CN112799110A - Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment - Google Patents
Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment Download PDFInfo
- Publication number
- CN112799110A CN112799110A CN202011547554.5A CN202011547554A CN112799110A CN 112799110 A CN112799110 A CN 112799110A CN 202011547554 A CN202011547554 A CN 202011547554A CN 112799110 A CN112799110 A CN 112799110A
- Authority
- CN
- China
- Prior art keywords
- pseudorange
- doppler
- value
- smoothed
- observed value
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000009499 grossing Methods 0.000 claims abstract description 42
- 238000005070 sampling Methods 0.000 claims abstract description 28
- 238000012937 correction Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 15
- 230000010354 integration Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 238000009795 derivation Methods 0.000 claims description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 230000007423 decrease Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000003086 colorant Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- G01S19/42—Determining position
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 discloses a Doppler considered Beidou corrected pseudorange single-point positioning method, a system and equipment, wherein the method specifically comprises the following steps: firstly, constructing a smoothed pseudorange observation value expression taking account of Doppler: wherein ω is a smoothing factor; λ is the carrier wavelength; p andrespectively obtaining an original pseudo range observed value and a smooth pseudo range observed value, wherein the unit is meter, and the subscript is epoch identification; and then introducing a weight factor into the smoothed pseudorange observation value expression to adjust the weight of the original pseudorange observation value and the smoothed pseudorange observation value, if so, adding the weight factor into the smoothed pseudorange observation value expression to adjust the weight of the original pseudorange observation value and the smoothed pseudorange observation valueWherein η is a weighting factor;correcting pseudo range; the effect of an independent observation value Doppler is fully exerted, the error of the Beidou original pseudo range observation value is weakened, the influence of the Doppler integral accumulated error is restrained, and the sampling interval does not exceed 30 seconds generally, so the weight factor eta cannot be infinitely close to 0, and the pseudo range is smoothed
Description
Technical Field
The invention belongs to the technical field of data preprocessing of a Beidou satellite navigation system, and particularly relates to a Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment.
Background
At present, a pseudorange single-point positioning module of a Global Navigation Satellite System (GNSS) has the advantages of being all-time, all-weather, small in size, convenient to carry and the like, and a pseudorange single-point positioning technology is widely applied to various fields.
The Beidou Satellite Navigation System (BDS) is formally opened in 7-month and 31-month in 2020, marks that the Beidou is in a new global service era, and also means that the Beidou pseudo-range single-point positioning technology has a wider application prospect
However, since the pseudorange observed value is affected by various error sources, the positioning accuracy is difficult to guarantee, and the individual positioning error is greater than one hundred meters, which becomes a bottleneck restricting the popularization and application of the Beidou pseudorange positioning technology.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a Doppler-considered Beidou correction pseudorange single-point positioning method, system and device, which are used for calculating Beidou pseudorange single-point positioning and improving the accuracy and reliability of the Beidou pseudorange single-point positioning based on the improvement of the accuracy of an observation value of the Beidou pseudorange.
In order to achieve the purpose, the invention adopts the technical scheme that: a Doppler-considered Beidou corrected pseudorange single-point positioning method specifically comprises the following steps:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk];
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorangeComprises the following steps:
wherein η is a weighting factor;
and performing single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
Setting a smoothing factor in the smoothed pseudorange observed value expression as the reciprocal ω of a smoothing window to 1/k, and then the smoothed pseudorange observed value expression is:
wherein T is Tk-tk-1And represents a sampling interval.
Introducing the influence of the satellite elevation angle into a smoothed pseudorange observation value expression, wherein the smoothed pseudorange observation value expression is as follows:
wherein θ is the satellite altitude.
The variance of the smoothed pseudoranges is:
wherein,noise is observed value of original pseudo range;noise is Doppler observation; determining a variance value of a smoothed pseudorange, a size of a smoothing window and a noise level of an original pseudorange and a Doppler at a sampling interval; with the increase of the smoothing window, the variance value of the smoothed pseudorange is reduced; obtaining an optimal smoothing window value, F1And (5) carrying out derivation on k:
is a cubic equation about k, namely the k takes 3 values, including 1 real number solution and 2 conjugate complex number solutions; the smoothing window value should be a positive integer that is valid, rounding the 1 real solution, and the amount of epoch data that participates in smoothing is then
F2and (5) deriving k to obtain a calculated value of the weight factor:
wherein, tau and mu are both replaced characters without real meaning, and the weight factor calculation value is introduced into the corrected pseudo rangeObtain a corrected pseudorange in the expression
The invention also provides a Doppler-considered Beidou corrected pseudo-range single-point positioning system, which comprises a data acquisition module, a data processing module and a positioning module, wherein the data acquisition module is used for acquiring a Doppler observed value and an original pseudo-range observed value, and the data processing module corrects the original pseudo-range observed value based on the Doppler observed value and the original pseudo-range observed value, and the Doppler-considered Beidou corrected pseudo-range single-point positioning system specifically comprises the following components:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk];
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorangeComprises the following steps:
wherein η is a weighting factor;
and the positioning module carries out single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
In order to solve the above technical problem, the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the Doppler-considered beidou modified pseudorange single-point positioning method of the present invention when executing the computer program.
The invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the Doppler-aware, beidou-corrected pseudorange single-point positioning method of the invention.
Compared with the prior art, the invention has at least the following beneficial effects: the effect of an independent observation value Doppler is fully exerted, the error of the original Beidou pseudo range observation value is weakened, the precision of the pseudo range observation value is corrected, and the value of a weight factor depends on the satellite height angle, a smooth window k and a sampling interval T; when the satellite height angle and the smooth window k are determined, the weight factor is mainly determined by the sampling interval TI.e. the greater the sampling interval T, the greater the value of tau, the smaller the weighting factor eta, and the smoothed pseudorangeThe smaller the weight of (A), the original observed value PκThe greater the weight of (b), the trend corresponds to the initial setting of the weight factor, i.e. suppressing the influence of Doppler integral accumulation errors, since the sampling interval does not typically exceed 30 seconds, the weight factor η is not infinitely close to 0, i.e. the pseudoranges are smoothedThe accuracy and reliability of the Beidou pseudorange single-point positioning can be guaranteed by always playing a correcting role, the accuracy of the corrected pseudorange observation value is superior to that of the original pseudorange observation value, and the coordinate accuracy of single-point positioning based on the corrected pseudorange is superior to that of the original pseudorange single-point positioning, so that a foundation is laid for popularization and application of the Beidou pseudorange single-point positioning technology.
Drawings
Fig. 1a is a graph of the noise level of the original pseudorange as a function of the sampling interval, wherein different colors (blue, green and red) respectively represent observed values of frequency points of beidou B1, B2 and B3.
FIG. 1B is a graph of smoothed pseudorange noise levels as a function of sampling interval, wherein different colors (blue, green, and red) correspond to observed values representing Beidou B1, B2, and B3 frequency points, respectively.
Fig. 1c is a diagram of the corrected pseudorange noise level as a function of sampling interval, wherein different colors (blue, green and red) respectively represent observed values of Beidou B1, B2 and B3 frequency points.
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application may be implemented without these technical details and with various changes and modifications based on the following embodiments.
To further clarify the objects, aspects and advantages of the present application, embodiments of the present application will be described in detail below with reference to the accompanying drawings, in which doppler observations and raw pseudorange observations are obtained
Step 1: constructing a smoothed pseudorange observation expression taking account of Doppler:
note that equation (1) recursively obtains smoothed pseudorangesWherein ω is a smoothing factor; λ is the carrier wavelength; p andrespectively obtaining an original pseudo range observed value and a smooth pseudo range observed value, wherein the unit is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk]。
Further, the smoothing factor may be set to the reciprocal of the smoothing window (ω ═ 1/k), and the smoothed pseudorange observation is expressed as:
note that as the smoothing window increases, the smoothing factor decreases, the weight of the original pseudorange observations decreases, the weight of the Doppler observations increases, and its effect in smoothing the pseudoranges increases.
The satellite elevation angle is used for representing the quality of observation data, the influence of the satellite elevation angle is introduced into a smoothed pseudo range observation value expression, and the smoothed pseudo range can be expressed as
Wherein θ is a satellite elevation angle, and since the correlation between the Doppler observation value and time is negligible, the error propagation law is adopted to calculate the variance value of the smoothed pseudorange:
it should be noted that, in the case that the sampling interval is fixed and the noise level of the original pseudorange and the Doppler observation is constant, the variance value of the smoothed pseudorange depends mainly on the size of the smoothing window. Since k is both a numerator term and a denominator term, the smoothed pseudorange variance value decreases with increasing smoothing window, but the two are not linearly inversely related.
Further, to determine the smoothing window size, F1For k to derive, then
Note that equation (5) is a cubic equation for k, i.e., k has 3 roots. The root of the equation consists of 1 real solution and 2 complex conjugate solutions, considering that the function theoretically has only one intersection with the X-axis. Since the smooth window must be a positive integer, rounding the real solution is necessary, and there are
It is noted that, to ensure that the smoothing effect is effective,has a minimum value of 2, i.e. at least 2 epochs participate in the smoothing.
Step 2: introducing a weight factor to construct a modified pseudo range observation value expression:
equation (7) aims at adjusting the raw pseudorange observations P by introducing a weighting factor ηκAnd smoothing pseudorange observationsThe purpose of the weight of (2) is to suppress an integral accumulation error of a Doppler observation value. With the increase of the sampling interval, the Doppler integral accumulated error is significantly increased, the weight of the smoothed pseudorange value needs to be reduced through a weight factor, and the accuracy of the corrected pseudorange observed value is ensured.
Further, according to the error propagation law, the variance value of the modified pseudorange can be expressed as:
further, equation (8) is derived for k and assigned the valueThe calculated value of the weighting factor can be obtained:
in the formula (9), the weight factor is mainly determined by the satellite height angle, the smoothing window k and the sampling interval T. When the satellite elevation angle and the smoothing window k are fixed, the weight factor is mainly determined by the sampling interval T, namely the larger the sampling interval T is, the smaller the weight factor eta is, and the smoothed pseudorange isThe smaller the weight of (A), the original observed value PκThe greater the weight of (c). It can be seen that the larger the sampling interval, the smaller the effect exerted by the smoothed pseudorange observation, the smaller the influence of the Doppler integration accumulated error; tau and mu are both replaced characters, no sense is realized, and kappa is Kelvin.
Referring to fig. 1a, 1B and 1c, three columns from left to right are shown to respectively represent observed values of beidou B1, B2 and B3, an original pseudorange noise level changes with a sampling interval, fig. 1B is a smoothed pseudorange noise level changes with a sampling interval, fig. 1c is a corrected pseudorange noise level changes with a sampling interval, and it can be seen that pseudorange noise level increases averagely with an increase of a sampling interval, and a pseudorange noise level of a B1 frequency point is greater than that of a B2 frequency point and a B3 frequency point. When the sampling interval is not greater than 2 seconds, the smoothed pseudorange noise level is better than the original pseudorange observations due to the smaller Doppler observation integration error. As the sampling interval continues to increase, the Doppler observation integration error increases significantly and the smoothed pseudorange noise level is greater than the original pseudorange observation. Due to the adjustment of the weight factor, the noise level of the corrected pseudorange is superior to the observed values of the original pseudorange and the smoothed pseudorange, and the correction effect is better when the sampling interval is smaller.
According to the prior literature data, the accumulated error of the Doppler integral does not exceed 2cm/s generally. When the data sampling interval does not exceed 1s, the Doppler integral accumulated error level is superior to the noise level of the original pseudo range observed value, so that the accuracy of the smoothed pseudo range observed value is superior to that of the original pseudo range observed value, and the weight of the smoothed pseudo range observed value is increased. As the sampling interval increases, the Doppler cumulative integration error increases and the smoothed pseudorange observations weight down. Since the sampling interval does not typically exceed 30 seconds, the weight factor η does not approach 0 indefinitely, i.e., the pseudoranges are smoothedAlways exert a corrective action.
The invention provides a Doppler-considered Beidou corrected pseudo-range single-point positioning system which comprises a data acquisition module, a data processing module and a positioning module, wherein the data acquisition module is used for acquiring a Doppler observed value and an original pseudo-range observed value, and the data processing module corrects the original pseudo-range observed value based on the Doppler observed value and the original pseudo-range observed value, and the Doppler-considered Beidou corrected pseudo-range single-point positioning system specifically comprises the following components:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk];
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorangeComprises the following steps:
wherein η is a weighting factor;
and the positioning module carries out single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
The Doppler-considered beidou pseudorange observation value correction method of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The Doppler Beidou pseudo range observation value correction method can be stored in a computer readable storage medium if the Doppler Beidou pseudo range observation value correction method is realized in a software functional unit mode and is used as an independent product for sale or use.
Based on such understanding, in the exemplary embodiment, a computer readable storage medium is also provided, all or part of the processes in the method of the above embodiments of the present invention can be realized by a computer program to instruct related hardware, the computer program can be stored in the computer readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be realized. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. Computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice. The computer storage medium may be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical memory (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g., ROM, EPROM, EEPROM, nonvolatile memory (NANDFLASH), Solid State Disk (SSD)), etc.
In an exemplary embodiment, a computer device is also provided, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the Doppler-considered beidou pseudorange observation correction method when executing the computer program. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (8)
1. A Doppler-considered Beidou corrected pseudorange single-point positioning method is characterized by comprising the following steps:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk];
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorangeComprises the following steps:
wherein η is a weighting factor;
and performing single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
2. The Doppler-enabled Beidou corrected pseudorange single point positioning method according to claim 1,
setting a smoothing factor in the smoothed pseudorange observed value expression as the reciprocal ω of a smoothing window to 1/k, and then the smoothed pseudorange observed value expression is:
wherein T is Tk-tk-1And represents a sampling interval.
4. The Doppler-considered beidou modified pseudorange single-point positioning method of claim 1, wherein the smoothed pseudorange variance is:
wherein,noise is observed value of original pseudo range;noise is Doppler observation; sampling interval determining variance value of smoothed pseudorange, smoothing windowMouth size and noise level of original pseudorange and Doppler; with the increase of the smoothing window, the variance value of the smoothed pseudorange is reduced; obtaining an optimal smoothing window value, F1And (5) carrying out derivation on k:
is a cubic equation about k, namely the k takes 3 values, including 1 real number solution and 2 conjugate complex number solutions; the smoothing window value should be a positive integer that is valid, rounding the 1 real solution, and the amount of epoch data that participates in smoothing is then
5. The Doppler-considered beidou modified pseudorange single point positioning method of claim 1, wherein the modified pseudoranges are computed according to error propagation lawVariance value of (a):
F2and (5) deriving k to obtain a calculated value of the weight factor:
6. The utility model provides a big dipper correction pseudo range single point positioning system of taking account of Doppler, which characterized in that includes data acquisition module, data processing module and location module, wherein data acquisition module is used for acquireing Doppler observed value and original pseudo range observed value, and data processing module revises original pseudo range observed value based on Doppler observed value and original pseudo range observed value, specifically as follows:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk];
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorangeComprises the following steps:
wherein η is a weighting factor;
and the positioning module carries out single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
7. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program implements the steps of the Doppler-aware beidou-corrected pseudorange single-point positioning method according to any of claims 1 to 5.
8. A computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the Doppler-aware beidou-corrected pseudorange single-point positioning method as claimed in any one of claims 1 to 5.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011547554.5A CN112799110B (en) | 2020-12-23 | 2020-12-23 | Doppler-considered Beidou corrected pseudo-range single-point positioning method, system and equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202011547554.5A CN112799110B (en) | 2020-12-23 | 2020-12-23 | Doppler-considered Beidou corrected pseudo-range single-point positioning method, system and equipment |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112799110A true CN112799110A (en) | 2021-05-14 |
CN112799110B CN112799110B (en) | 2023-12-26 |
Family
ID=75805405
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202011547554.5A Active CN112799110B (en) | 2020-12-23 | 2020-12-23 | Doppler-considered Beidou corrected pseudo-range single-point positioning method, system and equipment |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112799110B (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113835109A (en) * | 2021-11-26 | 2021-12-24 | 腾讯科技(深圳)有限公司 | Terminal positioning method and device, electronic equipment, storage medium and program product |
WO2022257887A1 (en) * | 2021-06-08 | 2022-12-15 | 中移(上海)信息通信科技有限公司 | Positioning method, terminal, and storage medium |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1729145A1 (en) * | 2005-06-02 | 2006-12-06 | Gmv, S.A. | Method and system for providing GNSS navigation position solution with guaranteed integrity in non-controlled environments |
CN104407359A (en) * | 2014-12-10 | 2015-03-11 | 中南大学 | Noise assessment method for zero-difference observation value of Beidou receiver |
CN108363079A (en) * | 2018-01-30 | 2018-08-03 | 上海交通大学 | A kind of GNSS pseudorange double difference localization methods and system towards portable intelligent device |
CN109541659A (en) * | 2018-10-24 | 2019-03-29 | 中国电子科技集团公司第二十八研究所 | A kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou |
-
2020
- 2020-12-23 CN CN202011547554.5A patent/CN112799110B/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1729145A1 (en) * | 2005-06-02 | 2006-12-06 | Gmv, S.A. | Method and system for providing GNSS navigation position solution with guaranteed integrity in non-controlled environments |
CN104407359A (en) * | 2014-12-10 | 2015-03-11 | 中南大学 | Noise assessment method for zero-difference observation value of Beidou receiver |
CN108363079A (en) * | 2018-01-30 | 2018-08-03 | 上海交通大学 | A kind of GNSS pseudorange double difference localization methods and system towards portable intelligent device |
CN109541659A (en) * | 2018-10-24 | 2019-03-29 | 中国电子科技集团公司第二十八研究所 | A kind of ground strengthening system carrier phase smoothing pseudo-range method based on Beidou |
Non-Patent Citations (2)
Title |
---|
XIAO GAO等: "An improved real-time cycle slip correction algorithm based on Doppler-aided signals for BDS triple-frequency measurements", vol. 67, no. 01, pages 223 - 233, XP086412585, DOI: 10.1016/j.asr.2020.09.028 * |
管庆林等: "单点定位中一种载波相位平滑伪距方法", 《测绘科学》, vol. 44, no. 02, pages 116 - 121 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022257887A1 (en) * | 2021-06-08 | 2022-12-15 | 中移(上海)信息通信科技有限公司 | Positioning method, terminal, and storage medium |
CN113835109A (en) * | 2021-11-26 | 2021-12-24 | 腾讯科技(深圳)有限公司 | Terminal positioning method and device, electronic equipment, storage medium and program product |
Also Published As
Publication number | Publication date |
---|---|
CN112799110B (en) | 2023-12-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN114518586B (en) | GNSS precise single-point positioning method based on spherical harmonic expansion | |
US11726213B2 (en) | Fast and precise positioning method and system | |
WO2019144528A1 (en) | Fast ambiguity resolving method among multi-constellation reference stations based on ambiguity tight constraint and application thereof | |
Zhang et al. | An improved robust adaptive Kalman filter for GNSS precise point positioning | |
CN110568459B (en) | Regional ionized layer TEC real-time monitoring method based on IGS and CORS stations | |
CN102998681B (en) | A kind of high-frequency clock error estimation method of satellite navigation system | |
CN109683186B (en) | Method for eliminating carrier phase time transfer antenna jump of multi-satellite navigation system | |
CN112799110A (en) | Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment | |
CN113568020A (en) | Satellite navigation positioning error correction method and device considering hardware inter-frequency difference | |
CN111913201A (en) | GNSS differential positioning method and device and computer readable storage medium | |
CN114879239B (en) | Regional three-frequency integer clock error estimation method for enhancing instantaneous PPP fixed solution | |
CN118068676B (en) | Real-time GNSS satellite clock error service method and system based on parameter decoupling | |
CN109884679A (en) | A kind of across frequency point mixing double difference RTK calculation method of single mode GNSS system | |
Geng et al. | A Robust Android Gnss Rtk Positioning Scheme Using Factor Graph Optimization | |
CN114485655A (en) | GNSS/INS combined navigation data quality control method | |
CN114048585A (en) | Ionosphere model after-event analysis method and device | |
CN108459334A (en) | A kind of GPS/BDS dual system list clock correction localization methods for taking deviation between system into account | |
Chen et al. | Undifferenced zenith tropospheric modeling and its application in fast ambiguity recovery for long-range network RTK reference stations | |
CN112782741B (en) | Ambiguity fixing method based on RTK positioning and positioning terminal | |
CN112926190A (en) | Multi-path weakening method and device based on VMD algorithm | |
CN110543668B (en) | Method for determining Kalman filtering state error covariance matrix in ionosphere modeling | |
CN112485813A (en) | Method and system for correcting frequency offset of non-combined ranging codes between GLONASS measuring stations | |
CN111505687B (en) | Original observation value gross error rejection method based on GPS satellite navigation system | |
CN111505686B (en) | Coarse difference elimination method based on Beidou navigation system | |
He et al. | The B-spline mapping function (BMF): representing anisotropic troposphere delays by a single self-consistent functional model |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant |