CN113640846A - Method and system for determining position of GNSS receiver - Google Patents

Method and system for determining position of GNSS receiver Download PDF

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CN113640846A
CN113640846A CN202111092490.9A CN202111092490A CN113640846A CN 113640846 A CN113640846 A CN 113640846A CN 202111092490 A CN202111092490 A CN 202111092490A CN 113640846 A CN113640846 A CN 113640846A
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satellite system
satellite
equation
positioning
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朱青永
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Shenzhen Dianka Measurement And Control Technology Co ltd
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Shenzhen Dianka Measurement And Control Technology Co ltd
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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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • 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
    • G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

Abstract

The invention discloses a method and a system for determining the position of a GNSS receiver, comprising the following steps: step S1, a space combined positioning assembly is constructed by fusing a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system, a ground combined positioning assembly is constructed by setting a reference station and a rover station, and a GNSS combined positioning system is constructed based on the space combined positioning assembly and the ground combined positioning assembly; step S2, quantifying systematic deviation of a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system in the GNSS combined positioning system, and constructing a combined positioning model based on the systematic deviation; and step S3, accurately determining the position accurate coordinate of the GNSS receiver by using the combined positioning model. The invention realizes the accurate positioning of the position of the GNSS receiver by performing pseudo-range differential positioning on the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system, and has high positioning operation efficiency and high precision.

Description

Method and system for determining position of GNSS receiver
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a method and a system for determining the position of a GNSS receiver.
Background
Global Navigation Satellite Systems (GNSS) generally refer to systems that allow a position fix (positionfix) to be determined based on GNSS signals received from a plurality of GNSS satellites. Each GNSS satellite transmits a GNSS signal that identifies the satellite and the time of signal transmission. The GNSS antenna/receiver is configured to receive each of the GNSS signals transmitted by the visible GNSS satellites and determine a pseudorange or range from the GNSS antenna/receiver to the respective GNSS satellite using a time of flight of each GNSS signal and a known position of each GNSS satellite. The plurality of calculated pseudoranges are used to trilaterate a position of the GNSS antenna/receiver in three dimensional space. Types of GNSS systems include Global Positioning System (GPS), GLONASS (GLONASS), Galileo (Galileo), Beidou (BDS), and the like.
Prior art CN202011024660.5 discloses a system and method for position location estimation using two or more antennas, comprising a first GNSS antenna/receiver, a second GNSS antenna/receiver and a GNSS processor system. The first GNSS antenna/receiver is located at a first location and a first pseudorange is computed based on the received GNSS signals. The second GNSS antenna/receiver is located at a second location at a known distance from the first GNSS antenna/receiver, wherein the second GNSS antenna/receiver calculates a second pseudorange based on the received GNSS signals. The GNSS processor system is configured to receive the first pseudorange and the second pseudorange, wherein in response to the GNSS processor system identifying one of the first and second pseudoranges as erroneous and one of the first and second pseudoranges as valid, the GNSS processor system calculates a corrected pseudorange and uses the corrected pseudorange and the valid pseudorange to determine a GNSS position location estimate for the first GNSS antenna/receiver and the second GNSS antenna/receiver, but in turn screens corrections for position location estimates relying only on pseudorange data, data adhesion is high, and location estimate failure may be caused by one data error, accuracy is low and efficiency is low.
Disclosure of Invention
The invention aims to provide a method and a system for determining the position of a GNSS receiver, which aim to solve the technical problems that in the prior art, positioning estimation is carried out by only depending on pseudo-range data to sequentially screen and correct, the data adhesiveness is high, once one datum is wrong, the positioning estimation is invalid, the precision is low and the efficiency is low.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
a method for determining a position of a GNSS receiver, comprising the steps of:
step S1, a space combined positioning assembly is constructed by fusing a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system, a ground combined positioning assembly is constructed by setting a reference station and a rover station, and a GNSS combined positioning system is constructed based on the space combined positioning assembly and the ground combined positioning assembly;
step S2, quantifying systematic deviation of a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system in the GNSS combined positioning system, and constructing a combined positioning model based on the systematic deviation;
and step S3, accurately determining the position accurate coordinate of the GNSS receiver by using the combined positioning model.
As a preferable scheme of the present invention, in step S1, GNSS receivers are disposed in both the reference station and the rover station, and the spatial combined positioning module is in communication connection with the terrestrial combined positioning module, specifically:
the GNSS receivers in the reference station and the rover station simultaneously receive satellite signal data of the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system.
As a preferred embodiment of the present invention, in step S2, the inter-system bias includes a system time bias and a receiver hardware delay of inter-system signal data, and the specific method for quantifying the inter-system bias of the GPS satellite system, the BDS satellite system, the GLONASS satellite system, and the Galileo satellite system in the GNSS combined positioning system includes:
step S201, setting satellite clock error matrix parameters for the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system, wherein the satellite clock error matrix parameters are as follows: dtS j＝[dtGPS j1,dtBDS j2,dtGLONASS j3,dtGalileo j4]Wherein S belongs to [ GPS, BDS, GLONASS, Galileo ∈ ]]， j∈[j1,j2,j3,j4]J is characterized as a satellite, S is characterized as a satellite system, j1, j2, j3 and j4 are the number of GPS satellites, the number of BDS satellites, the number of GLONASS satellites and the number of Galileo satellites respectively;
step S202, setting a reference station receiver clock error matrix parameter and a rover station receiver clock error matrix parameter which are in one-to-one correspondence with the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system respectively for the GNSS receivers in the reference station and the rover station, wherein the reference station receiver clock error matrix parameter is as follows: dtB S＝[dtB GPS,dtB BDS,dtB GLONASS,dtB Galileo]Wherein S belongs to [ GPS, BDS, GLONASS, Galileo ∈ ]]S is characterized as a satellite system and B is characterized as a reference station;
the rover receiver clock error matrix parameters are as follows: dtM S＝[dtM GPS,dtM BDS,dtM GLONASS,dtM Galileo]Wherein S belongs to [ GPS, BDS, GLONASS, Galileo ∈ ]]S is characterized as a satellite system and M is characterized as a rover.
As a preferred embodiment of the present invention, in step S2, the specific method for constructing the combined localization model includes:
constructing a first pseudo-range observation equation quantized by pseudo-range observation values of all satellites in the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system from a reference station based on the satellite clock error matrix parameters and the reference station receiver clock error matrix parameters, wherein the first pseudo-range observation equation is as follows:
Figure BDA0003267878240000031
determining reference station to all satellites in the GPS satellite system, BDS satellite system, GLONASS satellite system, and Galileo satellite system based on the first pseudorange observation equationA pseudorange correction equation comprising: Δ ρB j＝PB j-ρB j＝c(dtB S-dtS B)+IB j+TB j+εB j；
Wherein B is characterized as a reference station, j is characterized as a satellite, S is characterized as a satellite system, and PB jIs the pseudorange observation, ρ, from the reference station to the satellite jB jGeometric distance, dt, from the reference station to the satellite jB SFor reference station receiver clock error matrix parameters, dtS jIs the satellite clock error matrix parameter, and belongs to [ GPS, BDS, GLONASS, Galileo]， j∈[j1，j2，j3，j4]J1, j2, j3, j4 are the number of GPS satellites, BDS satellites, GLONASS satellites and Galileo satellites, IB j、TB jIonospheric and tropospheric errors, respectively, of the reference stationB jFor pseudorange observation noise and other unmodeled errors, (X)B,YB,ZB) As reference station coordinates, (X)j,Yj,Zj) The satellite position coordinates for the time at which the signal data was transmitted for satellite j.
As a preferred embodiment of the present invention, the specific method for constructing the combined localization model further includes:
constructing a second pseudo-range observation equation quantized by pseudo-range observation values of all satellites in the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system from the reference station based on the satellite clock error matrix parameters and the rover receiver clock error matrix parameters, wherein the second pseudo-range observation equation is as follows: f2 ═ PM j＝ρM j+c(dtM S-dtS j)+IM j+TM j+εM j；
Constructing a first positioning equation for determining the rough position coordinates of the GNSS receiver based on the pseudo-range correction equation and the second pseudo-range observation equation, wherein the first positioning equation is as follows:
Figure BDA0003267878240000041
where M is characterized as a rover, j is characterized as a satellite, S is characterized as a satellite system, PM jIs the pseudorange observation, ρ, of the rover to the satellite jM jGeometric distance, dt, from rover to satellite jM SFor reference station receiver clock error matrix parameters, dtS jIs the satellite clock error matrix parameter, and belongs to [ GPS, BDS, GLONASS, Galileo]， j∈[j1,j2,j3,j4]J1, j2, j3, j4 are the number of GPS satellites, BDS satellites, GLONASS satellites and Galileo satellites, IM j、TM jIonospheric and tropospheric errors, respectively, of the roverM jFor pseudorange observation noise and other unmodeled errors, (X)M 0,YM 0,ZM 0) Is the initial coordinate of the rover (X)j,Yj,Zj) The satellite position coordinates for the time at which the signal data was transmitted for satellite j.
As a preferred embodiment of the present invention, in step S2, the method further includes correcting the observation equation to obtain a second positioning equation to determine accurate coordinates of the GNSS receiver position, and the method includes:
setting the difference value of the clock difference matrix parameters of the reference station receiver and the clock difference matrix parameters of the rover station receiver as a correlation parameter, and constructing a second positioning equation based on the correlation parameter and the first positioning equation, wherein the second positioning equation is as follows:
Figure BDA0003267878240000042
linearizing the second positioning equation using a taylor series expansion and determining an error equation, the error equation being: v ═ a δ X-LP;
solving the error equation by using a least square method to determine a correction value of the rough coordinate of the position of the GNSS receiver, and solving the precise coordinate of the position of the GNSS receiver based on the rough coordinate of the position of the GNSS receiver and the correction value, specifically:
the correction value is deltaM＝[δMx,δMy,δMz]And [ X ]M 0+δMx,YM 0+δMy,ZM 0+ δMz]-1＝[XM,YM，ZM]-1；
Wherein M is characterized as a rover, B is characterized as a reference station, j is characterized as a satellite, S is characterized as a satellite system, and P isM jIs a pseudo-range observation, ρ, of the flow M to the satellite jM jGeometric distance, t, from rover to satellite jMB SFor the associated parameters, Sec [ GPS, BDS, GLONASS, Galileo]，j∈[j1,j2,j3,j4]J1, j2, j3 and j4 are the number of GPS satellites, the number of BDS satellites, the number of GLONASS satellites and the number of Galileo satellites respectively, P is a weight ratio distribution matrix of the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system in the GNSS combined positioning system, A is a direction cosine matrix of a reference station and a flowing station, deltaX is a correction term matrix, L is a pseudo-range value matrix between the reference station and the flowing station, (X is a matrix of a pseudo-range value between the reference station and the flowing station, andM 0,YM 0,ZM 0) Is the initial coordinate of the rover (X)j,Yj,Zj) Satellite position coordinates for the time of transmission of signal data for satellite j, (X)M,YM,ZM) Accurate coordinates for GNSS receiver position.
As a preferred embodiment of the present invention, in step S3, the specific method for determining accurate coordinates of a GNSS receiver position by using the combined positioning model includes:
smoothing the first pseudo-range observation equation by using a reference station differential correction module, and calculating a pseudo-range correction equation through a known reference station coordinate and the smoothed first pseudo-range observation equation and synchronously transmitting the pseudo-range correction equation to a rover station differential positioning module;
and smoothing the second pseudo-range observation equation by using a rover station differential positioning module, after receiving the pseudo-range correction equation, correcting the corresponding second pseudo-range observation equation according to the received pseudo-range correction equation to obtain a first positioning equation, and correcting the first positioning equation to construct a second positioning equation to obtain the position accurate coordinate of the GNSS receiver in the rover station.
As a preferable scheme of the present invention, the ionosphere error and the troposphere error of the reference station and the rover station have spatial correlation, and the troposphere delay and the ionosphere delay of the reference station and the rover station are kept equal in the process of constructing the first positioning equation.
As a preferred aspect of the present invention, the present invention provides a GNSS combined positioning system according to the method for determining the position of a GNSS receiver, comprising a spatially combined positioning module formed by a fusion of a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system, a terrestrial combined positioning module formed by a reference station and a rover station, and a data processing module, the space combination positioning component is in communication connection with the ground combination positioning component, the data output end of the ground combined positioning component is in communication connection with the data processing module, the space combined positioning component sends satellite signal data to the ground combined positioning component, the terrestrial combined positioning component receives the satellite signal data and passes the satellite signal data into the data processing module, and the data processing module determines the accurate position coordinates of the GNSS receiver through the satellite signal data.
As a preferable scheme of the invention, the data processing module comprises a reference station differential correction module and a rover station differential positioning module, the reference station differential correction module is in communication connection with the rover station differential positioning module,
the base station differential correction module is used for smoothing the first pseudo-range observation equation, calculating a pseudo-range correction equation through the known base station coordinate and the smoothed first pseudo-range observation equation, and synchronously transmitting the pseudo-range correction equation to the rover station differential positioning module;
and the rover station differential positioning module is used for smoothing the second pseudorange observation equation, correcting the corresponding second pseudorange observation equation according to the received pseudorange correction equation to obtain a first positioning equation after receiving the pseudorange correction equation, and correcting the first positioning equation to construct a second positioning equation to obtain the position accurate coordinate of the GNSS receiver in the rover station.
Compared with the prior art, the invention has the following beneficial effects:
the invention integrates the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system to construct the GNSS combined positioning system, can provide more available satellites, improves the space geometric structure of the satellites, thereby improving the availability, reliability and accuracy of the GNSS combined positioning system, carries out intersystem deviation construction on the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system to construct a combined positioning model, realizes accurate positioning on the position of the GNSS receiver by carrying out pseudo-range differential positioning on the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system, and has high positioning operation efficiency and high accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a flowchart illustrating a method for determining a position of a GNSS receiver according to an embodiment of the present invention;
FIG. 2 is a statistical chart of the observed numbers of the multi-system satellites and the PDOP data provided by the embodiment of the invention;
FIG. 3 is a timing diagram of multiple system satellite observations and PDOP data provided in accordance with an embodiment of the present invention;
FIG. 4 is a timing diagram illustrating a method for determining a directional offset of a GNSS combined positioning system in accordance with an embodiment of the present invention;
FIG. 5 is a comparison diagram of multi-system positioning calculation results provided by the embodiments of the present invention;
fig. 6 is a block diagram of a GNSS positioning system according to an embodiment of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-a spatial combination positioning assembly; 2-a ground combined positioning component; and 3, a data processing module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-6, the present invention provides a method for determining a position of a GNSS receiver, comprising the steps of:
step S1, a space combined positioning assembly is constructed by fusing a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system, a ground combined positioning assembly is constructed by setting a reference station and a rover station, and a GNSS combined positioning system is constructed based on the space combined positioning assembly and the ground combined positioning assembly;
in step S1, GNSS receivers are provided in both the base station and the rover station, and the spatial combined positioning module is in communication connection with the ground combined positioning module, specifically:
the GNSS receivers in the reference station and the rover station simultaneously receive satellite signal data for the GPS satellite system, the BDS satellite system, the GLONASS satellite system, and the Galileo satellite system.
Meanwhile, the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system are fused, more available satellites can be obtained for positioning, a larger satellite space structure is constructed, and the coordinates of the position of the GNSS receiver obtained by the large satellite space structure are more accurate,
step S2, quantifying systematic deviation of a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system in the GNSS combined positioning system, and constructing a combined positioning model based on the systematic deviation;
the deviation among the quantitative systems can effectively weaken the common error, increase the observed quantity and improve the intensity and performance of parameter solving; the combined positioning model is constructed through the system difference principle, so that common errors such as satellite clock error, receiver clock error, model deviation and the like can be eliminated, and finally, the model strength and the parameter estimation performance of parameter solution are improved to realize accurate positioning.
In step S2, the inter-system bias includes a system time bias and a receiver hardware delay of the inter-system signal data, and the specific method for quantifying the inter-system bias of the GPS satellite system, the BDS satellite system, the GLONASS satellite system, and the Galileo satellite system in the GNSS integrated positioning system includes:
step S201, setting satellite clock error matrix parameters for a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system, wherein the satellite clock error matrix parameters are as follows: dtS j＝[dtGPS j1,dtBDS j2,dtGLONASS j3,dtGalileo j4]Wherein S belongs to [ GPS, BDS, GLONASS, Galileo ∈ ]]， j∈[j1,j2,j3,j4]J is characterized as a satellite, S is characterized as a satellite system, j1, j2, j3 and j4 are the number of GPS satellites, the number of BDS satellites, the number of GLONASS satellites and the number of Galileo satellites respectively;
step S202, setting a reference station receiver clock error matrix parameter and a rover receiver clock error matrix parameter which are in one-to-one correspondence with a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system respectively for GNSS receivers in a reference station and a rover station, wherein the reference station receiver clock error matrix parameter is as follows: dtB S＝[dtB GPS,dtB BDS,dtB GLONASS,dtB Galileo]Wherein S belongs to [ GPS, BDS, GLONASS, Galileo ∈ ]]S is characterized as a satellite system and B is characterized as a reference station;
the rover receiver clock error matrix parameters are as follows: dtM S＝[dtM GPS,dtM BDS,dtM GLONASS,dtM Galileo]Wherein S belongs to [ GPS, BDS, GLONASS, Galileo ∈ ]]S is characterized as a satellite system, M is characterizedIs a rover.
In step S2, the specific method for constructing the combined localization model includes:
constructing a first pseudo-range observation equation quantized by pseudo-range observation values of all satellites in a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system from a reference station based on the satellite clock error matrix parameters and the reference station receiver clock error matrix parameters, wherein the first pseudo-range observation equation is as follows:
Figure BDA0003267878240000081
determining pseudo-range correction equations from a reference station to all satellites in a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system based on a first pseudo-range observation equation, wherein the pseudo-range correction equations are as follows: Δ ρB j＝PB j-ρB j＝c(dtB S-dtS B)+IB j+TB j+εB j；
Wherein B is characterized as a reference station, j is characterized as a satellite, S is characterized as a satellite system, and PB jIs the pseudorange observation, ρ, from the reference station to the satellite jB jGeometric distance, dt, from the reference station to the satellite jB SFor reference station receiver clock error matrix parameters, dtS jIs the satellite clock error matrix parameter, and belongs to [ GPS, BDS, GLONASS, Galileo]， j∈[j1,j2,j3,j4]J1, j2, j3, j4 are the number of GPS satellites, BDS satellites, GLONASS satellites and Galileo satellites, IB j、TB jIonospheric and tropospheric errors, respectively, of the reference stationB jFor pseudorange observation noise and other unmodeled errors, (X)B,YB,ZB) As reference station coordinates, (X)j,Yj,Zj) The satellite position coordinates for the time at which the signal data was transmitted for satellite j.
The specific method for constructing the combined positioning model further comprises the following steps:
rover receiver based on satellite clock error matrix parametersThe clock error matrix parameters construct a second pseudo-range observation equation quantized by pseudo-range observation values of all satellites in the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system from the reference station, and the second pseudo-range observation equation is as follows: f2 ═ PM j＝ρM j+c(dtM S-dtS j)+IM j+TM j+εM j；
Constructing a first positioning equation for determining the rough position coordinates of the GNSS receiver based on the pseudo-range correction equation and the second pseudo-range observation equation, wherein the first positioning equation is as follows:
Figure BDA0003267878240000091
where M is characterized as a rover, j is characterized as a satellite, S is characterized as a satellite system, PM jIs the pseudorange observation, ρ, of the rover to the satellite jM jGeometric distance, dt, from rover to satellite jM SFor reference station receiver clock error matrix parameters, dtS jIs the satellite clock error matrix parameter, and belongs to [ GPS, BDS, GLONASS, Galileo]， j∈[j1,j2，j3，j4]J1, j2, j3, j4 are the number of GPS satellites, BDS satellites, GLONASS satellites and Galileo satellites, IM j、TM jIonospheric and tropospheric errors, respectively, of the roverM jFor pseudorange observation noise and other unmodeled errors, (X)M 0,YM 0,ZM 0) Is the initial coordinate of the rover (X)j,Yj,Zj) The satellite position coordinates for the time at which the signal data was transmitted for satellite j.
In step S2, the method further includes correcting the observation equation to obtain a second positioning equation to determine an accurate coordinate of the GNSS receiver position, and the specific method includes:
the ionosphere error and the troposphere error of the reference station and the rover station have spatial correlation, and the ionosphere error and the troposphere error are kept in the process of constructing the first positioning equationTropospheric and ionospheric delays of the base station and rover are equal, i.e. IB j≈IM j，TB j≈TM j。
Setting the difference value of the clock difference matrix parameters of the reference station receiver and the clock difference matrix parameters of the rover station receiver as the correlation parameters, and constructing a second positioning equation based on the correlation parameters and the first positioning equation, wherein the second positioning equation is as follows:
Figure BDA0003267878240000101
and (3) utilizing Taylor series expansion to linearize the second positioning equation and determining an error equation, wherein the error equation is as follows: v ═ a δ X-LP;
determining a correction value of a rough coordinate of the position of the GNSS receiver by solving an error equation by using a least square method, specifically, determining a correction value of a rough coordinate of the position of the GNSS receiver by using a delta X ═ ATPA)-1ATPL，δX＝[δMx，δMy，δMz，[ctMB S]]TFinding deltaMAnd obtaining the accurate coordinates of the position of the GNSS receiver based on the rough coordinates and the correction value of the position of the GNSS receiver, specifically:
correction value of deltaM＝[δMx，δMy，δMz]And [ X ]M 0+δMx，YM 0+δMy，ZM 0+δMz]-1＝ [XM，YM，ZM]-1；
Wherein M is characterized as a rover, B is characterized as a reference station, j is characterized as a satellite, S is characterized as a satellite system, and P isM jIs a pseudo-range observation, ρ, of the flow M to the satellite jM jGeometric distance, t, from rover to satellite jMB SFor the associated parameters, Sec [ GPS, BDS, GLONASS, Galileo]，j∈[j1，j2，j3，j4]J1, j2, j3, j4 are the number of GPS satellites, BDS satellites, GLONASS satellites and Galileo satellites respectively, P is the weight ratio of the GPS satellite system, BDS satellite system, GLONASS satellite system and Galileo satellite system in the GNSS combined positioning systemDistributing matrix, wherein A is direction cosine matrix of the base station and the mobile station, delta X is correction term matrix, L is pseudo range value matrix between the base station and the mobile station, (X)M 0,YM 0,ZM 0) Is the initial coordinate of the rover (X)j,Yj,Zj) Satellite position coordinates for the time of transmission of signal data for satellite j, (X)M,YM,ZM) Accurate coordinates for GNSS receiver position.
And step S3, accurately determining the accurate coordinates of the position of the GNSS receiver by using the combined positioning model.
In step S3, the specific method for determining the accurate coordinates of the GNSS receiver position using the combined positioning model includes:
smoothing the first pseudo-range observation equation by using a reference station differential correction module, and calculating a pseudo-range correction equation through a known reference station coordinate and the smoothed first pseudo-range observation equation and synchronously transmitting the pseudo-range correction equation to a rover station differential positioning module;
and smoothing the second pseudo-range observation equation by using a rover station differential positioning module, after receiving the pseudo-range correction equation, correcting the corresponding second pseudo-range observation equation according to the received pseudo-range correction equation to obtain a first positioning equation, and correcting the first positioning equation to construct a second positioning equation to obtain the position accurate coordinate of the GNSS receiver in the rover station.
The static data of the experiment is the observation data of CORS stations of hong Kong Ongzong (HKNP) and Hong Kong Ponkan (HKPC). The experimental data period is 12 hours from 0 point to 12 points (UTC) in 6, 5 and 5 months in 2017, the sampling rate is 1s, the length of a base line is about 15.4km, the cutoff altitude angle is set to be 10 degrees, HKNP is selected as a reference station in the embodiment, HKPC is selected as a mobile station, single frequency is adopted in data resolving, and the frequency point selection of GPS, BDS, GLONASS and Galileo is respectively L1, B1, L1 and E1.
As shown in fig. 2, the average number of visible satellites and the average geometric strength factor (PDOP) value of the satellite in space for each system can be obtained, wherein G, C, R, E represents GPS, BDS, GLONASS and Galileo, respectively. As shown in FIG. 3, the number of visible satellites and corresponding PDOP for each system and the combined number of visible satellites and PDOP value for the GPS/BDS/GLONASS/Galileo4 system during the observation period. As shown in fig. 2 and fig. 3, in an observation period, every time a satellite system is added, 4-11 satellites can be averagely added, the combined satellite number of the 4 systems is always more than 28, the number of visible satellites is greatly increased, the constellation structure of a space is improved due to the increase of the satellite number, the PDOP value is not more than 1.0, and good positioning accuracy can be ensured. Because the number of Galileo satellites is small, single system positioning cannot be carried out, and therefore, the PDOP value does not have the PDOP statistics of the Galileo system.
In order to analyze the pseudo-range differential positioning performance of the GPS/BDS/GLONASS/Galileo4 system, 4 schemes including a GPS single system, a GPS/BDS double system, a GPS/BDS/GLONASS3 system and a GPS/BDS/GLONASS/Galileo4 system are respectively used for pseudo-range differential positioning solution, the positioning result of the GPS/BDS/GLONASS/Galileo4 system is subtracted from the known precise coordinates of the HKPC station, the obtained component deviations are converted into a station heart coordinate system (E, N, U), and the deviation time sequence is shown in FIG. 4.
For further analysis, the RMS values of each solution mode deviation and the improvement rate relative to the GPS single system solution mode are counted as shown in fig. 5.
As shown in FIG. 5, the pseudorange difference of the GPS/BDS/GLONASS/Galileo4 system is respectively improved by 35.2%, 33.4% and 15.0% in E, N, U compared with that of a GPS single system, and the improvement effect is obvious. The improvement rate of the pseudo-range difference of the GPS/BDS/GLONASS/Galileo4 system compared with the pseudo-range difference of the GPS/BDS/GLONASS3 system is not significantly improved, because the number of Galileo satellites which can be received at the present stage is small, the added redundant observation value is not large, but it can be seen that in the N direction, the RMS of the GPS/BDS/GLONASS/Galileo4 system is improved to a certain extent compared with the RMS of the pseudo-range difference of the GPS/BDS/GLONASS3 system.
As shown in fig. 6, based on the above method for determining the position of the GNSS receiver, the present invention provides a GNSS combined positioning system, which includes a space combined positioning assembly formed by fusing a GPS satellite system, a BDS satellite system, a GLONASS satellite system, and a Galileo satellite system, a ground combined positioning assembly formed by a reference station and a rover station, and a data processing module, wherein the space combined positioning assembly is in communication connection with the ground combined positioning assembly, a data output end of the ground combined positioning assembly is in communication connection with the data processing module, the space combined positioning assembly sends satellite signal data to the ground combined positioning assembly, the ground combined positioning assembly receives the satellite signal data and transmits the satellite signal data to the data processing module, and the data processing module determines the accurate coordinate of the position of the GNSS receiver through the satellite signal data.
The data processing module comprises a reference station differential correction module and a rover station differential positioning module, the reference station differential correction module is in communication connection with the rover station differential positioning module,
the base station differential correction module is used for smoothing the first pseudo-range observation equation, calculating a pseudo-range correction equation through the known base station coordinate and the smoothed first pseudo-range observation equation, and synchronously transmitting the pseudo-range correction equation to the rover station differential positioning module;
and the rover station differential positioning module is used for smoothing the second pseudorange observation equation, correcting the corresponding second pseudorange observation equation according to the received pseudorange correction equation to obtain a first positioning equation after receiving the pseudorange correction equation, and correcting the first positioning equation to construct a second positioning equation to obtain the position accurate coordinate of the GNSS receiver in the rover station.
The invention integrates the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system to construct the GNSS combined positioning system, can provide more available satellites, improves the space geometric structure of the satellites, thereby improving the availability, reliability and accuracy of the GNSS combined positioning system, carries out intersystem deviation construction on the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system to construct a combined positioning model, realizes accurate positioning on the position of the GNSS receiver by carrying out pseudo-range differential positioning on the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system, and has high positioning operation efficiency and high accuracy.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.

Claims (10)

1. A method for determining a position of a GNSS receiver, characterized in that it comprises the steps of:
step S1, a space combined positioning assembly is constructed by fusing a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system, a ground combined positioning assembly is constructed by setting a reference station and a rover station, and a GNSS combined positioning system is constructed based on the space combined positioning assembly and the ground combined positioning assembly;
step S2, quantifying systematic deviation of a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system in the GNSS combined positioning system, and constructing a combined positioning model based on the systematic deviation;
and step S3, accurately determining the position accurate coordinate of the GNSS receiver by using the combined positioning model.
2. A method for determining a position of a GNSS receiver according to claim 1, characterized in that: in the step S1, GNSS receivers are provided in both the base station and the rover station, and the spatial combined positioning module is in communication connection with the ground combined positioning module, specifically:
the GNSS receivers in the reference station and the rover station simultaneously receive satellite signal data of the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system.
3. A method for determining a position of a GNSS receiver according to claim 2, characterized in that: in step S2, the inter-system bias includes a system time bias and a receiver hardware delay of inter-system signal data, and the specific method for quantifying the inter-system bias of the GPS satellite system, the BDS satellite system, the GLONASS satellite system, and the Galileo satellite system in the GNSS combined positioning system includes:
step S201, setting satellite clock error matrix parameters for the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system, wherein the satellite clock error matrix parameters are as follows:
Figure FDA0003267878230000011
wherein, S belongs to [ GPS, BDS, GLONASS, Galileo [ ]]，j∈[j1，j2，j3，j4]J is characterized as a satellite, S is characterized as a satellite system, j1, j2, j3 and j4 are the number of GPS satellites, the number of BDS satellites, the number of GLONASS satellites and the number of Galileo satellites respectively;
step S202, setting a reference station receiver clock error matrix parameter and a rover station receiver clock error matrix parameter which are in one-to-one correspondence with the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system respectively for the GNSS receivers in the reference station and the rover station, wherein the reference station receiver clock error matrix parameter is as follows: dtB S＝[dtB GPS，dtB BDS，dtB GLONASS，dtB Galileo]Wherein S belongs to [ GPS, BDS, GLONASS, Galileo ∈ ]]S is characterized as a satellite system and B is characterized as a reference station;
the rover receiver clock error matrix parameters are as follows:
Figure FDA0003267878230000021
wherein, S belongs to [ GPS, BDS, GLONASS, Galileo [ ]]S is characterized as a satellite system and M is characterized as a rover.
4. A method for determining a position of a GNSS receiver according to claim 3, characterized in that: in step S2, the specific method for constructing the combined localization model includes:
constructing a first pseudo-range observation equation quantized by pseudo-range observation values of all satellites in the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system from a reference station based on the satellite clock error matrix parameters and the reference station receiver clock error matrix parameters, wherein the first pseudo-range observation equation is as follows:
Figure FDA0003267878230000022
determining pseudo-range correction equations from a reference station to all satellites in the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system based on the first pseudo-range observation equation, wherein the pseudo-range correction equations are as follows: Δ ρB j＝PB j-ρB j＝c(dtB S-dtS B)+IB j+TB j+εB j；
Wherein B is characterized as a reference station, j is characterized as a satellite, S is characterized as a satellite system,
Figure FDA0003267878230000023
is a pseudorange observation for the reference station to satellite j,
Figure FDA0003267878230000024
geometric distance, dt, from the reference station to the satellite jB SFor the reference station receiver clock difference matrix parameters,
Figure FDA0003267878230000025
is the satellite clock error matrix parameter, and belongs to [ GPS, BDS, GLONASS, Galileo]，j∈[j1，j2，j3，j4]J1, j2, j3, j4 are the number of GPS satellites, the number of BDS satellites, the number of GLONASS satellites and the number of Galileo satellites, respectively,
Figure FDA0003267878230000026
ionospheric and tropospheric errors of the reference station,
Figure FDA0003267878230000027
for pseudorange observation noise and other unmodeled errors, (X)B，YB，ZB) As reference station coordinates, (X)j，Yj，Zj) Satellite position fix for time of signal data transmission of satellite jAnd (4) marking.
5. A method for determining a position of a GNSS receiver according to claim 4, characterized in that: the specific method for constructing the combined positioning model further comprises the following steps:
constructing a second pseudo-range observation equation quantized by pseudo-range observation values of all satellites in the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system from the reference station based on the satellite clock error matrix parameters and the rover receiver clock error matrix parameters, wherein the second pseudo-range observation equation is as follows: f2 ═ PM j＝pM j+c(dtM S-dtS j)+IM j+TM j+εM j；
Constructing a first positioning equation for determining the rough position coordinates of the GNSS receiver based on the pseudo-range correction equation and the second pseudo-range observation equation, wherein the first positioning equation is as follows:
Figure FDA0003267878230000031
wherein M is characterized as a rover, j is characterized as a satellite, S is characterized as a satellite system,
Figure FDA0003267878230000032
for pseudorange observations from rover to satellite j,
Figure FDA0003267878230000033
geometric distance, dt, from rover to satellite jM SFor the reference station receiver clock difference matrix parameters,
Figure FDA0003267878230000034
is the satellite clock error matrix parameter, and belongs to [ GPS, BDS, GLONASS, Galileo]，j∈[j1，j2，j3，j4]J1, j2, j3, j4 are the number of GPS satellites, the number of BDS satellites, the number of GLONASS satellites and the number of Galileo satellites, respectively,
Figure FDA0003267878230000035
ionospheric and tropospheric errors of the rover,
Figure FDA0003267878230000036
for pseudorange observation noise and other non-modeled errors,
Figure FDA0003267878230000037
is the initial coordinate of the rover (X)j，Yj，Zj) The satellite position coordinates for the time at which the signal data was transmitted for satellite j.
6. A method for determining a position of a GNSS receiver according to claim 5, characterized in that: in step S2, the method further includes correcting the observation equation to obtain a second positioning equation to determine an accurate coordinate of the GNSS receiver position, and includes:
setting the difference value of the clock difference matrix parameters of the reference station receiver and the clock difference matrix parameters of the rover station receiver as a correlation parameter, and constructing a second positioning equation based on the correlation parameter and the first positioning equation, wherein the second positioning equation is as follows:
Figure FDA0003267878230000038
linearizing the second positioning equation using a taylor series expansion and determining an error equation, the error equation being: v ═ a δ X-LP;
solving the error equation by using a least square method to determine a correction value of the rough coordinate of the position of the GNSS receiver, and solving the precise coordinate of the position of the GNSS receiver based on the rough coordinate of the position of the GNSS receiver and the correction value, specifically:
the correction value is deltaM＝[δMx，δMy，δMz]And [ X ]M 0+δMx，YM 0+δMy，ZM 0+δMz]-1＝[XM，YM，ZM]-1；
Wherein M is characterized as a rover, B is characterized as a reference station, j is characterized as a satellite, S is characterized as a satellite system,
Figure FDA0003267878230000041
for pseudorange observations flowing M to satellite j,
Figure FDA0003267878230000042
geometric distance, t, from rover to satellite jMB SFor the associated parameters, Sec [ GPS, BDS, GLONASS, Galileo]，j∈[j1，j2，j3，j4]J1, j2, j3 and j4 are the number of GPS satellites, the number of BDS satellites, the number of GLONASS satellites and the number of Galileo satellites respectively, P is the weight ratio distribution matrix of the GPS satellite system, the BDS satellite system, the GLONASS satellite system and the Galileo satellite system in the GNSS combined positioning system, A is the direction cosine matrix of the reference station and the mobile station, deltaX is the correction term matrix, L is the pseudo-range value matrix between the reference station and the mobile station,
Figure FDA0003267878230000043
is the initial coordinate of the rover (X)j，Yj，Zj) Satellite position coordinates for the time of transmission of signal data for satellite j, (X)M，YM，ZM) Accurate coordinates for GNSS receiver position.
7. The method as claimed in claim 6, wherein the step S3, the specific method for determining GNSS receiver position precise coordinates by using the combined positioning model comprises:
smoothing the first pseudo-range observation equation by using a reference station differential correction module, and calculating a pseudo-range correction equation through a known reference station coordinate and the smoothed first pseudo-range observation equation and synchronously transmitting the pseudo-range correction equation to a rover station differential positioning module;
and smoothing the second pseudo-range observation equation by using a rover station differential positioning module, after receiving the pseudo-range correction equation, correcting the corresponding second pseudo-range observation equation according to the received pseudo-range correction equation to obtain a first positioning equation, and correcting the first positioning equation to construct a second positioning equation to obtain the position accurate coordinate of the GNSS receiver in the rover station.
8. The method of claim 7, wherein the reference station has a spatial correlation with ionospheric and tropospheric errors of the rover station, and wherein the first positioning equation is constructed to keep tropospheric and ionospheric delays of the reference station and the rover station equal.
9. A GNSS combined positioning system of the method for determining a GNSS receiver position according to any of claims 1-8, it is characterized by comprising a space combined positioning component formed by fusing a GPS satellite system, a BDS satellite system, a GLONASS satellite system and a Galileo satellite system, a ground combined positioning component formed by a reference station and a rover station, and a data processing module, the space combination positioning component is in communication connection with the ground combination positioning component, the data output end of the ground combined positioning component is in communication connection with the data processing module, the space combined positioning component sends satellite signal data to the ground combined positioning component, the terrestrial combined positioning component receives the satellite signal data and passes the satellite signal data into the data processing module, and the data processing module determines the accurate position coordinates of the GNSS receiver through the satellite signal data.
10. The GNSS combined positioning system of claim 9, wherein the data processing module comprises a reference station differential corrections module and a rover station differential positioning module, the reference station differential corrections module and the rover station differential positioning module are communicatively connected,
the base station differential correction module is used for smoothing the first pseudo-range observation equation, calculating a pseudo-range correction equation through the known base station coordinate and the smoothed first pseudo-range observation equation, and synchronously transmitting the pseudo-range correction equation to the rover station differential positioning module;
and the rover station differential positioning module is used for smoothing the second pseudorange observation equation, correcting the corresponding second pseudorange observation equation according to the received pseudorange correction equation to obtain a first positioning equation after receiving the pseudorange correction equation, and correcting the first positioning equation to construct a second positioning equation to obtain the position accurate coordinate of the GNSS receiver in the rover station.
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