CN112180410A - Navigation signal pseudo-range deviation correction method - Google Patents

Navigation signal pseudo-range deviation correction method Download PDF

Info

Publication number
CN112180410A
CN112180410A CN202010852206.2A CN202010852206A CN112180410A CN 112180410 A CN112180410 A CN 112180410A CN 202010852206 A CN202010852206 A CN 202010852206A CN 112180410 A CN112180410 A CN 112180410A
Authority
CN
China
Prior art keywords
satellite
receiver
pseudo
range
antenna
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010852206.2A
Other languages
Chinese (zh)
Inventor
石慧慧
卢晓春
饶永南
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Time Service Center of CAS
Original Assignee
National Time Service Center of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National Time Service Center of CAS filed Critical National Time Service Center of CAS
Priority to CN202010852206.2A priority Critical patent/CN112180410A/en
Publication of CN112180410A publication Critical patent/CN112180410A/en
Pending legal-status Critical Current

Links

Images

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
    • G01S19/38—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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a navigation signal pseudo-range deviation correction method, which comprises the following steps: s1: calibrating pseudo-range deviation characteristic parameters: measuring the satellite-ground distance between the satellite and the antenna; accurately measuring the transmission time delay of a receiving terminal of the large-aperture antenna; analyzing error characteristics of pseudo-range measurement of a receiver; s2: calibrating inter-satellite difference: calibrating the time delay of a receiving channel of a receiver; measuring the distance between stations; measuring the satellite-ground distance; carrying out synchronous measurement test of the antenna and the omnidirectional receiving antenna; synchronously calibrating satellite navigation signal inter-satellite difference within a visual range; synchronously calibrating the difference between GNSS satellites; s3: and (3) testing and verifying: analyzing a positioning error of the receiver, and verifying the correction precision of a pseudo-range measurement correction parameter; adjusting the interval of a pseudo-range measurement correlator of the software receiver and the bandwidth key parameters of the filter, and researching the quantitative relation between the parameters of the software receiver and the signal ranging deviation. The invention has the advantages of weakening the influence of the pseudo-range deviation on the range measurement of the software receiver and improving the positioning precision of the system.

Description

Navigation signal pseudo-range deviation correction method
Technical Field
The invention belongs to the field of navigation signal deviation correction, and particularly relates to a navigation signal pseudo-range deviation correction method.
Background
Due to the non-ideal characteristic of the satellite downlink navigation signal, the pseudo-range difference values of the same receiver when observing different satellite signals with the same frequency point are unequal, and the pseudo-range difference values of the two receivers in different technical states when observing the same satellite signals with the same frequency point are unequal, which is called pseudo-range deviation. The pseudorange bias is caused by the distortion and inconsistency of satellite navigation signals, and directly influences the ranging and positioning of the user. At present, the research of the pseudo-range deviation correction method focuses on a receiving end, and the influence of the pseudo-range deviation is reduced through parameters such as the front-end bandwidth of a receiver, correlator interval and the like. This phenomenon cannot be eliminated by means of difference, and is further amplified when the dual-frequency ionosphere error correction is performed, which poses a serious hazard to the improvement of the satellite navigation system service accuracy.
In the process of generating, transmitting and receiving satellite navigation signals, each link can bring distortion to the signals, and for most users, the ranging deviation generated by the signal distortion can not cause serious damage to the positioning function of the users. However, this signal, when used in GNSS differential applications, creates pseudorange bias to the user receiver due to inconsistencies in the performance of the reference and user receivers, specifically, differences in reference and user receiver front-end bandwidths, code phase detector types, and correlation intervals. As shown in fig. 1, in the differential application, most common errors such as orbit deviation, clock error, ionosphere and troposphere induced deviation, etc. can be eliminated by the zero baseline measurement, but the deviation introduced by multipath, thermal noise and navigation satellite payload distortion cannot be eliminated, and the invention mainly aims to analyze the pseudo range deviation generated by the load distortion.
Disclosure of Invention
The invention aims to solve the problems and provides a navigation signal pseudo-range deviation correction method, which weakens the influence of pseudo-range deviation on the range measurement of a software receiver and improves the positioning precision of a system.
In order to achieve the purpose, the invention provides the following technical scheme:
a navigation signal pseudo-range bias correction method comprises the following steps:
s1: pseudo-range deviation characteristic parameter calibration
1) Measuring the satellite-ground distance between the satellite and the antenna;
2) accurately measuring transmission time delay of a receiving terminal based on a large-aperture antenna;
3) error characteristic analysis based on software receiver pseudorange measurement: acquiring and tracking the data acquired by the B1 frequency point to obtain a code phase ranging value which is recorded as
Figure 435128DEST_PATH_IMAGE001
Further obtaining the satellite-side error causing pseudo range deviation phenomenon
Figure 604204DEST_PATH_IMAGE002
；
S2: inter-satellite difference calibration
1) Calibrating the time delay of a receiving channel of a receiver;
2) measuring distance between stations: the receiver is placed at a known position of the coordinate point, noted
Figure 99907DEST_PATH_IMAGE003
Calculating the distance between the antenna and the receiver by using the coordinates of the antenna and the receiver
Figure 878376DEST_PATH_IMAGE004
；
3) Measuring the satellite-ground distance: calculating the satellite-ground distance between the satellite coordinates and the receiver coordinates by using the satellite coordinates and recording the satellite-ground distance as
Figure 369400DEST_PATH_IMAGE005
；
4) Synchronous measurement test of the antenna and the omnidirectional receiving antenna is carried out, error parameters of the transmitting and spreading links are resolved, and receiving end errors are achieved
Figure 693065DEST_PATH_IMAGE006
Accurately calibrating;
5) synchronously calibrating satellite navigation signal inter-satellite difference within a visual range;
6) synchronously calibrating the difference between GNSS satellites: repeating the method to obtain satellite end errors of different signals of different satellite navigation systems;
s3: test verification
1) Analyzing a positioning error of the receiver, and verifying the correction precision of a pseudo-range measurement correction parameter;
2) adjusting the interval of a pseudo-range measurement correlator of the software receiver and the bandwidth key parameters of the filter, and researching the quantitative relation between the parameters of the receiver and the signal ranging deviation.
Further, the specific step of measuring the satellite-ground distance between the satellite and the antenna in step S1) 1) is:
calculating the distance between satellite and antenna
Figure 161218DEST_PATH_IMAGE004
；
② for a certain satellite i, obtaining its coordinate by using the precision ephemeris after the event, recording as
Figure 87586DEST_PATH_IMAGE007
；
(iii) the coordinates of the antenna are known and recorded
Figure 308483DEST_PATH_IMAGE008
；
Fourthly, calculating the satellite-ground distance between the satellite coordinate and the antenna coordinate and recording the satellite-ground distance as the satellite-ground distance
Figure 52317DEST_PATH_IMAGE009
；
The step S1 of 2) for accurately measuring the transmission delay of the receiving terminal based on the large-aperture antenna includes the steps of:
measuring the time delay of the three stages of electromagnetic wave-electric signal-collection
Figure 584929DEST_PATH_IMAGE010
；
Secondly, generating square waves by using a signal source, and transmitting the square waves downwards from the antenna pair;
comparing the difference between the receiving time and the transmitting time by using an oscilloscope, and calculating to obtain the time delay.
Further, the specific step of analyzing the error characteristics based on the software receiver pseudorange measurement in step S1) in 3) is:
the original pseudo-range observed quantity equation is:
Figure 314988DEST_PATH_IMAGE011
（1）
r is the geometric distance (true distance) between the receiver and the satellite,
Figure 124812DEST_PATH_IMAGE012
；
Figure 914913DEST_PATH_IMAGE013
the user receiver clock error, here the software receiver and the collected data, does not exist;
the 40 m large-aperture antenna has no influence of ground multipath,
Figure 560921DEST_PATH_IMAGE014
is not present here;
Figure 829091DEST_PATH_IMAGE015
the measurement noise is ignored;
Figure 759001DEST_PATH_IMAGE016
the satellite clock error is obtained through a precise clock error parameter;
b receiver hardware delay, here time delay
Figure 720003DEST_PATH_IMAGE017
；
Figure 351842DEST_PATH_IMAGE018
Respectively obtaining ionosphere and troposphere errors and T through solving by a model;
Figure 423703DEST_PATH_IMAGE019
orbit error, b satellite hardware delay,
Figure 332753DEST_PATH_IMAGE020
The pseudo-range measurement errors caused by signal distortion are all uniformly called satellite-side errors and are expressed as pseudo-range deviations which are recorded as
Figure 74444DEST_PATH_IMAGE021
；
And simplifying a pseudo-range observation quantity equation into the following steps through the classification and analysis:
Figure 334524DEST_PATH_IMAGE022
（2）
in the above equation, only the satellite-side error is present
Figure 129236DEST_PATH_IMAGE023
An unknown parameter can be obtained by the equation.
Further, the specific step of performing the synchronous measurement test of the antenna and the omnidirectional receiving antenna in step S2) in step S2 is:
recording a pseudo-range observed value output by a receiver at the same time with the data acquired by an antenna as:
Figure 158371DEST_PATH_IMAGE024
（3）
Figure 70964DEST_PATH_IMAGE025
the clock error of the user receiver and the hardware delay of the B receiver are uniformly recorded as the error of the receiver end and recorded as
Figure 552761DEST_PATH_IMAGE026
；
Figure 966424DEST_PATH_IMAGE027
The measurement noise is ignored;
Figure 974701DEST_PATH_IMAGE028
the satellite clock error is obtained through a precise clock error parameter;
Figure 182828DEST_PATH_IMAGE029
respectively obtaining ionosphere and troposphere errors and T through solving by a model;
Figure 27287DEST_PATH_IMAGE030
the acquired data that has passed through the antenna is solved;
Figure 979063DEST_PATH_IMAGE031
solving by CMC algorithm
Figure 717212DEST_PATH_IMAGE032
（4）
And simplifying a pseudo-range observation quantity equation into the following steps through the classification and analysis:
Figure 722339DEST_PATH_IMAGE033
（5）
in the above equation, only the receiver-side error is present
Figure 178728DEST_PATH_IMAGE034
An unknown parameter can be obtained by the equation.
Further, the step S2, 5) of inter-satellite difference synchronization calibration of satellite navigation signals within the visible range specifically includes:
firstly, obtaining pseudo-range observed quantity of another satellite j at the same time by using an omnidirectional antenna receiver:
Figure 809561DEST_PATH_IMAGE035
（6）
wherein the content of the first and second substances,
Figure 667795DEST_PATH_IMAGE036
output by the receiver;
Figure 342359DEST_PATH_IMAGE037
solving the satellite coordinates and the receiver coordinates to obtain the satellite coordinates;
Figure 286044DEST_PATH_IMAGE038
obtained from a precision clock error product;
Figure 454989DEST_PATH_IMAGE039
solving the T and the T by a model;
Figure 167730DEST_PATH_IMAGE040
obtained by solving the formula (5);
Figure 888561DEST_PATH_IMAGE041
solving by formula (4); satellite-side error for satellite j
Figure 211220DEST_PATH_IMAGE042
Then it is:
Figure 42910DEST_PATH_IMAGE043
（7）
by analogy, the satellite-side error of the Beidou satellite B1I signal in the same time visual range can be obtained
Figure 485524DEST_PATH_IMAGE044
。
Further, when the software receiver u is used for measuring the satellite i, the pseudo-range theoretical analytical expression is as follows:
Figure 642836DEST_PATH_IMAGE045
in the above formula, the first and second carbon atoms are,
Figure 685747DEST_PATH_IMAGE046
in order to obtain a pseudo-range value for observation of satellite i by software receiver u during observation time T,
Figure 55548DEST_PATH_IMAGE047
being the true range of the software receiver from the satellite,
Figure 618248DEST_PATH_IMAGE048
in order to introduce a bias into the ionosphere,
Figure 946461DEST_PATH_IMAGE049
the deviation introduced for the troposphere;
Figure 712554DEST_PATH_IMAGE050
pseudo range bias introduced for navigation satellite load distortion;
Figure 151626DEST_PATH_IMAGE051
bias introduced for receiver, the error and receiver channel characteristics, satellite pitch angle
Figure 834411DEST_PATH_IMAGE052
Correlated with the correlator interval d;
Figure 333525DEST_PATH_IMAGE053
in order to be a multi-path offset,
Figure 85450DEST_PATH_IMAGE054
the mutual interference introduced to the i satellite by other satellites at the same frequency point,
Figure 62633DEST_PATH_IMAGE055
other random zero mean errors.
Compared with the prior art, the invention has the beneficial effects that:
the invention starts from the precise calibration of the signal ranging deviation of the navigation satellite load, and provides a navigation satellite pseudo-range deviation correction method based on the precise calibration of the inter-satellite difference by combining the characteristics of a large-aperture antenna and an omnidirectional antenna, and a software receiver and a hardware receiver, so as to obtain pseudo-range measurement correction parameters based on the inter-satellite ranging performance difference, thereby weakening the influence of the pseudo-range deviation on the ranging of the software receiver and improving the positioning precision of the system.
Drawings
In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings needed to be used in the description of the embodiment will be briefly introduced below, it is obvious that the drawings in the following description are only for more clearly illustrating the embodiment of the present invention or the technical solution in the prior art, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram illustrating various deviations in the background art;
FIG. 2 is a schematic diagram of the distance between the satellite and the ground stations according to the present invention;
FIG. 3 is a diagram illustrating pseudorange measurement parameter correction steps according to the present invention;
FIG. 4 is a diagram of the adjustment of the key parameters of the pseudo-range measurement correlator of the software receiver of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood and implemented by those skilled in the art, the present invention is further described with reference to the following specific examples, which are provided for illustration only and are not intended to limit the present invention.
In the process of generating, transmitting and receiving satellite navigation signals, each link can bring distortion to the signals, and for most users, the ranging deviation generated by the signal distortion can not cause serious damage to the positioning function of the users. However, when used in GNSS differential applications, the signals cause pseudorange bias to the user software receiver due to inconsistencies in the performance of the reference software receiver and the user software receiver, specifically, differences in the reference software receiver and the user software receiver front-end bandwidths, code phase detector types, and correlation intervals. As shown in fig. 1, in the differential application, most common errors such as orbit deviation, clock error, ionosphere and troposphere induced deviation, etc. can be eliminated by the zero baseline measurement, but the deviation introduced by multipath, thermal noise and navigation satellite payload distortion cannot be eliminated, and the invention mainly aims to analyze the pseudo range deviation generated by the load distortion.
When the receiver u is used for measuring the satellite i, the pseudo-range theoretical analytic expression can be expressed as follows:
Figure 599925DEST_PATH_IMAGE056
in the above formula, the first and second carbon atoms are,
Figure 4361DEST_PATH_IMAGE046
in order to obtain a pseudo-range value for observation of satellite i by software receiver u during observation time T,
Figure 118948DEST_PATH_IMAGE047
being the true range of the software receiver from the satellite,
Figure 525920DEST_PATH_IMAGE048
in order to introduce a bias into the ionosphere,
Figure 42352DEST_PATH_IMAGE049
the deviation introduced for the troposphere;
Figure 758636DEST_PATH_IMAGE050
pseudo range bias introduced for navigation satellite load distortion; the navigation signal generates distortion during generation, modulation, filtering and power amplification, and the distortion can be modeled into navigation satellite channel distortion; furthermore, these distortions may not only follow the satellite pitch angle during the observation time T
Figure 94939DEST_PATH_IMAGE057
The variation occurs, and the introduced distortion magnitude is different under different correlator intervals, so that the i satellite pseudo range deviation is a set of satellite load polynomial error sources; in the same way, the method for preparing the composite material,
Figure 804138DEST_PATH_IMAGE051
bias introduced for receiver, the error and receiver channel characteristics, satellite pitch angle
Figure 175076DEST_PATH_IMAGE052
Correlated with the correlator interval d;
Figure 62261DEST_PATH_IMAGE053
in order to be a multi-path offset,
Figure 885861DEST_PATH_IMAGE054
the mutual interference introduced to the i satellite by other satellites at the same frequency point,
Figure 8537DEST_PATH_IMAGE055
other random zero mean errors. The invention has the research point that
Figure 860081DEST_PATH_IMAGE058
Pseudorange bias introduced by navigation satellite loading distortion.
A method for correcting a pseudorange bias of a navigation signal as shown in fig. 2 comprises the following steps:
s1: pseudo-range deviation characteristic parameter calibration
1) Measuring the satellite-ground distance between the satellite and the antenna;
calculating the distance between satellite and antenna
Figure 42801DEST_PATH_IMAGE004
；
② for a certain satellite i, obtaining its coordinate by using the precision ephemeris after the event, recording as
Figure 229062DEST_PATH_IMAGE007
；
(iii) the coordinates of the antenna are known and recorded
Figure 155430DEST_PATH_IMAGE008
；
Fourthly, calculating the satellite-ground distance between the satellite coordinate and the antenna coordinate and recording the satellite-ground distance as the satellite-ground distance
Figure 360015DEST_PATH_IMAGE009
；
The step S1 of 2) for accurately measuring the transmission delay of the receiving terminal based on the large-aperture antenna includes the steps of:
2) accurately measuring transmission time delay of a receiving terminal based on a large-aperture antenna;
measuring the time delay of the three stages of electromagnetic wave-electric signal-collection
Figure 979216DEST_PATH_IMAGE010
；
Secondly, generating square waves by using a signal source, and transmitting the square waves downwards from the antenna pair;
comparing the difference between the receiving time and the transmitting time by using an oscilloscope, and calculating to obtain the time delay.
3) Error characteristic analysis based on software receiver pseudorange measurement: acquiring and tracking the data acquired by the B1 frequency point to obtain a code phase ranging value which is recorded as
Figure 511828DEST_PATH_IMAGE001
Further obtaining the satellite-side error causing pseudo range deviation phenomenon
Figure 851674DEST_PATH_IMAGE002
；
The original pseudo-range observed quantity equation is:
Figure 51711DEST_PATH_IMAGE059
（1）
r is the geometric distance between the receiver and the satellite,
Figure 467911DEST_PATH_IMAGE012
；
Figure 487819DEST_PATH_IMAGE013
the user receiver clock error, here the software receiver and the collected data, does not exist;
the 40 m large-aperture antenna has no influence of ground multipath,
Figure 631356DEST_PATH_IMAGE014
is not present here;
Figure 685900DEST_PATH_IMAGE015
the measurement noise is ignored;
Figure 505957DEST_PATH_IMAGE016
the satellite clock error is obtained through a precise clock error parameter;
b receiver hardware delay, here time delay
Figure 13162DEST_PATH_IMAGE017
；
Figure 85023DEST_PATH_IMAGE018
Respectively obtaining ionosphere and troposphere errors and T through solving by a model;
Figure 869439DEST_PATH_IMAGE019
orbit error, b satellite hardware delay,
Figure 1343DEST_PATH_IMAGE020
The pseudo-range measurement errors caused by signal distortion are all uniformly called satellite-side errors and are expressed as pseudo-range deviations which are recorded as
Figure 621943DEST_PATH_IMAGE021
；
And simplifying a pseudo-range observation quantity equation into the following steps through the classification and analysis:
Figure 231916DEST_PATH_IMAGE022
（2）
in the above equation, only the satellite-side error is present
Figure 667576DEST_PATH_IMAGE023
An unknown parameter can be obtained by the equation.
S2: inter-satellite difference calibration
1) Calibrating the time delay of a receiving channel of a receiver;
2) measuring distance between stations: the receiver is placed at a known position of the coordinate point, noted
Figure 439223DEST_PATH_IMAGE003
Calculating the distance between the antenna and the receiver by using the coordinates of the antenna and the receiver
Figure 311233DEST_PATH_IMAGE004
；
3) Measuring the satellite-ground distance: calculating the satellite-ground distance between the satellite coordinates and the receiver coordinates by using the satellite coordinates and recording the satellite-ground distance as
Figure 459318DEST_PATH_IMAGE005
；
4) Synchronous measurement test of the antenna and the omnidirectional receiving antenna is carried out, error parameters of the transmitting and spreading links are resolved, and receiving end errors are achieved
Figure 218326DEST_PATH_IMAGE006
Accurately calibrating;
recording a pseudo-range observed value output by a receiver at the same time with the data acquired by an antenna as:
Figure 426454DEST_PATH_IMAGE024
（3）
Figure 9927DEST_PATH_IMAGE025
the clock error of the user receiver and the hardware delay of the B receiver are uniformly recorded as the error of the receiver end and recorded as
Figure 961702DEST_PATH_IMAGE026
；
Figure 699851DEST_PATH_IMAGE027
The measurement noise is ignored;
Figure 954246DEST_PATH_IMAGE028
the satellite clock error is obtained through a precise clock error parameter;
Figure 410635DEST_PATH_IMAGE029
respectively obtaining ionosphere and troposphere errors and T through solving by a model;
Figure 290735DEST_PATH_IMAGE030
the acquired data that has passed through the antenna is solved;
Figure 883391DEST_PATH_IMAGE031
solving by CMC algorithm
Figure 698900DEST_PATH_IMAGE032
（4）
And simplifying a pseudo-range observation quantity equation into the following steps through the classification and analysis:
Figure 252372DEST_PATH_IMAGE033
（5）
in the above equation, only the receiver-side error is present
Figure 545950DEST_PATH_IMAGE034
One isUnknown parameters can be obtained through the equation.
5) Synchronously calibrating satellite navigation signal inter-satellite difference within a visual range;
firstly, obtaining pseudo-range observed quantity of another satellite j at the same time by using an omnidirectional antenna receiver:
Figure 884790DEST_PATH_IMAGE035
（6）
wherein the content of the first and second substances,
Figure 871200DEST_PATH_IMAGE036
output by the receiver;
Figure 36603DEST_PATH_IMAGE037
solving the satellite coordinates and the receiver coordinates to obtain the satellite coordinates;
Figure 9238DEST_PATH_IMAGE038
obtained from a precision clock error product;
Figure 576485DEST_PATH_IMAGE039
solving the T and the T by a model;
Figure 858431DEST_PATH_IMAGE040
obtained by solving the formula (5);
Figure 245550DEST_PATH_IMAGE041
solving by formula (4); satellite-side error for satellite j
Figure 21876DEST_PATH_IMAGE042
Then it is:
Figure 709209DEST_PATH_IMAGE043
（7）
by analogy, the satellite-side error of the Beidou satellite B1I signal in the same time visual range can be obtained
Figure 663521DEST_PATH_IMAGE060
。
6) Synchronously calibrating the difference between GNSS satellites: repeating the method to obtain satellite end errors of different signals of different satellite navigation systems;
s3: test verification
1) Analyzing a positioning error of the receiver, and verifying the correction precision of a pseudo-range measurement correction parameter;
2) adjusting the interval of a pseudo-range measurement correlator of the software receiver and the bandwidth key parameters of the filter, and researching the quantitative relation between the parameters of the receiver and the signal ranging deviation.
The invention starts from the precise calibration of the signal ranging deviation of the navigation satellite load, and provides a navigation satellite pseudo-range deviation correction method based on the precise calibration of the inter-satellite difference by combining the characteristics of a large-aperture antenna and an omnidirectional antenna, and a software receiver and a hardware receiver, so as to obtain pseudo-range measurement correction parameters based on the inter-satellite ranging performance difference, thereby weakening the influence of the pseudo-range deviation on the ranging of the software receiver and improving the positioning precision of the system.
The details of the present invention not described in detail are prior art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (6)

1. A navigation signal pseudo-range bias correction method is characterized by comprising the following steps:
s1: pseudo-range deviation characteristic parameter calibration
1) Measuring the satellite-ground distance between the satellite and the antenna;
2) accurately measuring transmission time delay of a receiving terminal based on a large-aperture antenna;
3) error characteristic analysis based on software receiver pseudorange measurement: acquiring and tracking the data acquired by the B1 frequency point to obtain a code phase ranging value which is recorded as
Figure 104081DEST_PATH_IMAGE001
Further obtaining the satellite-side error causing pseudo range deviation phenomenon
Figure 561869DEST_PATH_IMAGE002
；
S2: inter-satellite difference calibration
1) Calibrating the time delay of a receiving channel of a receiver;
2) measuring distance between stations: the receiver is placed at a known position of the coordinate point, noted
Figure 394696DEST_PATH_IMAGE003
Calculating the distance between the antenna and the receiver by using the coordinates of the antenna and the receiver
Figure 427374DEST_PATH_IMAGE004
；
3) Measuring the satellite-ground distance: calculating the satellite-ground distance between the satellite coordinates and the receiver coordinates by using the satellite coordinates and recording the satellite-ground distance as
Figure 80072DEST_PATH_IMAGE005
；
4) Synchronous measurement test of the antenna and the omnidirectional receiving antenna is carried out, error parameters of the transmitting and spreading links are resolved, and receiving end errors are achieved
Figure 715453DEST_PATH_IMAGE006
Accurately calibrating;
5) synchronously calibrating satellite navigation signal inter-satellite difference within a visual range;
6) synchronously calibrating the difference between GNSS satellites: repeating the method to obtain satellite end errors of different signals of different satellite navigation systems;
s3: test verification
1) Analyzing a positioning error of the receiver, and verifying the correction precision of a pseudo-range measurement correction parameter;
2) adjusting the interval of a pseudo-range measurement correlator of the software receiver and the bandwidth key parameters of the filter, and researching the quantitative relation between the parameters of the receiver and the signal ranging deviation.
2. The method for correcting the pseudorange bias of a navigation signal according to claim 1, wherein the step S1 of 1) is specifically performed by measuring the satellite-ground distance between the satellite and the antenna:
calculating the distance between satellite and antenna
Figure 527420DEST_PATH_IMAGE004
；
② for a certain satellite i, obtaining its coordinate by using the precision ephemeris after the event, recording as
Figure 855633DEST_PATH_IMAGE007
；
(iii) the coordinates of the antenna are known and recorded
Figure 605414DEST_PATH_IMAGE008
；
Fourthly, calculating and obtaining the satellite-ground distance between the satellite coordinates and the antenna coordinates and recording the satellite-ground distance as the satellite-ground distance;
the step S1 of 2) for accurately measuring the transmission delay of the receiving terminal based on the large-aperture antenna includes the steps of:
measuring the time delay of the three stages of electromagnetic wave-electric signal-collection
Figure 44486DEST_PATH_IMAGE009
；
Secondly, generating square waves by using a signal source, and transmitting the square waves downwards from the antenna pair;
comparing the difference between the receiving time and the transmitting time by using an oscilloscope, and calculating to obtain the time delay.
3. The method for pseudorange bias correction of a navigation signal according to claim 1, wherein the step S1 of 3) is specifically performed by analyzing error characteristics based on pseudorange measurements of a software receiver, and comprises the following steps:
original pseudo range viewThe measurement equation is:
Figure 212424DEST_PATH_IMAGE010
（1）
r is the geometric distance between the receiver and the satellite,
Figure 711539DEST_PATH_IMAGE011
；
Figure 73250DEST_PATH_IMAGE012
the user receiver clock error, here the software receiver and the collected data, does not exist;
the 40 m large-aperture antenna has no influence of ground multipath,
Figure 191379DEST_PATH_IMAGE013
is not present here;
Figure 587725DEST_PATH_IMAGE014
the measurement noise is ignored;
Figure 382375DEST_PATH_IMAGE015
the satellite clock error is obtained through a precise clock error parameter;
b receiver hardware delay, here time delay
Figure 496961DEST_PATH_IMAGE016
；
Figure 418781DEST_PATH_IMAGE017
Respectively obtaining ionosphere and troposphere errors and T through solving by a model;
Figure 669634DEST_PATH_IMAGE018
orbit error, b satellite hardware delay,
Figure 871070DEST_PATH_IMAGE019
The pseudo-range measurement errors caused by signal distortion are all uniformly called satellite-side errors and are expressed as pseudo-range deviations which are recorded as
Figure 738532DEST_PATH_IMAGE020
；
And simplifying a pseudo-range observation quantity equation into the following steps through the classification and analysis:
Figure 198463DEST_PATH_IMAGE021
（2）
in the above equation, only the satellite-side error is present
Figure 569402DEST_PATH_IMAGE022
An unknown parameter can be obtained by the equation.
4. The method for pseudorange bias correction of navigation signals according to claim 1, wherein the specific steps of performing the synchronous measurement test of the antenna and the omnidirectional receiving antenna in step S2) in step S2 are as follows:
recording a pseudo-range observed value output by a receiver at the same time with the data acquired by an antenna as:
Figure 440275DEST_PATH_IMAGE023
（3）
Figure 529453DEST_PATH_IMAGE024
the clock error of the user receiver and the hardware delay of the B receiver are uniformly recorded as the error of the receiver end and recorded as
Figure 527496DEST_PATH_IMAGE025
；
Figure 752941DEST_PATH_IMAGE026
The measurement noise is ignored;
Figure 827339DEST_PATH_IMAGE027
the satellite clock error is obtained through a precise clock error parameter;
Figure 403814DEST_PATH_IMAGE028
respectively obtaining ionosphere and troposphere errors and T through solving by a model;
Figure 939968DEST_PATH_IMAGE029
the acquired data that has passed through the antenna is solved;
Figure 285499DEST_PATH_IMAGE030
solving by CMC algorithm
Figure 763754DEST_PATH_IMAGE031
（4）
And simplifying a pseudo-range observation quantity equation into the following steps through the classification and analysis:
Figure 561945DEST_PATH_IMAGE032
（5）
in the above equation, only the receiver-side error is present
Figure 167370DEST_PATH_IMAGE033
An unknown parameter can be obtained by the equation.
5. A method for pseudorange bias correction according to claim 1, wherein the step S2 of 5) synchronously calibrating satellite navigation signal inter-satellite differences within the visible range comprises the following steps:
firstly, obtaining pseudo-range observed quantity of another satellite j at the same time by using an omnidirectional antenna receiver:
Figure 101828DEST_PATH_IMAGE034
（6）
wherein the content of the first and second substances,
Figure 626351DEST_PATH_IMAGE035
output by the receiver;
Figure 537937DEST_PATH_IMAGE036
solving the satellite coordinates and the receiver coordinates to obtain the satellite coordinates;
Figure 806107DEST_PATH_IMAGE037
obtained from a precision clock error product;
Figure 470438DEST_PATH_IMAGE038
solving the T and the T by a model;
Figure 431441DEST_PATH_IMAGE039
obtained by solving the formula (5);
Figure 328858DEST_PATH_IMAGE040
solving by formula (4); satellite-side error for satellite j
Figure 135140DEST_PATH_IMAGE041
Then it is:
Figure 185136DEST_PATH_IMAGE042
（7）
by analogy, the satellite-side error of the Beidou satellite B1I signal in the same time visual range can be obtained
Figure 51461DEST_PATH_IMAGE043
。
6. A method for pseudorange bias correction according to any one of claims 1-5, characterized in that when a software receiver u is used to measure a satellite i, the pseudorange theoretical analytical expression is:
Figure 45962DEST_PATH_IMAGE044
in the above formula, the first and second carbon atoms are,
Figure 282033DEST_PATH_IMAGE045
in order to obtain a pseudo-range value for observation of satellite i by software receiver u during observation time T,
Figure 311169DEST_PATH_IMAGE046
being the true range of the software receiver from the satellite,
Figure 489341DEST_PATH_IMAGE047
in order to introduce a bias into the ionosphere,
Figure 705558DEST_PATH_IMAGE048
the deviation introduced for the troposphere;
Figure 243856DEST_PATH_IMAGE049
pseudo range bias introduced for navigation satellite load distortion;
Figure 127498DEST_PATH_IMAGE050
bias introduced for receiver, the error and receiver channel characteristics, satellite pitch angle
Figure 476571DEST_PATH_IMAGE051
Correlated with the correlator interval d;
Figure 180085DEST_PATH_IMAGE052
in order to be a multi-path offset,
Figure 131860DEST_PATH_IMAGE053
the mutual interference introduced to the i satellite by other satellites at the same frequency point,
Figure 761687DEST_PATH_IMAGE054
other random zero mean errors.
CN202010852206.2A 2020-08-21 2020-08-21 Navigation signal pseudo-range deviation correction method Pending CN112180410A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010852206.2A CN112180410A (en) 2020-08-21 2020-08-21 Navigation signal pseudo-range deviation correction method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010852206.2A CN112180410A (en) 2020-08-21 2020-08-21 Navigation signal pseudo-range deviation correction method

Publications (1)

Publication Number Publication Date
CN112180410A true CN112180410A (en) 2021-01-05

Family

ID=73925000

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010852206.2A Pending CN112180410A (en) 2020-08-21 2020-08-21 Navigation signal pseudo-range deviation correction method

Country Status (1)

Country Link
CN (1) CN112180410A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113009519A (en) * 2021-02-08 2021-06-22 中国科学院空天信息创新研究院 Software calibration method for RDSS system zero value
CN113099381A (en) * 2021-04-06 2021-07-09 苏州迭慧智能科技有限公司 Antenna industrial parameter intelligent sensor and multifunctional intelligent sensing network
CN113238259A (en) * 2021-04-02 2021-08-10 中国科学院空天信息创新研究院 Software calibration method for RDSS user receiver zero value
CN113985213A (en) * 2021-11-06 2022-01-28 威胜电气有限公司 Error correction method of Beidou time service module during fault location of power distribution network
CN114859693A (en) * 2022-04-25 2022-08-05 中国电子科技集团公司第二十九研究所 Satellite-ground high-precision time-frequency transmission method based on same frequency
CN115390104A (en) * 2022-10-26 2022-11-25 中国人民解放军国防科技大学 Navigation satellite time delay deviation modeling method
CN116520367A (en) * 2023-07-04 2023-08-01 深圳市天龙世纪科技发展有限公司 Satellite positioning security method and device based on Internet of things, electronic equipment and medium

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113009519A (en) * 2021-02-08 2021-06-22 中国科学院空天信息创新研究院 Software calibration method for RDSS system zero value
CN113009519B (en) * 2021-02-08 2023-06-02 中国科学院空天信息创新研究院 Software calibration method for RDSS system zero value
CN113238259A (en) * 2021-04-02 2021-08-10 中国科学院空天信息创新研究院 Software calibration method for RDSS user receiver zero value
CN113099381A (en) * 2021-04-06 2021-07-09 苏州迭慧智能科技有限公司 Antenna industrial parameter intelligent sensor and multifunctional intelligent sensing network
CN113985213A (en) * 2021-11-06 2022-01-28 威胜电气有限公司 Error correction method of Beidou time service module during fault location of power distribution network
CN113985213B (en) * 2021-11-06 2024-02-23 威胜能源技术股份有限公司 Correction method for errors of Beidou time service module during power distribution network fault distance measurement
CN114859693A (en) * 2022-04-25 2022-08-05 中国电子科技集团公司第二十九研究所 Satellite-ground high-precision time-frequency transmission method based on same frequency
CN115390104A (en) * 2022-10-26 2022-11-25 中国人民解放军国防科技大学 Navigation satellite time delay deviation modeling method
CN115390104B (en) * 2022-10-26 2023-04-07 中国人民解放军国防科技大学 Navigation satellite time delay deviation modeling method
CN116520367A (en) * 2023-07-04 2023-08-01 深圳市天龙世纪科技发展有限公司 Satellite positioning security method and device based on Internet of things, electronic equipment and medium
CN116520367B (en) * 2023-07-04 2023-09-08 深圳市天龙世纪科技发展有限公司 Satellite positioning security method and device based on Internet of things, electronic equipment and medium

Similar Documents

Publication Publication Date Title
CN112180410A (en) Navigation signal pseudo-range deviation correction method
CN110082791B (en) Satellite navigation signal pseudo-range deviation precise measurement and effective elimination method
CN107678050B (en) GLONASS phase inter-frequency deviation real-time tracking and precise estimation method based on particle filtering
Wang et al. Multipath analysis of code measurements for BeiDou geostationary satellites
Fenton et al. The theory and performance of NovAtel Inc.'s vision correlator
US20020070889A1 (en) Method and apparatus for locating the source of an unknown signal
US10578744B2 (en) Method for calibrating a satellite radio navigation receiver
CN104375132B (en) Digital Array Radar multi-channel analog passage relative time delay measurement apparatus and method
Shi et al. An enhanced algorithm to estimate BDS satellite’s differential code biases
CN108459331B (en) Time delay absolute calibration method of multimode satellite navigation receiver
Thoelert et al. A multi-technique approach for characterizing the SVN49 signal anomaly, part 2: chip shape analysis
CN111190197A (en) Navigation satellite signal quality on-orbit optimization and maintenance method
CN114935770B (en) Method and device for accelerating precision single-point positioning convergence speed by multiple calendars
Su et al. Enhanced multipath mitigation method based on multi-resolution CNR model and adaptive statistical test strategy for real-time kinematic PPP
CN109752737B (en) Preprocessing method for inter-satellite Ka-band bidirectional measurement pseudo range of navigation satellite
CN112865894B (en) Time delay calibration method for navigation ground station equipment based on satellite transponder
CN109802730B (en) Measuring device and measuring method for noise corrected transmitter performance measurement
Thoelert et al. GNSS nominal signal distortions-estimation, validation and impact on receiver performance
CN108020848B (en) Frequency conversion-based RDSS navigation signal simulator self-calibration method
CN113671535B (en) Tri-frequency beacon receiver separation layer TEC calculation method based on channel simulator
CN112068159B (en) On-orbit optimization method for navigation satellite signal quality
CN110850446B (en) Satellite signal monitoring method and system
CN114019548A (en) Pseudo range deviation correction method for single-frequency service of satellite-based augmentation system
Lombardi et al. The inter-American metrology system (SIM) common-view GPS comparison network
CN106093977B (en) GNSS signal multiplexing efficiency measuring method based on software receiver

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination