CN112731497A - Method for improving satellite positioning precision by using field vision field analysis - Google Patents
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- 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
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Abstract
The invention discloses a method for improving satellite positioning accuracy by using field vision field analysis, which comprises a satellite positioning device, a vision field monitoring device and a calculating device, wherein the vision field monitoring device is electrically connected with the satellite positioning device, and the satellite positioning device, the vision field monitoring device and the calculating device are connected through a wired or wireless network. The invention relates to a method for improving satellite positioning precision by using field view analysis, which is characterized in that images monitored by a field monitoring device are subjected to real-time image analysis, the permeability condition of a cone grid of a field is quantified, a permeability value is given in real time, comprehensively-solved satellite positioning data acquired by the vertex position of a cone of the field at each moment is calculated according to the permeability value, visible satellites and non-line-of-sight satellites are analyzed, non-line-of-sight satellite positioning signals are eliminated, satellite positioning errors caused by the influence of multipath effects such as obstacle reflection and refraction are reduced, the precision and the reliability of the satellite positioning data are improved, and a better use prospect is brought.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a method for improving satellite positioning precision by using field vision field analysis.
Background
The satellite positioning technology is a technology for positioning and measuring an earth target by utilizing an artificial earth satellite, the existing satellite positioning system comprises a global navigation satellite system such as a GPS, a Beidou, a GLONASS, a GALILEO and the like, and a satellite-based augmentation system, a foundation augmentation system and the like which are established on the basis and used for improving the satellite positioning precision, and no matter which satellite positioning mode is adopted, the satellite positioning method depends on a receiver, namely satellite positioning terminal equipment, to receive satellite positioning signals and obtain a satellite positioning result of the position of the receiver after resolving, and satellite positioning data such as longitude, latitude, elevation, time and the like are output. The measurement error of satellite positioning mainly comes from noise and deviation, including the error related to the operation control system, mainly the error of satellite ephemeris and satellite clock; errors related to the propagation of satellite signals from the satellite to the receiver, mainly ionosphere and troposphere induced errors; errors associated with the receiver and the receiver environment, the main sources being receiver noise and multipath effects; and the geometrical distribution diagram of the satellite participating in the positioning result calculation in the sky. Errors caused by satellite ephemeris errors, ionosphere delay, troposphere delay and the like, receiver clock errors and the like have certain rules, and public errors can be eliminated or greatly reduced in a mode of difference and the like. However, in the process of broadcasting the satellite positioning signal to the ground, the satellite positioning signal is affected by obstacles such as terrain, vegetation, buildings and the like, and a shielding or multipath effect of the satellite positioning signal is generated, after the satellite positioning signal is reflected by the obstacles and is transmitted through different paths, the time of each component field reaching a receiving end is different, and the component fields are mutually overlapped according to respective phases to cause interference, so that the original signal is distorted or errors are generated, errors generated by the multipath effect are difficult to eliminate or correct, the multipath effect errors are in different sites and have different multipath propagation expressions corresponding to different reflectors, the errors are difficult to correct by using a model, sometimes even positioning lock loss is caused, when the satellite signal is physically shielded by the outside, the probability and the severity of the multipath effect are increased, the satellite distribution geometric factor coefficient is deteriorated, and more complex errors are generated. The multipath effect belongs to the accidental error range, has strong regionality and time variability, when a receiver antenna is positioned at different positions, due to the fact that scenes of multipath generation are different, received multipath is generally different, namely the regionality of the multipath effect, the multipath effect has strong local space-time correlation, errors cannot be eliminated by adopting a difference technology, and therefore a method for improving satellite positioning accuracy by utilizing field view analysis is provided.
Disclosure of Invention
The invention mainly aims to provide a method for improving satellite positioning accuracy by using field vision field analysis, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the method for improving the satellite positioning precision by utilizing the field vision field analysis comprises a satellite positioning device, a vision field monitoring device and a resolving device, wherein the vision field monitoring device is electrically connected with the satellite positioning device, and the satellite positioning device, the vision field monitoring device and the resolving device are connected through a wired or wireless network.
Preferably, the satellite positioning device comprises a satellite positioning receiver module, an antenna module, a communication module, a first calculation module and a first power supply module, and the satellite positioning receiver module, the antenna module, the communication module, the first calculation module and the first power supply module are electrically connected.
Preferably, the vision field monitoring device comprises a camera module, a communication module, a second calculation module and a second power supply module, and the vision field monitoring device comprises an electric connection between the camera module, the communication module, the second calculation module and the second power supply module.
Preferably, the solver adopts a computer for satellite positioning field solution data or a server for providing remote solution service, and the satellite positioning device and the vision field monitoring device are connected with a computer network for field solution data through a wired or wireless network or connected with a server network for providing remote solution service through a wired or wireless network.
Preferably, a method for improving satellite positioning accuracy by using field view analysis comprises the following steps:
firstly, a satellite positioning and vision field monitoring system is constructed: installing and deploying a satellite positioning device and a vision field monitoring device outdoors;
secondly, starting satellite positioning data receiving and vision field monitoring: the satellite positioning device receives a satellite positioning signal, the vision field monitoring device acquires a vision field image of an airspace above the satellite positioning signal, and vision field image data and satellite positioning signal data are transmitted to the resolving device through the communication module;
establishing a coordinate system: establishing a three-dimensional coordinate system of the region by taking the vertex of the view cone as an origin;
fourthly, determining the visual field: the calculating device is provided with a view calculating software V, wherein the view V is fv (h, r), namely the range of the view V is a function of the height h and the bottom radius r of a view cone, the space volume of the view is V1/3 pi r2h, and the size of h is determined according to the terrain and vegetation condition of a scene;
fifthly, subdivision of a vision cone: the resolving device is provided with grid subdivision algorithm software G, subdivided grids Gi ═ fs (h/Nh, r/Nb), namely Gi is a function of the number Nh of height h divisions of the view cone and the number Nb of bottom radius r divisions, each grid is a geometric body, and the number of the meshes subdivided by the view cone and the positions of the meshes in a regional three-dimensional coordinate system can be obtained through resolving;
sixth, view cone grid numbering: calculating the number of the geometrical center point of the view cone grid by using the three-dimensional coordinate values of the area, namely the number NGi of the grid Gi is a function of the three-dimensional coordinate values x, y and z of the area, and NGi is H (x, y and z);
seventhly, calculating the permeability of the cone grid of the view field: the vision field monitoring device transmits the shot image to the resolving device in real time through the communication module, the resolving device performs real-time image analysis according to an image recognition algorithm I, quantifies the multipath effect condition caused by the barrier in the vision field, performs real-time permeability assignment on the meshes of the vision field cone, and gives each mesh a permeability parameter delta according to the result of the image recognition algorithm;
and eighthly, dynamically establishing a virtual connecting line between the positioning satellite and the vertex of the view cone in real time: at each moment, virtual connecting lines between the positioning satellites and the vertexes of the view cones can be established in real time, the connecting lines penetrate through a plurality of view cone grids, and the positioning satellites comprise satellites of Beidou, GPS and GLONASS satellite positioning systems;
ninthly, resolving the effective satellite positioning data: the comprehensively resolved satellite positioning data acquired at each time view cone vertex position is calculated according to the calculation formula P ═ f (S1 × COS θ × δ G1, S2 × COS θ × δ G2, … …, Sn × COS θ × δ Gn) of the satellite positioning effective data.
Preferably, in the third step, when the three-dimensional coordinate system of the area is established, the central point of the antenna phase of the satellite positioning device, namely the vertex of the view cone, is taken as the origin of coordinates; taking a tangent line of the origin of coordinates and the latitude line where the origin of coordinates is located as a Y axis, and taking the direction from the origin of coordinates to the east as the positive direction of the Y axis; taking a tangent line of the origin of coordinates and a meridian where the origin of coordinates is located as an X axis, and taking the direction from the origin of coordinates to the south as the positive direction of the X axis; the direction vertical to the X, Y axis is taken as the Z axis, and the direction of the origin of coordinates pointing to the sky is taken as the positive direction of the Z axis; the coordinate origin and the X, Y, Z axis form a regional three-dimensional coordinate system.
Preferably, the height h in step (iv) is in the range h × tg60 ° ≦ r ≦ h × tg75 °, i.e. the angle β between the generatrix of the viewing cone and the horizontal plane is between 15 ° and 30 °.
Preferably, in step (c), the value of the parameter δ is between 0 and 1, and is completely transparent, that is, there is no block 1(δ ═ 1) on the satellite positioning signal, and completely blocked, that is, the satellite positioning signal cannot pass through the grid at all and is 0(δ ═ 0); the permeability of the view cone grid Gi is δ Gi ═ 0, 1.
Preferably, the satellite positioning data in the second step and the ninth step is acquired by a satellite positioning device and can receive multi-source satellite positioning signal data such as satellite positioning signals, ground-based enhanced satellite positioning signals, satellite-based enhanced satellite positioning signals and the like; the image data is acquired by a vision field monitoring device; and the resolving device performs resolving by using the acquired satellite positioning data and the image data, and resolves the position and the size of the view cone grid and the three-dimensional coordinates and the serial numbers of the area of the view cone grid.
Preferably, P in the step ninthly is satellite positioning effective data after comprehensive calculation; s1 and S2 … … Sn are all satellites whose vertex positions of the view cone can receive satellite positioning signals; theta is an included angle between a connecting line between the vertex of the view cone and the satellite Sn and the horizontal plane; δ G1, δ G2 … … δ Gn are the permeability parameters for each view cone mesh; f is the satellite positioning signal processing function.
Compared with the prior art, the invention provides a method for improving the satellite positioning precision by using field vision field analysis, which has the following beneficial effects:
the invention utilizes the satellite positioning data received in real time, the vision field monitoring image data and the terrain model data to carry out real-time solution, a virtual inverted cone, namely a vision field cone, is constructed by taking the phase center point of an antenna for receiving satellite positioning signals on a satellite positioning device as a vertex, a series of discretization grids are formed by carrying out digital subdivision on the vision field cone, namely the vision field cone grids, the connecting lines of all positioning satellites observed by the satellite positioning device and the vertex of the vision field cone can penetrate through the corresponding vision field cone grids, the multipath effect can be generated under the condition that the satellite signal penetrating power of partial grids is reduced or the partial grids are completely shielded due to the influence of obstacles such as terrain, buildings, vegetation and the like, the image monitored by the vision field monitoring device is analyzed by the solution device in real time, the transparent condition of the vision field cone grids is quantified, the permeability value is given in real time, comprehensively resolved satellite positioning data acquired by the cone vertex position of the view field at each moment are calculated, visible satellites and non-line-of-sight satellites are analyzed, non-line-of-sight satellite positioning signals are eliminated, satellite positioning errors caused by the influence of multipath effects such as barrier reflection and refraction are reduced, and the precision and the reliability of the satellite positioning data are improved.
The parts of the device not involved are the same as or can be implemented using prior art.
Drawings
FIG. 1 is a flow chart of a method for improving satellite positioning accuracy using field view analysis in accordance with the present invention;
FIG. 2 is a view cone diagram illustrating a method for improving satellite positioning accuracy using field view analysis according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments 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 of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The device for improving the satellite positioning precision by utilizing the field vision field analysis comprises a satellite positioning device, a vision field monitoring device and a resolving device, wherein the vision field monitoring device is electrically connected with the satellite positioning device, and the satellite positioning device, the vision field monitoring device and the resolving device are connected through a wired or wireless network.
The satellite positioning device comprises a satellite positioning receiver module, an antenna module, a communication module, a first calculation module and a first power supply module, wherein the satellite positioning receiver module, the antenna module, the communication module, the first calculation module and the first power supply module are electrically connected.
The vision field monitoring device comprises a camera module, a communication module, a second calculation module and a second power supply module, and the vision field monitoring device comprises an electric connection among the camera module, the communication module, the second calculation module and the second power supply module.
The resolving device adopts a computer for satellite positioning field resolving data or a server for providing remote resolving service, and the satellite positioning device and the vision field monitoring device are connected with a computer network for field resolving data through a wired or wireless network or are connected with the server for providing remote resolving service through a wired or wireless network.
The method comprises the steps of (1) carrying out satellite positioning field real-time vision field monitoring facing the sky, and constructing a virtual inverted cone by taking a phase center point of an antenna for receiving satellite positioning signals on a satellite positioning device as a vertex, wherein the virtual inverted cone is called a vision field cone, and the height h and the bottom radius r of the vision field cone can be customized and modified;
the digital mesh generation of the visual field cone is carried out by a resolving device according to a mesh generation algorithm G to form a series of discretized virtual meshes, namely a visual field cone mesh, and the size of the visual field cone mesh can be customized and modified; connecting lines between all positioning satellites observed by the satellite positioning device and the vertex of the view cone penetrate through the plurality of view cone grids; the satellite positioning data is obtained by a satellite positioning device and can receive multi-source satellite positioning signal data such as satellite positioning signals, ground-based enhanced satellite positioning signals, satellite-based enhanced satellite positioning signals and the like; the image data is acquired by a vision field monitoring device; and the resolving device resolves the acquired satellite positioning data and the image data, and resolves the grid number, size, position and three-dimensional coordinates and serial numbers of the areas. The vision field monitoring device can transmit shot images to the resolving device in real time through the communication module, the resolving device performs real-time image analysis according to an image recognition algorithm I, the multipath effect condition caused by obstacles in a vision field is quantified, the permeability rate of cone grids of the vision field is assigned in real time, the result of resolving through the image recognition algorithm is given to each grid as a permeability parameter delta, the parameter delta value is located between 0 and 1, the satellite positioning signal is completely permeable, namely, no shielding is 1 (delta is equal to 1) for the satellite positioning signal, and the satellite positioning signal is completely shielded, namely, the satellite positioning signal cannot pass through the grid at all and is 0 (delta is equal to 0). The method analyzes visible satellites and non-line-of-sight satellites according to the comprehensively-solved satellite positioning data acquired from the vertex position of the cone of the view at each moment, eliminates non-line-of-sight satellite positioning signals, reduces satellite positioning errors caused by multipath effects such as obstacle reflection and refraction, and improves the precision and reliability of the satellite positioning data.
Example 1
The satellite positioning device and the vision field monitoring device are integrated into a complete set of equipment; the resolving device of the embodiment utilizes a server providing remote resolving service; the satellite positioning device and the vision field monitoring device are connected with a resolving device, namely a server network for providing remote resolving service, through a wired or wireless network.
In the embodiment, solar power is adopted for supplying power, and after the satellite positioning device, the vision monitoring device and the solar power supply equipment are installed, the power switch is turned on to supply power to the satellite positioning device and the vision monitoring device.
A method for improving satellite positioning accuracy using field view analysis, comprising the steps of:
firstly, a satellite positioning and vision field monitoring system is constructed: as shown in fig. 1, the satellite positioning device and the vision field monitoring device are installed and deployed outdoors.
Secondly, starting satellite positioning data receiving and vision field monitoring: the satellite positioning device receives a satellite positioning signal, the vision field monitoring device acquires a vision field image of an airspace above the satellite positioning signal, and vision field image data and satellite positioning signal data are transmitted to the resolving device through the communication module;
the satellite positioning data is obtained by a satellite positioning device and can receive multi-source satellite positioning signal data such as satellite positioning signals, ground-based enhanced satellite positioning signals, satellite-based enhanced satellite positioning signals and the like; the image data is acquired by a vision field monitoring device; and the resolving device performs resolving by using the acquired satellite positioning data and the image data, and resolves the position and the size of the view cone grid and the three-dimensional coordinates and the serial numbers of the area of the view cone grid.
Establishing a coordinate system: as shown in fig. 2, a three-dimensional coordinate system of the region is established with the vertex of the view cone as the origin;
when the three-dimensional coordinate system of the area is established, taking the central point of the antenna phase of the satellite positioning device, namely the vertex of the view cone, as the origin of coordinates; taking a tangent line of the origin of coordinates and the latitude line where the origin of coordinates is located as a Y axis, and taking the direction from the origin of coordinates to the east as the positive direction of the Y axis; taking a tangent line of the origin of coordinates and a meridian where the origin of coordinates is located as an X axis, and taking the direction from the origin of coordinates to the south as the positive direction of the X axis; the direction vertical to the X, Y axis is taken as the Z axis, and the direction of the origin of coordinates pointing to the sky is taken as the positive direction of the Z axis; the coordinate origin and the X, Y, Z axis form a regional three-dimensional coordinate system.
Fourthly, determining the visual field: the resolving device is provided with a view calculation software V, wherein the view V is fv (h, r), namely the range of the view V is a function of the height h and the bottom radius r of the view cone, and the view space volume is V1/3 pi r2h, wherein the size of h is determined according to the terrain and vegetation condition of the site;
the height h is in the range of h multiplied by tg60 DEG to r DEG to h multiplied by tg75 DEG, namely the included angle beta between the generatrix of the view cone and the horizontal plane is between 15 DEG and 30 deg.
Fifthly, subdivision of a vision cone: as shown in fig. 2, the solution device is deployed with mesh division algorithm software G, where the divided meshes Gi ═ fs (h/Nh, r/Nb), i.e., Gi is a function of the number Nh of height h divisions of the view cone and the number Nb of bottom radius r divisions, each mesh is a geometric body, and the number of meshes divided by the view cone and the positions of the meshes in the three-dimensional coordinate system of the region can be obtained by solution.
Sixth, view cone grid numbering: the number is calculated from the three-dimensional coordinate values of the region at the geometric center point of the view cone grid, i.e., the number NGi of the grid Gi is a function of the three-dimensional coordinate values x, y, z of the region, NGi ═ H (x, y, z).
Seventhly, calculating the permeability of the cone grid of the view field: the vision field monitoring device transmits the shot image to the resolving device in real time through the communication module, the resolving device performs real-time image analysis according to an image recognition algorithm I, quantifies the multipath effect condition caused by the barrier in the vision field, performs real-time permeability assignment on the meshes of the vision field cone, and gives each mesh a permeability parameter delta according to the result of the image recognition algorithm;
the value of the parameter δ is between 0 and 1, and is completely transparent, i.e. there is no occlusion of the satellite positioning signal by 1(δ ═ 1), and completely occluded, i.e. the satellite positioning signal cannot pass through the grid at all by 0(δ ═ 0); the permeability of the view cone grid Gi is δ Gi ═ 0, 1.
And eighthly, dynamically establishing a virtual connecting line between the positioning satellite and the vertex of the view cone in real time: at each moment, virtual links between the positioning satellites and the vertex of the view cone can be established in real time, the links pass through a plurality of view cone grids, and the positioning satellites comprise satellites of Beidou, GPS and GLONASS satellite positioning systems.
Ninthly, resolving the effective satellite positioning data: calculating comprehensively-resolved satellite positioning data acquired at the vertex position of the view cone at each moment according to a calculation formula P ═ f (S1 multiplied by COS theta multiplied by delta G1, S2 multiplied by COS theta multiplied by delta G2, … … and Sn multiplied by COS theta multiplied by delta Gn) of the satellite positioning effective data;
p is satellite positioning effective data after comprehensive calculation; s1 and S2 … … Sn are all satellites whose vertex positions of the view cone can receive satellite positioning signals; theta is an included angle between a connecting line between the vertex of the view cone and the satellite Sn and the horizontal plane; δ G1, δ G2 … … δ Gn are the permeability parameters for each view cone mesh; f is a satellite positioning signal processing function, and the satellite positioning data reduces errors caused by obstruction through the steps and improves the precision and reliability of the satellite positioning data.
The invention is a method for improving satellite positioning accuracy by using field view analysis, which utilizes real-time received satellite positioning data, view monitoring image data and terrain model data to perform real-time calculation, and uses the phase center point of an antenna on a satellite positioning device for receiving satellite positioning signals as a vertex to construct a virtual inverted cone, namely a view cone, and performs digital subdivision on the view cone to form a series of discretized grids, namely view cone grids, wherein the connecting lines of all positioning satellites and the view cone vertices observed by the satellite positioning device can penetrate through the corresponding view cone grids, and can generate multipath effect under the condition that the satellite signal penetration capacity of partial grids is reduced or completely shielded due to the influence of obstacles such as terrain, buildings, vegetation and the like, and the image monitored by the view monitoring device is analyzed in real time by a calculating device, the method comprises the steps of quantifying the permeability condition of a cone grid of a visual field, giving a permeability value in real time, calculating comprehensively resolved satellite positioning data acquired by the vertex position of the cone of the visual field at each moment, analyzing visible satellites and non-line-of-sight satellites, rejecting non-line-of-sight satellite positioning signals, reducing satellite positioning errors caused by the influence of multipath effects such as barrier reflection and refraction, and improving the precision and reliability of the satellite positioning data.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An apparatus for improving satellite positioning accuracy using field view analysis, comprising: the system comprises a satellite positioning device, a vision field monitoring device and a resolving device, wherein the vision field monitoring device is electrically connected with the satellite positioning device, and the satellite positioning device, the vision field monitoring device and the resolving device are connected through a wired or wireless network.
2. The apparatus of claim 1, wherein the field view analysis is used to improve the accuracy of the satellite positioning, and wherein: the satellite positioning device comprises a satellite positioning receiver module, an antenna module, a communication module, a first calculation module and a first power supply module, wherein the satellite positioning receiver module, the antenna module, the communication module, the first calculation module and the first power supply module are electrically connected.
3. The apparatus of claim 1, wherein the field view analysis is used to improve the accuracy of the satellite positioning, and wherein: the vision field monitoring device comprises a camera module, a communication module, a second calculation module and a second power supply module, and the vision field monitoring device comprises an electric connection among the camera module, the communication module, the second calculation module and the second power supply module.
4. The apparatus of claim 1, wherein the field view analysis is used to improve the accuracy of the satellite positioning, and wherein: the resolving device adopts a computer for satellite positioning field resolving data or a server for providing remote resolving service, and the satellite positioning device and the vision field monitoring device are connected with a computer network for field resolving data through a wired or wireless network or are connected with the server for providing remote resolving service through a wired or wireless network.
5. A method for improving satellite positioning accuracy using field view analysis, comprising the steps of:
firstly, a satellite positioning and vision field monitoring system is constructed: installing and deploying a satellite positioning device and a vision field monitoring device outdoors;
secondly, starting satellite positioning data receiving and vision field monitoring: the satellite positioning device receives a satellite positioning signal, the vision field monitoring device acquires a vision field image of an airspace above the satellite positioning signal, and vision field image data and satellite positioning signal data are transmitted to the resolving device through the communication module;
establishing a coordinate system: establishing a three-dimensional coordinate system of the region by taking the vertex of the view cone as an origin;
fourthly, determining the visual field: the resolving device is provided with a view calculation software V, wherein the view V is fv (h, r), namely the range of the view V is a function of the height h and the bottom radius r of the view cone, and the view space volume is V1/3 pi r2h, wherein the size of h is determined according to the terrain and vegetation condition of the site;
fifthly, subdivision of a vision cone: the resolving device is provided with grid subdivision algorithm software G, subdivided grids Gi ═ fs (h/Nh, r/Nb), namely Gi is a function of the number Nh of height h divisions of the view cone and the number Nb of bottom radius r divisions, each grid is a geometric body, and the number of the meshes subdivided by the view cone and the positions of the meshes in a regional three-dimensional coordinate system can be obtained through resolving;
sixth, view cone grid numbering: calculating the number of the geometrical center point of the view cone grid by using the three-dimensional coordinate values of the area, namely the number NGi of the grid Gi is a function of the three-dimensional coordinate values x, y and z of the area, and NGi is H (x, y and z);
seventhly, calculating the permeability of the cone grid of the view field: the vision field monitoring device transmits the shot image to the resolving device in real time through the communication module, the resolving device performs real-time image analysis according to an image recognition algorithm I, quantifies the multipath effect condition caused by the barrier in the vision field, performs real-time permeability assignment on the meshes of the vision field cone, and gives each mesh a permeability parameter delta according to the result of the image recognition algorithm;
and eighthly, dynamically establishing a virtual connecting line between the positioning satellite and the vertex of the view cone in real time: at each moment, virtual connecting lines between the positioning satellites and the vertexes of the view cones can be established in real time, the connecting lines penetrate through a plurality of view cone grids, and the positioning satellites comprise satellites of Beidou, GPS and GLONASS satellite positioning systems;
ninthly, resolving the effective satellite positioning data: the comprehensively resolved satellite positioning data acquired at each time view cone vertex position is calculated according to the calculation formula P ═ f (S1 × COS θ × δ G1, S2 × COS θ × δ G2, … …, Sn × COS θ × δ Gn) of the satellite positioning effective data.
6. The method of claim 5, wherein the field of view analysis is used to improve the accuracy of the satellite position determination, and wherein: step three, when establishing a three-dimensional coordinate system of the area, taking an antenna phase central point of the satellite positioning device, namely the vertex of the view cone, as a coordinate origin; taking a tangent line of the origin of coordinates and the latitude line where the origin of coordinates is located as a Y axis, and taking the direction from the origin of coordinates to the east as the positive direction of the Y axis; taking a tangent line of the origin of coordinates and a meridian where the origin of coordinates is located as an X axis, and taking the direction from the origin of coordinates to the south as the positive direction of the X axis; the direction vertical to the X, Y axis is taken as the Z axis, and the direction of the origin of coordinates pointing to the sky is taken as the positive direction of the Z axis; the coordinate origin and the X, Y, Z axis form a regional three-dimensional coordinate system.
7. The method of claim 5, wherein the field of view analysis is used to improve the accuracy of the satellite position determination, and wherein: in the step (iv), the range of the height h is h multiplied by tg60 degrees to r degrees, i.e. h multiplied by tg75 degrees, namely the included angle beta between the generatrix of the view cone and the horizontal plane is between 15 degrees and 30 degrees.
8. The method of claim 5, wherein the field of view analysis is used to improve the accuracy of the satellite position determination, and wherein: in step (c), the value of the parameter δ is between 0 and 1, and is completely transparent, that is, there is no mask 1(δ ═ 1) on the satellite positioning signal, and completely transparent, that is, the satellite positioning signal can not pass through the grid at all and is 0(δ ═ 0); the permeability of the view cone grid Gi is δ Gi ═ 0, 1.
9. The method of claim 5, wherein the field of view analysis is used to improve the accuracy of the satellite position determination, and wherein: satellite positioning data in the second step and the third step are acquired through a satellite positioning device and can receive multi-source satellite positioning signal data such as satellite positioning signals, foundation enhanced satellite positioning signals, satellite-based enhanced satellite positioning signals and the like; the image data is acquired by a vision field monitoring device; and the resolving device performs resolving by using the acquired satellite positioning data and the image data, and resolves the position and the size of the view cone grid and the three-dimensional coordinates and the serial numbers of the area of the view cone grid.
10. The method of claim 5, wherein the field of view analysis is used to improve the accuracy of the satellite position determination, and wherein: p in the step ninthly is satellite positioning effective data after comprehensive resolving; s1 and S2 … … Sn are all satellites whose vertex positions of the view cone can receive satellite positioning signals; theta is an included angle between a connecting line between the vertex of the view cone and the satellite Sn and the horizontal plane; δ G1, δ G2 … … δ Gn are the permeability parameters for each view cone mesh; f is the satellite positioning signal processing function.
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