CN112904394B - KPI ambiguity fixing method for land-based positioning system receiver, receiver and system - Google Patents
KPI ambiguity fixing method for land-based positioning system receiver, receiver and system Download PDFInfo
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- CN112904394B CN112904394B CN202110071304.7A CN202110071304A CN112904394B CN 112904394 B CN112904394 B CN 112904394B CN 202110071304 A CN202110071304 A CN 202110071304A CN 112904394 B CN112904394 B CN 112904394B
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- 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
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- 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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a KPI ambiguity fixing method for a receiver of a land-based positioning system, the receiver and a system, wherein the method comprises the following steps: starting a receiver and carrying out initialization data acquisition through an RTK module in the receiver; judging whether the acquired data are available or not, and counting the quantity of the available acquired data; judging whether the quantity of the available acquisition data is larger than a set threshold value, if so, carrying out initialization data acquisition again through the RTK module, and if so, calculating the standard deviation of the available acquisition data; judging whether the standard deviation is larger than a set stability threshold value, if so, re-carrying out initialization data acquisition through the RTK module, and if so, carrying out arithmetic average filtering treatment on available acquisition data; performing arithmetic average filtering processing again to obtain a first initialization position under the RTK coordinate system; and (5) reversely solving the carrier phase ambiguity of each positioning signal of the receiver by a KPI ambiguity fixing method. And the precision of KPI ambiguity fixing is improved.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a KPI ambiguity fixing method, a KPI ambiguity fixing receiver and a KPI ambiguity fixing system for a land-based positioning system.
Background
The land-based positioning system is a radio positioning system designed based on an improved pseudolite technology, and achieves the accuracy of a centimeter level by distributing positioning signals broadcast by positioning base stations in an area and receiving and analyzing the positioning signals by a user terminal. When the satellite navigation system is not available, high-precision positioning, speed measurement and time service can be provided in a certain area.
Ambiguity fixing refers to the fact that when a receiver (a positioning terminal) of a land-based positioning system based on carrier phase positioning is positioned, the receiver cannot directly measure the starting point of the carrier signal phase, so that the unknown part of the carrier phase measured value is called ambiguity, and the ambiguity of satellite navigation differential positioning is different from an integer, and is a real number in the land-based positioning system.
The KPI (known point initialization, known initialization position point) ambiguity fixing method is a main method for fixing the ambiguity of a receiver of a land-based positioning system under the conditions of strong interference, poor geometric diversity and the like. The KPI ambiguity fixing method is an ambiguity fixing method for inverse resolving the ambiguity of each signal measurement value of a receiver when the accurate initial position of the receiver is known. The most important work is how to determine the initial position of the receiver, and the most accurate and common method is to use total station measurement.
The initial position of a positioning terminal receiver is measured with high precision by adopting key measurement of a KPI ambiguity fixing method in a land-based positioning system terminal. The most common means is to use an optical total station for measurement. The initial position measurement by using the optical total station has the following defects:
first, a professional operator is required to measure the initial position using the total station, and the measurement process takes a long time.
Second, the total station and the positioning terminal receiver receive the antenna carrier phase center for a common view, and no shielding exists.
Third, the phase center line of the receiving antenna is generally difficult to recognize from the antenna's exterior, and there is some deviation in the initial result of one total station measurement.
Fourth, the total station needs to be set up again for measurement every time the positioning terminal receiver is restarted or the ambiguity needs to be resolved again due to signal tracking problems.
Due to the defects, the KPI ambiguity fixing method based on the total station measurement result has high requirements on manpower and time, so that the system application is greatly limited.
Disclosure of Invention
The invention aims to provide a KPI (key performance indicator) ambiguity fixing method, a receiver and a system for a land-based positioning system receiver, which are used for realizing the purpose of improving the accuracy of an initial position without operators and ensuring the accuracy of KPI ambiguity fixing, thereby ensuring the accuracy of the system.
In order to achieve the above purpose, the present invention provides a method for fixing KPI ambiguity of a land-based positioning system receiver, including:
starting the receiver and collecting initialization data through an RTK module in the receiver, wherein the initialization data is a position result of a phase center of a receiving antenna of the receiver under an RTK coordinate system;
judging whether each initialization data acquired in a unit time period is available acquisition data or not, and counting the number of the available acquisition data;
judging whether the quantity of the available acquisition data is larger than a set threshold value, if so, carrying out initialization data acquisition again through the RTK module, and if so, calculating the standard deviation of the available acquisition data;
judging whether the standard deviation is larger than a set stability threshold value, if so, re-carrying out initialization data acquisition through the RTK module, and if so, carrying out arithmetic average filtering processing on the available acquisition data to remove error initialization data generated by pulse interference in the available acquisition data;
performing arithmetic average filtering processing on the available acquired data after the error initialization data are removed again to obtain a first initialization position for fixing the ambiguity under an RTK coordinate system;
and based on the first initialization position, reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver by a KPI ambiguity fixing method, and starting positioning based on a land-based positioning system.
In a second aspect, the present invention provides a land-based positioning system receiver comprising: an RTK module and a processing module;
the RTK module is used for collecting initialization data after the receiver is started, wherein the initialization data is a position result of a phase center of a receiving antenna of the receiver under an RTK coordinate system;
the processing module is used for executing the following steps:
judging whether each initialization data acquired in a unit time period is available acquisition data or not, and counting the number of the available acquisition data;
judging whether the quantity of the available acquisition data is larger than a set threshold value, if so, carrying out initialization data acquisition again through the RTK module, and if so, calculating the standard deviation of the available acquisition data;
judging whether the standard deviation is larger than a set stability threshold value, if so, re-carrying out initialization data acquisition through the RTK module, and if so, carrying out arithmetic average filtering processing on the available acquisition data to remove error initialization data generated by pulse interference in the available acquisition data;
performing arithmetic average filtering processing on the available acquired data after the error initialization data are removed again to obtain a first initialization position for fixing the ambiguity under an RTK coordinate system;
and based on the first initialization position, reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver by a KPI ambiguity fixing method, and controlling the receiver to start positioning based on a land-based positioning system.
In a third aspect, the invention also provides a land-based positioning system comprising a land-based positioning system receiver according to the second aspect.
The invention has the beneficial effects that:
1. RTK is adopted to replace a total station to measure an initial position, RTK data is adopted as a data source with fixed KPI ambiguity, labor and time cost are saved, and the limitation of a system use scene is reduced;
2. the data collected by the RTK is the phase center of the receiving antenna of the positioning terminal receiver, and the initial position is more accurate by combining with improved arithmetic average filtering, so that the system positioning error is reduced.
The device of the present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
FIG. 1 shows a step diagram of a method for KPI ambiguity fixing in a land-based positioning system receiver, according to one embodiment of the present invention.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are illustrated in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
FIG. 1 shows a step diagram of a method for KPI ambiguity fixing in a land-based positioning system receiver, according to one embodiment of the present invention.
As shown in fig. 1, a KPI ambiguity fixing method for a land-based positioning system receiver includes:
step S101: starting a receiver and carrying out initialization data acquisition through an RTK module in the receiver, wherein the initialization data is a position result of a phase center of a receiving antenna of the receiver under an RTK coordinate system;
in a specific application scenario, KPI initialization data acquisition (RTK data acquisition) is first performed, specifically as follows:
and starting a receiver, starting an RTK module, automatically acquiring data and recording, wherein the acquired data is the position result of the phase center of the receiving antenna of the receiver under an RTK coordinate system.
Before this step, when the land-based positioning system and the RTK are referenced by different space coordinate systems, it is necessary to measure the coordinates of a plurality of positions in the cartesian coordinate system employed by the land-based positioning system and the RTK at the same time, and then calculate a transformation matrix from the RTK cartesian coordinate system to the land-based positioning system coordinate system by using the SVD decomposition method, and configure the transformation matrix into the receiver. The process is an engineering process, and as long as the coordinate system standard is unchanged, the re-solving is not needed, the number of selected positions is more than 4, and the comprehensive effect is optimal when 6-8 positions are selected. This step need not be performed when the two systems are using the same spatial reference.
Step S102: judging whether each initialization data acquired in a unit time period is available acquisition data or not, and counting the number of the available acquisition data; judging whether the quantity of the available acquisition data is larger than a set threshold value, if so, carrying out initialization data acquisition again through the RTK module, and if so, calculating the standard deviation of the available acquisition data;
in the specific application scenario, the availability judgment of the collected data is then performed, and the specific steps are as follows:
firstly, judging whether single collected data is available according to corresponding flag bits in the collected data, and counting the total number of the available data in all the adopted data and comparing the total number with a set threshold value T1.
If the total number of available data is smaller than the threshold value T1, the process returns to step S101 to re-acquire data.
If the total number of available data is greater than the threshold value T1, a standard deviation (degree of data dispersion) of the available collected data is calculated.
The specific method for judging whether the single acquired data is available comprises the following steps:
judging whether each initialization data has an RTK fixed solution zone bit, wherein a field 6 of the RTK fixed solution zone bit is represented by 4 in an NMEA0183 communication protocol, which indicates that the receiver is in a high-precision RTK fixed module at the moment, if the corresponding field in single acquisition data is 4, the corresponding initialization data is available acquisition data, otherwise, the initialization data is unavailable acquisition data.
Step S103: judging whether the standard deviation is larger than a set stability threshold value, if so, re-acquiring initialization data through the RTK module, and if so, performing arithmetic average filtering processing on available acquisition data to remove error initialization data generated by pulse interference in the available acquisition data;
then, performing arithmetic average filtering processing on available acquired data after error initialization data are removed again to obtain a first initialization position for fixing ambiguity in an RTK coordinate system;
in the above specific application scenario, the calculated standard deviation of the available usage data is compared with the set stability threshold T2. If the standard deviation is greater than or equal to the stability threshold value T2, the accuracy of the position result output by the RTK in the period is too low, and the step S101 is returned to acquire data again; if the standard deviation is less than T2, continuing to execute the data filtering processing step.
In particular, this step uses an improved arithmetic mean filter for filtering the acquired data. This improved arithmetic filter is improved primarily for the purpose of preventing the presence of acquisition data of greater error due to impulse disturbances in the available acquisition data. The specific filtering steps are as follows:
1) The available acquisition data is firstly subjected to one-time arithmetic average filtering
2) Preferably, results of the available acquisition data having an absolute value of the difference relative to the arithmetic mean filtering result greater than 2 times the standard deviation of the acquisition data are deleted.
3) And carrying out arithmetic average filtering again on the residual available acquired data to obtain a first initial position for fixing the ambiguity under the RTK coordinates.
Step S104: and based on the first initialization position, reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver by a KPI ambiguity fixing method, and starting positioning based on a land-based positioning system.
In the above specific application scenario, when the land-based positioning system and the RTK module use the same spatial coordinate system: and directly adopting a first initialization position, and reversely solving the carrier phase ambiguity of each positioning signal of the receiver based on a KPI ambiguity fixing method.
When the land-based positioning system and the RTK module employ different spatial coordinate systems:
based on the preset coordinate transformation matrix, converting the obtained first initial position under the RTK coordinate system into a second initial position under the land-based positioning system coordinate system;
and adopting a second initialization position, reversely solving the carrier phase ambiguity of each positioning signal of the roadbed positioning receiver based on the KPI ambiguity fixing method, and starting to position based on a land-based positioning system.
After starting the positioning based on the land-based positioning system, the method further comprises:
step S105: monitoring the processing condition of the positioning signal in the receiver in real time, and if the positioning signal is not lost, keeping the normal positioning of the receiver based on the land-based positioning system; if the positioning signal is lost, steps S101-S104 are re-executed.
According to the KPI ambiguity fixing method for the land-based positioning system receiver, RTK data are adopted to replace a traditional total station to measure an initial position, RTK data are adopted to serve as a data source for KPI ambiguity fixing, labor and time cost are saved, and system use scene limitation is reduced; the data collected by the RTK is the phase center of the receiving antenna of the positioning terminal receiver, and the initial position is more accurate by combining with improved arithmetic average filtering, so that the system positioning error is reduced.
Example 2
The embodiment of the invention also provides a land-based positioning system receiver, which comprises: an RTK module and a processing module;
the RTK module is used for carrying out initialization data acquisition after the receiver is started, wherein the initialization data is the position result of the phase center of a receiving antenna of the receiver under an RTK coordinate system;
the processing module is used for executing the following steps:
judging whether each initialization data acquired in a unit time period is available acquisition data or not, and counting the number of the available acquisition data;
judging whether the quantity of the available acquisition data is larger than a set threshold value, if so, carrying out initialization data acquisition again through the RTK module, and if so, calculating the standard deviation of the available acquisition data;
judging whether the standard deviation is larger than a set stability threshold value, if so, re-acquiring initialization data through the RTK module, and if so, performing arithmetic average filtering processing on available acquisition data to remove error initialization data generated by pulse interference in the available acquisition data;
performing arithmetic average filtering processing on available acquired data after error initialization data are removed again to obtain a first initialization position for fixing ambiguity under an RTK coordinate system;
and based on the first initialization position, reversely solving the carrier phase ambiguity of each positioning signal of the receiver by a KPI ambiguity fixing method, and controlling the receiver to start positioning based on a land-based positioning system.
Wherein, the processing module is specifically further configured to:
when the land-based positioning system and the RTK module employ the same spatial coordinate system:
directly adopting a first initialization position, and reversely solving the carrier phase ambiguity of each positioning signal of the receiver based on a KPI ambiguity fixing method;
when the land-based positioning system and the RTK module employ different spatial coordinate systems:
based on a preset coordinate transformation matrix, converting the first initial position under the RTK coordinate system into a second initial position under the land-based positioning system coordinate system;
and adopting a second initialization position, reversely solving the carrier phase ambiguity of each positioning signal of the receiver based on the KPI ambiguity fixing method, and starting to position based on a land-based positioning system.
Specifically, the land-based positioning system receiver of the embodiment of the invention integrates the RTK module on the basis of the original roadbed positioning receiver device (roadbed positioning terminal), and replaces the traditional total station for measuring the initial position by using the RTK module to measure the initial position, and adopts RTK data as a data source with fixed KPI ambiguity, so that an operator is not required, and the time is short. The RTK positioning result is further subjected to stability judgment and filtering processing through the processing module, so that the precision of an initial position can be improved, the precision of KPI ambiguity fixation is ensured, and the precision of a system is ensured.
Example 3
The embodiment of the invention also provides a land-based positioning system, which comprises the land-based positioning system receiver of the embodiment 2.
Specifically, the land-based positioning system of the present embodiment adopts the land-based positioning system receiver of the above embodiment 2, and can realize the advantages of no need of operators, short time consumption and improvement of the accuracy of the system.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (7)
1. A method for fixing KPI ambiguity of a land-based positioning system receiver, comprising:
starting the receiver and collecting initialization data through an RTK module in the receiver, wherein the initialization data is a position result of a phase center of a receiving antenna of the receiver under an RTK coordinate system;
judging whether each initialization data acquired in a unit time period is available acquisition data or not, and counting the number of the available acquisition data;
judging whether the quantity of the available acquisition data is larger than a set threshold value, if so, carrying out initialization data acquisition again through the RTK module, and if so, calculating the standard deviation of the available acquisition data;
judging whether the standard deviation is larger than a set stability threshold value, if so, re-carrying out initialization data acquisition through the RTK module, and if so, carrying out arithmetic average filtering processing on the available acquisition data to remove error initialization data generated by pulse interference in the available acquisition data;
performing arithmetic average filtering processing on the available acquired data after the error initialization data are removed again to obtain a first initialization position for fixing the ambiguity under an RTK coordinate system;
based on the first initialization position, reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver by a KPI ambiguity fixing method, and starting positioning based on a land-based positioning system;
the step of reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver by a KPI ambiguity fixing method based on the first initialization position comprises the following steps:
when the land-based positioning system and the RTK module employ the same spatial coordinate system:
directly adopting the first initialization position, and reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver based on a KPI ambiguity fixing method;
when a land-based positioning system and the RTK module employ different spatial coordinate systems:
converting the first initialization position under the RTK coordinate system into a second initialization position under the land-based positioning system coordinate system based on a preset coordinate conversion matrix;
and adopting the second initialization position, reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver based on a KPI ambiguity fixing method, and starting positioning based on a land-based positioning system.
2. The method of claim 1, further comprising, when the land-based positioning system and the RTK module adopt different spatial references, before starting the receiver and the RTK module in the receiver to perform initial data acquisition:
simultaneously measuring coordinates of a plurality of different positions in a land-based positioning system coordinate system and an RTK Cartesian coordinate system;
and acquiring the coordinate transformation matrix from the RTK Cartesian coordinate system to the land-based positioning system coordinate system by adopting an SVD decomposition method, and configuring the coordinate transformation matrix into the receiver.
3. The method for fixing KPI ambiguity of a land-based positioning system receiver according to claim 1, wherein said determining whether each of the initialization data collected in the unit time period is available collection data includes:
judging whether each initialization data has an RTK fixed solution zone bit, if so, the corresponding initialization data is the available acquisition data, otherwise, the initialization data is unavailable acquisition data.
4. A land-based positioning system receiver KPI ambiguity fixing method according to claim 1, wherein said performing an arithmetic average filtering process on said available acquisition data to remove error initialization data due to impulse interference in said available acquisition data comprises:
performing arithmetic average filtering processing on the available acquisition data by adopting a preset arithmetic average filter to obtain an arithmetic average value of all the available acquisition data;
calculating a difference value between each of the available acquisition data and the arithmetic mean;
and judging the available acquired data with the absolute value of the difference value being more than 2 times of the standard deviation as the error initialization data, and deleting the error initialization data.
5. The land based positioning system receiver KPI ambiguity fixing method of claim 1, further including, after starting a positioning based on a land based positioning system:
monitoring the processing condition of the positioning signal in the receiver in real time, and if the positioning signal is not lost, keeping the normal positioning of the receiver based on a land-based positioning system;
if the positioning signals are lost, carrying out initialization data acquisition again through the RTK module until the carrier phase ambiguity of each land-based positioning signal of the receiver is solved reversely through a KPI ambiguity fixing method, and positioning based on a land-based positioning system is restarted.
6. A land-based positioning system receiver, comprising: an RTK module and a processing module;
the RTK module is used for collecting initialization data after the receiver is started, wherein the initialization data is a position result of a phase center of a receiving antenna of the receiver under an RTK coordinate system;
the processing module is used for executing the following steps:
judging whether each initialization data acquired in a unit time period is available acquisition data or not, and counting the number of the available acquisition data;
judging whether the quantity of the available acquisition data is larger than a set threshold value, if so, carrying out initialization data acquisition again through the RTK module, and if so, calculating the standard deviation of the available acquisition data;
judging whether the standard deviation is larger than a set stability threshold value, if so, re-carrying out initialization data acquisition through the RTK module, and if so, carrying out arithmetic average filtering processing on the available acquisition data to remove error initialization data generated by pulse interference in the available acquisition data;
performing arithmetic average filtering processing on the available acquired data after the error initialization data are removed again to obtain a first initialization position for fixing the ambiguity under an RTK coordinate system;
based on the first initialization position, reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver by a KPI ambiguity fixing method, and controlling the receiver to start positioning based on a land-based positioning system;
the processing module is specifically further configured to:
when the land-based positioning system and the RTK module employ the same spatial coordinate system:
directly adopting the first initialization position, and reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver based on a KPI ambiguity fixing method;
when a land-based positioning system and the RTK module employ different spatial coordinate systems:
converting the first initialization position under the RTK coordinate system into a second initialization position under the land-based positioning system coordinate system based on a preset coordinate conversion matrix;
and adopting the second initialization position, reversely solving the carrier phase ambiguity of each land-based positioning signal of the receiver based on a KPI ambiguity fixing method, and starting positioning based on a land-based positioning system.
7. A land-based positioning system comprising the land-based positioning system receiver of claim 6.
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