CN113238259A - Software calibration method for RDSS user receiver zero value - Google Patents

Software calibration method for RDSS user receiver zero value Download PDF

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Publication number
CN113238259A
CN113238259A CN202110363507.3A CN202110363507A CN113238259A CN 113238259 A CN113238259 A CN 113238259A CN 202110363507 A CN202110363507 A CN 202110363507A CN 113238259 A CN113238259 A CN 113238259A
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rdss
receiver
zero value
calibration
inbound
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CN113238259B (en
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曲江华
袁洪
杨光
李子申
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Aerospace Information Research Institute of CAS
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Aerospace Information Research Institute of CAS
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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
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • 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

Abstract

The invention discloses a software calibration method for RDSS user receiver zero value, which realizes calibration and correction of the RDSS user receiver zero value error by using the existing RDSS system and user receiver through a software calibration mode, and can further improve the positioning and bidirectional timing service precision of the RDSS user receiver.

Description

Software calibration method for RDSS user receiver zero value
Technical Field
The invention belongs to the technical field of satellite navigation positioning and time service, and particularly relates to a software calibration method for a RDSS user receiver zero value.
Background
The RDSS system is different from the RNSS system in that the RDSS system has the characteristics of integrating positioning, bidirectional time service, unidirectional time service and communication service functions, and the RDSS system has the other characteristic of providing two-satellite positioning, and is still the characteristic and the advantage of the Chinese satellite navigation system nowadays. The service was formally provided since 2003 and is currently in service for approximately 20 years. The method is widely applied to fishery, traffic, wharfs, earthquake and disaster resistance, forest fire prevention, hydrological monitoring and the like, and generates remarkable military, economic and social benefits.
The accuracy of the RDSS user receiver equipment zero value calibration directly affects the service performance of RDSS user positioning and bidirectional time service, the traditional RDSS user receiver equipment zero value calibration adopts a hardware zero value calibration method, the hardware zero value calibration method needs to be completed under the condition that the equipment does not work, and the calibration is generally completed before the user receiver leaves a factory. The zero value of the RDSS user receiver equipment slowly drifts, errors can be generated between the zero value of the actual receiver equipment and a calibrated zero value result along with the time, and the positioning service and the bidirectional time service precision of the user receiver can be influenced to a certain extent. In addition, some user receivers may still have no calibrated zero value or the calibrated zero value is inaccurate, and need to be identified and calibrated in time.
Disclosure of Invention
The invention aims to solve the technical problems that the zero value of RDSS user equipment slowly drifts, a certain error exists between the zero value of actual equipment of a user receiver and a calibrated zero value result along with the time, a hardware zero value calibration method adopted by the user receiver end cannot calibrate the zero value in time, and the zero value calibration of the user receiver equipment is inaccurate or not calibrated, and provides a software calibration method for the zero value of the RDSS user receiver. The method does not need special hardware equipment, special facilities and special calibration places adopted by the user receiver hardware zero value calibration, only utilizes the prior RDSS system, and calibrates and corrects the zero value error of the RDSS user receiver end equipment by a software calibration method from the RDSS system end, thereby improving the zero value calibration precision of the RDSS user receiver equipment, completing the calibration in time and rapidly, and further improving the positioning and bidirectional time service precision of the RDSS user.
A software calibration method for RDSS user receiver zero value includes the following steps:
step 1, a user side selects calibration time, and coordinates of a position where a receiver is located are obtained during the calibration time;
step 2, collecting RDSS user receiver positioning calculation related data output by the RDSS system, and further completing ionospheric delay DTionoCorrecting tropospheric delay DTtropCorrection, earth rotation correction amount DTearthAnd correcting, calculating the pseudo range P after the correction of the user receiver:
P＝ρ-DTiono-DTtrop-DTearth；
step 3, calculating the positioning signal of the monitoring station to go out of the inbound link C → So→U→SiThe → C distance, which is taken as the calibration reference distance D; c → So→U→Si→ C denotes ranging signal from the central station C to the outbound satellite SoTo the user U, and then to the inbound satellite SiForward, last inbound link by central station C;
step 4, taking the P-D as the zero value calibration basic data of the RDSS user receiver equipment, and calculating the zero value error of the RDSS user receiver equipment:
s401: and comparing and analyzing the corrected pseudo range P with the access link distance D of the RDSS user receiver, and taking the obtained result as the access combination zero value calibration basic data of the RDSS system:
dP＝P-D；
s402: respectively calculating dP values of different beam inbound of the same satellite according to the basic data of the link of the same satellite outbound of the same beam and the link of the same satellite inbound, and analyzing and processing the dP values to obtain a zero value delta Z of RDSS user receiver equipmentu；
Step 5, calculating the zero value error delta Z of the RDSS user receiver equipmentuThe method is directly used for correcting the pseudo range rho after correcting the calibration zero value of the RDSS system, and zero value error calibration of user receiver equipment aiming at RDSS positioning service is completed at a system end.
Preferably, in step 2, the RDSS user is used to apply for data by using a bidirectional time service receiver.
Further, in step 4, the base data of the same beam outbound from the same satellite and the link inbound from different satellites are continuously utilized to continuously analyze the dP calculated by the inbound from different satellites, and then the dP values of the inbound from different beams from the same satellite are combined to perform analysis and processing to calculate the zero value Δ Z of the RDSS user receiver deviceu。
Further, in step 4, according to the user end position, different response satellites and response beams of different coverage areas are selected, and by means of multi-satellite multi-beam switching, the result comprehensively considers and utilizes the basic data of different satellite different beam outbound, and continues to analyze different beams of different satellitesThe dP calculated by the station combining the dP values calculated by different satellite station and the dP values of different beam station of the same satellite are analyzed and processed, thereby calculating the value of zero Delta Z of RDSS user receiver equipmentu。
Further, in said step 5, the calculated RDSS user receiver device zero value error Δ ZuThe correction is done by the user receiver side.
Preferably, in the step 1, the position coordinates of the receiver are realized by placing the user receiver at a position point with known coordinates, or the position coordinates of the receiver with meter-level or higher precision provided by the user terminal.
Preferably, in step 1, the zero error of the receiver device is the same for different inbound and outbound links of the same receiver.
The invention has the following beneficial effects:
the invention relates to a software calibration method for RDSS system zero value, which realizes calibration and correction of RDSS system zero value error by software calibration only by using the existing RDSS system and monitoring station equipment, and can further improve the positioning, bidirectional timing and unidirectional time service precision of the RDSS system:
1. the adaptability is strong, the calibration can be carried out all weather at any time, and the stable operation of the system is not influenced;
2. the principle is simple, the zero value error calibration precision of the system is high on the premise of ensuring accurate zero value calibration and accurate point location coordinates of the monitoring station receiver equipment, and the service precision of the system can be further improved;
3. the inclusion is strong, and the error tolerance and the self-correction are also realized on other system residual errors except the system zero value error;
4. through test analysis and verification, the zero value calibration method of the system can improve the zero value calibration precision of the RDSS system, and further improve the RDSS positioning, bidirectional timing and unidirectional time service precision;
5. the method overcomes the bottleneck that the RDSS on-line system zero value error cannot be recalibrated without interruption, achieves breakthrough progress, and has application potential and economic benefit.
Drawings
FIG. 1 is a flow chart of the RDSS system zero value software calibration method of the present invention;
fig. 2 is a schematic diagram of the positioning of the RDSS system.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
RDSS positioning adopts four-range ranging, ranging signals from a central station C->Outbound satellite SoForwarding->User U goes out of the station and then user U takes charge of>Inbound satellite SiForwarding->The central station C is inbound (see fig. 2), and the four-range ranging accuracy determines the RDSS location services accuracy. The main factors influencing the RDSS ranging accuracy comprise ionospheric time delay, convection process time delay, earth rotation effect, system zero value, user terminal equipment zero value and the like, wherein the user terminal equipment zero value is calibrated by a user terminal, and the system zero value is calibrated by a ground central station. The invention provides a software calibration method for RDSS user receiver zero value, which realizes the zero value calibration of equipment at a user end from a central station end in a software mode.
RDSS bidirectional timing is also based on (see FIG. 2) the same satellite access station four-way ranging C → So→U→Si→ C, the timing principle is based on four-range outbound and inbound pseudo range to calculate outbound path delay C → So→ U, so the accuracy of the zero calibration of the client device also affects the service accuracy of the bidirectional time service receiver of the RDSS user.
The invention provides a software calibration method for a RDSS user receiver zero value, which comprises the following steps:
step 1, a user side selects any time to carry out calibration, and a user receiver is required to be arranged at a position point with a known coordinate during the calibration period, or the user side can provide position coordinates of the receiver with meter level or more.
Step 2, collecting RDSS user receiver positioning calculation related data output by the RDSS system, wherein the related data comprise positioning service application time, response beam numbers, user use frequency point types or channel numbers, pseudo range rho after RDSS system zero value correction, satellite ephemeris, ionization layer data and convection layer data, and the pseudo range rho will pass through the RDSS systemPseudo range rho after correcting the system zero value is further completed to the ionized layer time delay DTionoCorrecting tropospheric delay DTtropCorrection, correction of earth rotation DTearthAnd correcting, calculating the pseudo range P after the correction of the user receiver:
P＝ρ-DTiono-DTtrop-DTearth；
step 3, calculating the positioning signal of the monitoring station to go out of the inbound link C → S through the antenna coordinate of the central station, the satellite ephemeris and the positioning receiver coordinate of the monitoring station on the premise that the receiver coordinate of the user side is knowno→U→SiThe → C distance, which is used as the calibration reference distance D.
Step 4, taking the P-D as the zero value calibration basic data of the RDSS user receiver equipment, and calculating the zero value error of the RDSS user receiver equipment:
s401: and comparing and analyzing the corrected pseudo range P with the access link distance D of the RDSS user receiver to serve as the access combination zero value calibration basic data of the RDSS system.
dP＝P-D
S402: according to the basic data of link from same satellite to same beam and from same satellite to inbound, respectively calculating the dP of same satellite to different beams to analyze and process, and calculating the zero value delta Z of RDSS user receiveru(ii) a For different inbound and outbound links of the same receiver, the zero error of the receiver equipment is theoretically the same. It should be noted that the analyzing and processing means filtering, averaging, fitting, modeling, graphical analysis, or mean square error of the plurality of error values to obtain one error value.
Step 5, calculating the zero value error delta Z of the RDSS user receiver equipmentuThe method is directly used for correcting the pseudo range rho after the calibration zero value correction of the RDSS system, and zero value error correction of user receiver equipment aiming at the RDSS positioning service is completed at a system end, so that the RDSS positioning service precision and the bidirectional time service precision are further improved.
In step 2, the RDSS user can also be used for applying for data by using the bidirectional time service receiver.
Wherein, step 4, the same step can be continuously usedThe base data of the same beam outbound from the satellite and different satellite inbound links continue to analyze the dP computed from different satellite inbound links, thereby utilizing more data for further analysis, processing, and computing the RDSS user receiver device null value Δ Zu。
Step 4, according to the position of the user end, different response satellites and response beams of different coverage areas can be selected, the base data of different outbound beams of different satellites are comprehensively considered and utilized as a result through multi-satellite and multi-beam switching, the dP calculated by different outbound beams of different satellites is continuously analyzed, further analysis and processing are further carried out by utilizing more data, and the zero value delta Z of the RDSS user receiver equipment is calculatedu。
Wherein, step 5, the calculated RDSS user receiver device null error Δ ZuThe correction can also be done by the user receiver side.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A software calibration method for RDSS user receiver zero value is characterized by comprising the following steps:
step 1, a user side selects calibration time, and coordinates of a position where a receiver is located are obtained during the calibration time;
step 2, collecting RDSS user receiver positioning calculation related data output by the RDSS system, and further completing ionospheric delay DTionoCorrecting tropospheric delay DTtropCorrection, correction of earth rotation DTearthAnd correcting, calculating the pseudo range P after the correction of the user receiver:
P＝ρ-DTiono-DTtrop-DTearth；
step 3, calculating the positioning signal of the monitoring station to go out of the inbound link C → So→U→Si→ C distance as the calibration reference distanceD, separating; c → So→U→Si→ C denotes ranging signal from the central station C to the outbound satellite SoTo the user U, and then to the inbound satellite SiForward, last inbound link by central station C;
step 4, taking the P-D as the zero value calibration basic data of the RDSS user receiver equipment, and calculating the zero value error of the RDSS user receiver equipment:
s401: and comparing and analyzing the corrected pseudo range P with the incoming and outgoing link distance D of the RDSS user receiver, and taking the obtained result as the incoming and outgoing combined zero value calibration basic data of the RDSS system:
dP＝P-D；
s402: respectively calculating dP values of different beam inbound of the same satellite according to the basic data of the link of the same satellite outbound of the same beam and the link of the same satellite inbound, and analyzing and processing the dP values to obtain a zero value delta Z of RDSS user receiver equipmentu；
Step 5, calculating the zero value error delta Z of the RDSS user receiver equipmentuThe method is directly used for correcting the pseudo range rho after the RDSS system calibration zero value correction, and the user receiver equipment zero value error calibration aiming at the RDSS positioning service is completed at the system end.
2. The method for software calibration of a zero value of an RDSS subscriber receiver as claimed in claim 1, wherein in step 2, the RDSS subscriber is used to apply for data by bidirectional time service receiver.
3. The method of claim 1, wherein in step 4, the base data of the same beam outbound from the same satellite and the inbound link from a different satellite are used to analyze the dP calculated by the inbound of the different satellite, and then the dP values of the inbound of the different beam inbound of the same satellite are combined for analysis and processing to calculate the RDSS user receiver device zero value Δ Zu。
4. A method for software calibration of RDSS subscriber receiver zeros as claimed in claim 3, wherein said step 4 is performed in response to a subscriber requestSelecting different response satellites and response beams in different coverage areas, performing multi-satellite and multi-beam switching to obtain a result, continuously analyzing the dP calculated by different outbound beams of different satellites by comprehensively considering the basic data of different outbound beams of different satellites, and analyzing and processing the dP value calculated by inbound beams of different satellites and the dP value of inbound beams of the same satellite so as to calculate a zero value delta Z of RDSS user receiver equipmentu。
5. The method for software calibration of the RDSS subscriber receiver null value of claim 1 wherein in step 5, the calculated RDSS subscriber receiver device null value error Δ ZuThe correction is done by the user receiver.
6. The RDSS user receiver zero-valued software calibration method according to claim 1, wherein in step 1, the receiver location coordinates are implemented by placing the user receiver at a known coordinate location point, or a user-side-provided receiver location coordinates with an accuracy of meter or more.
7. The method for software calibration of the RDSS subscriber receiver null value of claim 1 wherein in step 1, the receiver device null error is the same for different inbound and outbound links of the same receiver.
8. The method of claim 1, wherein the analyzing and processing comprises filtering, averaging, fitting, modeling, graphical analysis, or mean square error the plurality of error values to obtain an error value.
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CN110764118A (en) * 2019-12-30 2020-02-07 湖南卫导信息科技有限公司 Calibration and calibration method and device for RDSS user machine test system
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