CN111998849A - Differential dynamic positioning method based on inertial navigation system - Google Patents

Differential dynamic positioning method based on inertial navigation system Download PDF

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CN111998849A
CN111998849A CN202010881232.8A CN202010881232A CN111998849A CN 111998849 A CN111998849 A CN 111998849A CN 202010881232 A CN202010881232 A CN 202010881232A CN 111998849 A CN111998849 A CN 111998849A
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base station
mobile base
navigation system
station
positioning
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蔡成林
吴芊
贾伟
刘凌云
张智强
邓钰臻
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Xiangtan University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S19/258—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 the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
    • 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
    • G01S19/38—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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
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Abstract

The invention discloses a differential dynamic positioning method based on an inertial navigation system, which realizes the positioning of a mobile base station by the following steps: step 1, obtaining the position of a mobile base station at an initial observation moment through pseudo-range point positioning; step 2, at each observation moment, solving the position variation of the mobile base station between the current observation moment and the previous observation moment based on an observation equation; the observation equation is established based on information output by an inertial navigation system and a satellite navigation system; and 3, obtaining the position of the mobile base station at the current observation time based on the position and the position variation of the mobile base station at the last observation time. And obtaining a differential correction value based on the positioning result of the mobile base station, correcting the pseudo range between the mobile station and the satellite by using the differential correction value, and performing pseudo range point positioning on the mobile station by using the corrected pseudo range value to obtain the position coordinate of the mobile station. The invention can improve the positioning accuracy of the mobile base station and the mobile station.

Description

Differential dynamic positioning method based on inertial navigation system
Technical Field
The invention relates to the technical field of navigation and positioning by combining inertial navigation and satellite navigation, in particular to a differential dynamic positioning method based on an inertial navigation system.
Background
In differential positioning, the position of the reference station is known, and therefore the true distance between the reference station and the satellite (station-to-satellite distance) is also known. The data broadcast by the satellite contains pseudo-range information, the pseudo-range refers to the approximate distance from the ground receiver to the satellite, and the pseudo-range contains a plurality of errors including receiver clock error, satellite clock error, ionosphere and troposphere delay error and pseudo-range measurement noise, wherein the satellite clock error can be considered to be known. As shown in fig. 1, the basic principle of differential positioning is mainly based on that satellite clock error, satellite ephemeris error, ionosphere time delay and troposphere time delay have spatial correlation and time correlation, i.e. the above mentioned error components contained in the pseudo range measurements of different receivers in the same region are approximately or highly correlated. If the true, accurate station range is compared to a reference station to satellite range measurement (pseudorange), the difference is equal to the reference station to satellite measurement error. The amount of measurement error correction that the reference station broadcasts to the rover station is called a differential correction amount, and the rover station can reduce or even eliminate the measurement error through the differential correction amount. For general real-time dynamic differential positioning (RTK) techniques, the base station is stationary and the rover station is moving, but for some situations, such as drone formation, airplane airborne fueling, both (or more) target objects are moving, thus requiring a differential dynamic-to-dynamic positioning (dynamic positioning for short) technique to navigate the target. In dynamic positioning, similar to the principle of differential positioning, the reference station is also mobile, called a mobile base station. For dynamic positioning, the selected mobile station needs to broadcast differential data to the rover station to correct the distance measurement of the rover station to obtain more accurate position coordinates of the rover station, and a baseline vector between the mobile station and the rover station is obtained. However, since the mobile station is moving, the positioning accuracy thereof affects the accuracy of differential positioning, and the positioning error of the mobile station is larger and larger as time (epoch) increases. How to acquire more accurate position information of the mobile base station is a key problem.
Disclosure of Invention
The invention solves the technical problem that aiming at the defects of the prior art, the differential dynamic positioning method based on the inertial navigation system is provided, and the positioning precision can be effectively improved.
The technical scheme provided by the invention is as follows:
a differential dynamic positioning method based on an inertial navigation system realizes the positioning of a mobile base station by the following steps:
step 1, obtaining the position s of the mobile base station at the initial observation time through pseudo-range point positioningb(0)；
Step 2, at each observation time, solving the position variation [ dx dy dz ] of the mobile base station between the current observation time k and the last observation time k-1 based on an observation equation, wherein k is 1,2, …; the observation equation is established based on information output by an inertial navigation system and a satellite navigation system;
step 3, moving the position s of the base station based on the last observation momentb(k-1) and amount of position change [ dx dy dz]Obtaining the position s of the mobile base station at the current observation momentb(k)。
Further, the observation equation is:
Figure BDA0002654188980000021
wherein L isρMoving the pseudorange observations of base station b for the current observation time k,
Figure BDA0002654188980000022
in the formula (x)(i),y(i),z(i)) The position coordinate of the satellite i at the current observation time k, (x, y, z) is the position coordinate of the mobile base station at the current observation time k output by the inertial navigation system;
h is an observation matrix, and the expression is as follows:
Figure BDA0002654188980000023
Figure BDA0002654188980000024
Figure BDA0002654188980000025
Figure BDA0002654188980000026
wherein N is the number of satellites which can be observed by a receiver of the mobile base station b;
ρas pseudo-range observation error, I3×3Is an identity matrix of 3 x 3 dimensions,insto observe the noise.
Further, the observation equation is solved by a least square method to obtain:
Figure BDA0002654188980000031
wherein,
Figure BDA0002654188980000032
further, positioning of the rover station is achieved by:
firstly, executing steps 1-3 to obtain the position s of the mobile base station at the current observation timeb(k)；
Then, the velocity v of the mobile base station is obtained by using the inertial navigation systembTo repair therebyMoving base station position: s'b(k)＝sb(k)+vbΔ t, where Δ t is the time difference between the rover and the mobile base station when the satellite signals are received;
and then using the corrected position s 'of the mobile base station'b(k) Calculating the geometric distance from the mobile base station b to the satellite i
Figure BDA0002654188980000033
Thereby calculating a difference correction amount
Figure BDA0002654188980000034
Where ρ is(i)Moving a pseudo range between the base station b and the satellite i at the current observation time k;
finally, the mobile station broadcasts the difference correction value to the rover station, and the difference correction value is utilized
Figure BDA0002654188980000035
Pseudoranges between mobile station and satellite i
Figure BDA0002654188980000036
And correcting, and performing pseudo range point positioning on the rover station by using the corrected pseudo range value to obtain the position coordinate of the rover station.
Further, pseudorange point positioning uses precise point positioning.
The dynamic single-point positioning of the satellite navigation system can not meet the positioning accuracy requirement of the mobile base station. The real-time positioning accuracy of the mobile base station must be improved in order for the rover station to obtain better differential positioning accuracy. The real-time dynamic Precise Point Positioning (PPP) of a user converges to a decimeter level within 7min on average, the plane precision is better than 0.1m after convergence, the elevation precision is better than 0.2m, the real-time dynamic PPP can be used for carrying out real-time positioning on the mobile base station, but the positioning precision and the convergence speed are still not enough to meet the requirements of serving as the mobile base station. Therefore, the technical method of the invention only adopts precise single-point positioning to obtain the position of the mobile base station at the initial observation time, and then combines a satellite navigation system and an inertial navigation system to construct an observation equation to obtain the position variation of the mobile base station at the adjacent observation time, thereby obtaining the more precise position of the mobile base station and improving the positioning precision and the convergence speed.
An Inertial Navigation System (INS) is an autonomous navigation system and is not easily disturbed by the outside world. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained. The inertial navigation positioning system can perform accurate positioning in a short time to obtain accurate position information. During the movement of the mobile base station, the acceleration of the mobile base station is measured through an inertial navigation system, and integral operation is automatically carried out, so that the instantaneous speed and accurate instantaneous position data of the mobile base station can be obtained. Establishing an observation equation by using the position information; by combining the observation equation with the pseudo-range observation equation positioned by the satellite, the more accurate position coordinate of the mobile base station can be obtained by solving.
Has the advantages that:
the invention provides a positioning processing method combining a satellite navigation system and an inertial navigation system, which can obtain more accurate position information and moving speed of a moving target in a short time through the characteristic that the inertial navigation system can obtain the position information and the moving speed of the moving target, fuse the position information output by the satellite navigation system and the position information output by the inertial navigation system, finally obtain more accurate position coordinates of a mobile base station, improve the positioning accuracy and the convergence speed of the mobile base station, and further ensure that a mobile station can obtain better differential positioning accuracy. In addition, the invention also corrects the position of the mobile base station through the speed of the mobile base station output by the inertial navigation system, eliminates the clock difference between the mobile base station and the rover station and further improves the positioning precision of the rover station.
Drawings
FIG. 1 illustrates the differential positioning operation;
FIG. 2 is a flow chart of an embodiment of the present invention.
Detailed Description
The present invention will be described in more detail with reference to the accompanying drawings and embodiments.
As shown in fig. 2, the present embodiment provides a differential kinematic positioning method based on an inertial navigation system, which includes the following steps:
firstly, selecting a moving target as a mobile base station b, and obtaining the position s of the mobile base station b at an initial observation time (the observation time refers to the time when a receiver of the mobile base station b receives satellite signals, namely an epoch) through pseudo-range single-point positioningb(0)＝(x0,y0,z0) The pseudorange single-point positioning equation is:
Figure BDA0002654188980000041
wherein, tuIs the receiver clock error of the mobile base station b, N is the number of satellites that can be observed by the receiver of the mobile base station b, ρ(i)The pseudo range between the mobile base station b and the satellite i at the current observation time k can be obtained from data broadcast by the satellite; (x)(i),y(i),z(i)) For the position coordinates of the satellite i in the geocentric earth-fixed coordinate system at the current observation time k, the data broadcast by the receiver of the mobile base station b and received by the satellite comprise satellite ephemeris parameters, and (x) can be calculated through the ephemeris parameters(i),y(i),z(i)) (ii) a The system of equations contains (x)0,y0,z0) And tu4 unknown parameters, so that at least 4 equations, namely observation values of 4 satellites, are required to obtain the solution of the position coordinate of the mobile base station b and the receiver clock error;
secondly, acquiring the position coordinates (x, y, z) of the mobile base station at the current observation time k output by the inertial navigation system at each observation time, and utilizing the position coordinates (x, y, z) of the satellite i at the current observation time k in the geocentric coordinate system (x, y, z)(i),y(i),z(i)) Calculate outPseudo-range observed value of mobile base station at current observation time k
Figure BDA0002654188980000051
Establishing an observation equation and linearizing to obtain a pseudo range observation equation of a satellite navigation system (including a Beidou satellite navigation system BDS) as follows:
Figure BDA0002654188980000052
wherein,ρfor pseudorange observation errors, [ dx dy dz]TThe coordinate variation of the mobile base station between the current observation time k and the last observation time k-1; h is an observation matrix, and the expression is as follows:
Figure BDA0002654188980000053
Figure BDA0002654188980000054
Figure BDA0002654188980000055
Figure BDA0002654188980000056
taking the position (x, y, z) of the mobile base station at the current observation time k output by the inertial navigation system as a virtual observation point (reference position), wherein the virtual observation point can establish the following observation equation:
Figure BDA0002654188980000057
wherein, I3×3Unit moment of 3 x 3 dimensionsThe number of the arrays is determined,insto observe the noise.
The third step: the observation equation of the simultaneous satellite navigation system and the inertial navigation system is as follows:
Figure BDA0002654188980000061
the positioning result combining the satellite navigation system and the inertial navigation system can be solved by a least square method, specifically: ignoring noise
Figure BDA0002654188980000062
The above observation equation can be simplified as B ═ W · Δ x, where
Figure BDA0002654188980000063
The least squares solution of the observation equation is Δ x ═ WTW)-1WTB; obtaining the coordinate variation of the mobile base station
Figure BDA0002654188980000064
Thereafter, the position s of the mobile base station is moved in conjunction with the last observation time k-1b(k-1) the more accurate position s of the mobile base station at the current observation time k can be calculatedb(k)，sb(k)＝sb(k-1)+[dx dy dz]，k＝1,2,…。
The mobile base station can be positioned in real time by repeating the processing, and the positioning precision of the mobile base station is also ensured.
After the accurate positioning of the mobile base station is realized, the accurate positioning of the mobile station is further realized through the following steps:
the clock difference between the mobile base station and the rover can usually reach 2ms at most, and the unsynchronized clocks can reduce the accuracy of positioning, so that the clock difference needs to be corrected. Obtaining velocity v of mobile base station by inertial navigation systemb(the velocity of the mobile base station may be taken at the moment the mobile base station or rover received the satellite signal, or the average velocity may be taken) to correct the mobile base station position: s'b(k)＝sb(k)+vbΔ t, wherein Δt is the time difference between the satellite signals received by the rover and the mobile base station.
Using the corrected position s 'of the mobile station'b(k) Calculating the precise geometric distance from the mobile base station b to the satellite i
Figure BDA0002654188980000065
(calculation based on a distance formula between two points) to calculate a difference correction amount
Figure BDA0002654188980000066
The difference correction amount is actually the sum of a plurality of measurement errors and deviation amounts.
The mobile station can broadcast the difference correction value to the mobile station, and the difference correction value is utilized
Figure BDA0002654188980000067
Pseudoranges between mobile station and satellite i
Figure BDA0002654188980000068
(which may be derived from data broadcast from the satellites) to obtain relatively accurate pseudorange values
Figure BDA0002654188980000069
Figure BDA00026541889800000610
Reusing pseudorange values
Figure BDA00026541889800000611
And performing pseudo-range point positioning on the rover station to obtain the accurate position coordinate of the rover station.
The embodiment combines inertial navigation and satellite positioning, fuses the inertial navigation positioning result and the satellite positioning result, can acquire more accurate position information of the mobile base station, improves the positioning accuracy of the mobile base station, and realizes the function of the mobile base station as a reference station, thereby effectively improving the accuracy of dynamic positioning and meeting the requirement of dynamic positioning.

Claims (5)

1. A differential dynamic positioning method based on an inertial navigation system is characterized in that the positioning of a mobile base station is realized by the following steps:
step 1, obtaining the position s of the mobile base station at the initial observation time through pseudo-range point positioningb(0)；
Step 2, at each observation time, solving the position variation [ dx dy dz ] of the mobile base station between the current observation time k and the last observation time k-1 based on an observation equation, wherein k is 1,2, …; the observation equation is established based on information output by an inertial navigation system and a satellite navigation system;
step 3, moving the position s of the base station based on the last observation momentb(k-1) and amount of position change [ dx dy dz]Obtaining the position s of the mobile base station at the current observation momentb(k)。
2. The method of differential kinematic location based on an inertial navigation system of claim 1, characterized in that the observation equation is:
Figure FDA0002654188970000011
wherein L isρMoving the pseudorange observations of base station b for the current observation time k,
Figure FDA0002654188970000012
in the formula (x)(i)，y(i)，z(i)) The position coordinate of the satellite i at the current observation time k, (x, y, z) is the position coordinate of the mobile base station at the current observation time k output by the inertial navigation system;
h is an observation matrix, and the expression is as follows:
Figure FDA0002654188970000013
Figure FDA0002654188970000014
Figure FDA0002654188970000015
Figure FDA0002654188970000016
wherein N is the number of satellites which can be observed by a receiver of the mobile base station b;
ρas pseudo-range observation error, I3×3Is an identity matrix of 3 x 3 dimensions,insto observe the noise.
3. The differential kinematic positioning method based on inertial navigation systems according to claim 2, characterized in that the observation equation is solved by the least squares method to obtain:
Figure FDA0002654188970000021
wherein,
Figure FDA0002654188970000022
4. the differential kinematic positioning method based on an inertial navigation system according to claim 1, characterized in that the positioning of the rover station is realized by the following steps:
firstly, executing steps 1-3 to obtain the position s of the mobile base station at the current observation timeb(k)；
Then, the velocity v of the mobile base station is obtained by using the inertial navigation systembThereby correcting the mobile base station position: s'b(k)＝sb(k)+vbΔ t, where Δ t is the mobile station to mobile base station connectionTime difference of received satellite signals;
and then using the corrected position s 'of the mobile base station'b(k) Calculating the geometric distance from the mobile base station b to the satellite i
Figure FDA0002654188970000023
Thereby calculating a difference correction amount
Figure FDA0002654188970000024
Where ρ is(i)Moving a pseudo range between the base station b and the satellite i at the current observation time k;
finally, the mobile station broadcasts the difference correction value to the rover station, and the difference correction value is utilized
Figure FDA0002654188970000025
Pseudoranges between mobile station and satellite i
Figure FDA0002654188970000026
And correcting, and performing pseudo range point positioning on the rover station by using the corrected pseudo range value to obtain the position coordinate of the rover station.
5. The differential dynamic positioning method based on the inertial navigation system according to any one of claims 1 to 4, characterized in that the pseudo range single point positioning adopts precise single point positioning.
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WO2023160036A1 (en) * 2022-02-24 2023-08-31 腾讯科技（深圳）有限公司 Positioning method and apparatus, and device and storage medium
CN114935770A (en) * 2022-04-29 2022-08-23 湘潭大学 Method and device for accelerating precision single-point positioning convergence speed by multiple calendars
CN115342820A (en) * 2022-10-18 2022-11-15 深圳市诚王创硕科技有限公司 Navigation positioning system for automobile driving at night
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CN117647254A (en) * 2024-01-30 2024-03-05 智道网联科技(北京)有限公司 Fusion positioning method, device, equipment and storage medium for automatic driving vehicle
CN117647254B (en) * 2024-01-30 2024-04-09 智道网联科技(北京)有限公司 Fusion positioning method, device, equipment and storage medium for automatic driving vehicle

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Application publication date: 20201127