigation system includes: allocating resources for positioning satellites in each of the satellite navigation systems; tracking and capturing each positioning satellite distributed with resources to obtain satellite information including pseudo range, coordinate information, speed information and frequency information of each positioning satellite; and calculating positioning information and the displacement amount of the GPS receiver from the satellite information.
2. The satellite positioning method according to claim 1, wherein the step of detecting whether the satellite signals received by the receiver are from different n satellite navigation systems comprises: judging whether the satellite signal comes from a Beidou satellite navigation system, a global positioning system or a Galileo satellite navigation system according to the I branch common ranging code of the received satellite signal, and judging whether the satellite signal comes from a Gronass satellite navigation system according to the frequency of the received satellite signal.
3. The satellite positioning method of claim 1, wherein each of the satellite positioning receiver and the plurality of satellites has a virtual distance therebetween, each of the virtual distances includes an integer code value and a decimal code value, the satellite positioning receiver includes a radio frequency front end unit, a satellite signal acquisition unit, a satellite virtual distance calculation device, and a positioning calculation unit, the satellite positioning method includes the steps of:
(a) enabling the radio frequency front end unit to receive signals transmitted by each satellite, wherein the signals do not contain satellite ephemeris;
(b) the satellite signal acquisition unit is used for acquiring the signal received by the radio frequency front end unit from each satellite and calculating a code phase of the signal transmitted by each satellite;
(c) enabling the satellite virtual distance calculating device to receive the code phase of the signal transmitted by each satellite from the satellite signal acquisition unit;
(d) enabling the satellite virtual distance calculation device to calculate the decimal value of each virtual distance according to each code phase;
(e) enabling the satellite virtual distance calculation device to define an approximate point position;
(f) enabling the satellite virtual distance calculation device to calculate each virtual distance according to the approximate point position and each decimal value; calculating each virtual distance according to each decimal code value and each integer code value; and (g) causing the positioning calculation unit to position the satellite positioning receiver based on the virtual distances calculated by the satellite virtual distance calculation means; the step (f) further comprises the following steps:
(f1) making a processor perform a linearization technique processing on the approximate point position;
(f3) causing the processor to calculate a unit vector matrix of the approximate point location to each of the satellites based on the linearization technique process;
(f5) enabling the processor to calculate an estimated decimal value of each virtual distance according to each unit vector matrix and each decimal value; and (f6) causing the processor to approximate each of the estimated fractional code values to each of the fractional code values via an iterative algorithm to calculate each of the integer code values.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010727537.3A CN111830538A (en) | 2020-07-27 | 2020-07-27 | Satellite positioning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010727537.3A CN111830538A (en) | 2020-07-27 | 2020-07-27 | Satellite positioning method |
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| CN104181561A (en) * | 2013-05-24 | 2014-12-03 | 凹凸电子（武汉）有限公司 | Receiver and satellite positioning and speed measuring method |
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2020
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| US6417801B1 (en) * | 2000-11-17 | 2002-07-09 | Global Locate, Inc. | Method and apparatus for time-free processing of GPS signals |
| CN101581774A (en) * | 2009-06-26 | 2009-11-18 | 山东正元地理信息工程有限责任公司 | High-precision point positioning method and system for global navigation satellite system (GNSS) |
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