CN113866801B - Beidou satellite positioning accuracy evaluation improvement method and system based on vertical projection - Google Patents

Beidou satellite positioning accuracy evaluation improvement method and system based on vertical projection Download PDF

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CN113866801B
CN113866801B CN202111009866.5A CN202111009866A CN113866801B CN 113866801 B CN113866801 B CN 113866801B CN 202111009866 A CN202111009866 A CN 202111009866A CN 113866801 B CN113866801 B CN 113866801B
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satellite
geo
igso
position information
positioning
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CN113866801A (en
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贾鹏
李军华
贾小波
刘洁
谢成玉
肖佳敏
职乔
张磊磊
王连备
董德柱
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Zhengzhou Vcom Huada Beidou Navigation Technology Co ltd
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Zhengzhou Vcom Huada Beidou Navigation 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
    • G01S19/396—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
    • G01S19/42—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
    • G01S19/423—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 derived from different satellite radio beacon positioning systems

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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)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a Beidou satellite positioning accuracy evaluation improvement method and system based on vertical projection, wherein the method comprises the following steps: after satellite position information is resolved according to satellite broadcast messages and pseudo-range information, vertical projection processing is carried out on the position information of the GEO satellite and the IGSO satellite of the Beidou system, and corrected position information of the GEO satellite and the IGSO satellite is obtained; and carrying out positioning calculation according to the processed corrected position information of the GEO satellite and the IGSO satellite of the Beidou system and the positioning information acquired by the MEO satellite of the Beidou system to obtain a positioning precision attenuation factor, and carrying out positioning precision evaluation. The invention participates the correction position information of GEO satellite and IGSO satellite obtained by vertical projection method into the operation of the positioning precision attenuation factor, because all satellites are based on the orbit of MEO satellite, the obtained positioning precision attenuation factor can more objectively reflect the positioning precision, and the positioning precision evaluation method is improved under the condition of not affecting the number of satellites.

Description

Beidou satellite positioning accuracy evaluation improvement method and system based on vertical projection
Technical Field
The invention belongs to the technical field of satellite positioning, and particularly relates to a Beidou satellite positioning precision evaluation improvement method and system based on vertical projection.
Background
The Beidou two-size nominal space constellation consists of 5 geostationary orbit (GEO) satellites, 7 inclined geosynchronous orbit (IGSO) satellites and 3 medium circular earth orbit (MEO) satellites. The orbit height of the GEO satellite is 35786 km, and the GEO satellite is fixed at 80 degrees, 110.5 degrees and 140 degrees of east longitude respectively; the orbit height of the IGSO satellite is 35786 km, and the orbit inclination angle is 55 degrees; MEO satellite orbit height 21528 km, orbit tilt 55 degrees.
The Beidou three nominal space constellation consists of 3 geostationary orbit (GEO) satellites, 3 inclined geosynchronous orbit (IGSO) satellites and 24 medium circular earth orbit (MEO) satellites. The orbit height of the GEO satellite is 35786 km, and the GEO satellite is fixed at 80 degrees, 110.5 degrees and 140 degrees of east longitude respectively; the orbit height of the IGSO satellite is 35786 km, and the orbit inclination angle is 55 degrees; the MEO satellite orbit height 21528 km, orbit tilt angle 55 degrees, distributed in Walker24/3/1 constellation.
In summary, 45 service satellites of the Beidou system in orbit are totally included, 15 service satellites of the Beidou second satellite are included, 30 service satellites of the Beidou third satellite are included, and RNSS service is provided by the combination of the Beidou second satellite and the Beidou third satellite. The Beidou system can be compatible and interoperable with other global navigation systems (GNSS).
The Beidou satellite receiver mainly comprises a baseband signal processing part and a navigation resolving part. The baseband signal processing part mainly comprises the operations of searching, capturing, tracking, pseudo-range calculation, navigation data decoding and the like of satellite signals. The navigation resolving part mainly comprises the steps of calculating the positions of all visible satellites in real time according to ephemeris parameters in navigation data; calculating various real-time errors such as a planetary clock error, a relativistic effect error, an earth rotation influence, a signal transmission error (mainly comprising an ionosphere real-time transmission error and a troposphere real-time transmission error) and the like according to various error parameters in navigation data, and eliminating the errors from a pseudo range; according to the result, the PVT (position, speed and time) of the receiver is calculated; each dilution of precision (DOP) is calculated and monitored in real time to determine the accuracy of the positioning solution.
In satellite positioning, when there are more than 4 satellites to be measured and the number of satellites to be tracked by the receiver is small, there is a problem of selecting a satellite constellation that maximizes the hexahedral volume in order to obtain the minimum attenuation factor, so-called satellite selection. For this purpose, in principle, one should choose the combination of the various possible 4 satellites to calculate the corresponding GDOP (or PDOP) among the measurable satellites, and choose the set of satellites for observation where the GDOP is the smallest. This is currently done automatically by the user receiver.
The number of the GEO satellites and the number of the IGSO satellites are 5 in the Beidou No. two and the number of the IGSO satellites in the Beidou No. three satellite systems, and the number of the high-factor high-orbit satellites is more, so that satellite positioning calculation can be frequently participated, compared with MEO satellites, the orbits of the GEO satellites and the IGSO satellites are much higher, and if the GEO satellites and the IGSO satellites are selected to participate in the satellite positioning calculation, the calculation of the GDOP becomes no longer completely objective. If the errors are not considered in the positioning operation, the positioning satellite selection result is affected, so that the positioning accuracy is poor; if GEO and MEO satellites are not used to avoid errors, positioning may not be possible in situations where MEO satellite reception is not good.
Disclosure of Invention
Aiming at the problem that positioning errors exist when GEO satellites and IGSO satellites are selected from the Beidou second satellite system and the Beidou third satellite system to participate in positioning calculation, the invention provides a Beidou satellite positioning precision evaluation improvement method and system based on vertical projection.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a Beidou satellite positioning accuracy evaluation and improvement method based on vertical projection, which comprises the following steps:
Step 1: after satellite position information is resolved according to satellite broadcast messages and pseudo-range information, vertical projection processing is carried out on the position information of the GEO satellite and the IGSO satellite of the Beidou system, and corrected position information of the GEO satellite and the IGSO satellite is obtained;
step 2: and (3) carrying out positioning calculation according to the corrected position information of the GEO satellite and the IGSO satellite of the Beidou system processed in the step (1) and the positioning information acquired by the MEO satellite of the Beidou system to obtain a positioning precision attenuation factor, and carrying out positioning precision evaluation.
Further, the step 1 includes:
step 1.1: calculating the distance from the GEO/IGSO satellite to the earth center according to the orbit height of the GEO/IGSO satellite of the Beidou system, and calculating the distance from the MEO satellite to the earth center according to the orbit height of the MEO satellite of the Beidou system; dividing the distance from the MEO satellite to the earth center by the distance from the GEO/IGSO satellite to the earth center to obtain a vertical projection factor corresponding to the GEO/IGSO satellite;
Step 1.2: and multiplying the obtained position information of the GEO satellite and the IGSO satellite of the Beidou system by the vertical projection factor correspondingly obtained in the step 1.1 to obtain the corrected position information of the GEO satellite and the IGSO satellite.
Further, in the step 2, if GEO satellites and IGSO satellites are used in the positioning calculation, corrected position information of the GEO satellites and IGSO satellites is used; and if the MEO satellite is used, directly using MEO satellite position information calculated according to satellite broadcast messages and pseudo-range information.
The invention further provides a Beidou satellite positioning accuracy evaluation and improvement system based on vertical projection, which comprises the following steps:
The vertical projection module is used for carrying out vertical projection processing on the position information of the GEO satellite and the IGSO satellite of the Beidou system after carrying out satellite position information calculation according to the satellite broadcast message and the pseudo-range information to obtain corrected position information of the GEO satellite and the IGSO satellite;
The positioning resolving module is used for performing positioning resolving according to the corrected position information of the GEO satellite and the IGSO satellite of the Beidou system processed by the vertical projection module and the positioning information acquired by the MEO satellite of the Beidou system to obtain a positioning precision attenuation factor and performing positioning precision assessment.
Further, the vertical projection module includes:
the first calculation sub-module is used for calculating the distance from the GEO/IGSO satellite to the earth center according to the orbit height of the GEO/IGSO satellite of the Beidou system, and then calculating the distance from the MEO satellite to the earth center according to the orbit height of the MEO satellite of the Beidou system; dividing the distance from the MEO satellite to the earth center by the distance from the GEO/IGSO satellite to the earth center to obtain a vertical projection factor corresponding to the GEO/IGSO satellite;
The second computing sub-module is used for multiplying the obtained position information of the GEO satellite and the IGSO satellite of the Beidou system by the vertical projection factors correspondingly obtained in the first computing sub-module to obtain corrected position information of the GEO satellite and the IGSO satellite.
Further, in the positioning resolving module, if the GEO satellite and the IGSO satellite are used in the positioning resolving, the corrected position information of the GEO satellite and the IGSO satellite is used; and if the MEO satellite is used, directly using MEO satellite position information calculated according to satellite broadcast messages and pseudo-range information.
Compared with the prior art, the invention has the beneficial effects that:
The invention participates the correction position information of GEO satellite and IGSO satellite obtained by vertical projection method into the operation of the positioning precision attenuation factor, because all satellites are based on the orbit of MEO satellite, the obtained positioning precision attenuation factor can more objectively reflect the positioning precision, and the positioning precision is improved under the condition of not affecting the number of satellites.
Drawings
FIG. 1 is a schematic view of satellite positioning;
FIG. 2 is a schematic diagram of Beidou satellite positioning and satellite selection;
FIG. 3 is a basic flowchart of a Beidou satellite positioning accuracy evaluation improvement method based on vertical projection in an embodiment of the present invention;
fig. 4 is a schematic view of satellite position projection of a method for improving Beidou satellite positioning accuracy evaluation based on vertical projection in an embodiment of the invention.
Detailed Description
The invention is further illustrated by the following description of specific embodiments in conjunction with the accompanying drawings:
The premise of the discussion of the invention is that the Beidou satellite receiver has effectively captured and tracked Beidou satellite signals, calculated pseudo ranges, decoded navigation data and calculated Beidou satellite coordinates.
The basic principle of satellite positioning is to determine the position of a to-be-measured point by adopting a method of crossing behind a space distance according to the instantaneous position of a satellite moving at a high speed as known calculation data. As shown in fig. 1.
Assuming that the time of arrival of the GPS signal at the receiver is measured at the satellite receiver at time t, the following equation can be determined by adding other data such as satellite ephemeris received by the receiver:
the coordinates x, y, z and Vto of the points to be measured in the above four equations are unknown parameters.
Ρi (i=1, 2, 3, 4) is the distance between satellite 1, satellite 2, satellite 3, satellite 4, respectively, to the receiver.
C is the propagation velocity (i.e., the speed of light) of the satellite signal.
The measurement errors such as satellite clock error, ionosphere delay, flow delay and the like are not included in the equation, and the measurement errors can be corrected by obtaining correction model calculation time delay through respective correspondence.
At least four equations are needed because of the four unknowns. The description is as follows:
and x, y and z are the space rectangular coordinates of the point to be measured.
Xi, yi, zi (i=1, 2, 3, 4) are the space rectangular coordinates of the satellite 1, the satellite 2, the satellite 3, the satellite 4 at the time t, and can be obtained from the satellite navigation messages.
Vti (i=1, 2, 3, 4) is the clock difference of the satellite clocks of satellite 1, satellite 2, satellite 3, satellite 4, respectively, provided by the satellite ephemeris.
Vto is the clock skew of the receiver.
The coordinates x, y and z of the to-be-measured point and the clock difference Vto of the receiver can be calculated by the four equations.
When the Beidou satellite receiver works actually, data processing is carried out for the microprocessor, firstly, linearization is carried out on an observation equation, then positioning iterative operation and positioning accuracy analysis are carried out, and the positioning accuracy meets the requirement, namely, iteration is stopped, so that a positioning result and positioning accuracy are obtained.
In actual calculation of satellite signal transmission time, the time delay caused by the satellite signal passing through the ionosphere and the troposphere must be corrected:
In the formula 2 of the present invention, For pseudo-range values, calculated from observed quantity information,/>For the geometrical distance of satellite i to the receiver, the pseudorange observations δt p1 may be the local clock difference, δt i the satellite clock difference, δρ trop and δρ ion the refractive corrections of the troposphere and ionosphere, respectively.
Let the approximate coordinates of the measuring station p1 beThe correction is (delta X p1,δYp1,δZp1), the pseudo-range observation equation obtained by linearizing the formula 2 by using the approximate coordinates can be linearized into the observation mode of the j satellite:
in equation 3, h p1 is the antenna height, For measuring the altitude of station p 1 to satellite i,/>To correct the distance of the satellite from the antenna phase center to the correction term of the distance to the center of the calico-ordinate, (X i,Y i,Z i) is the instantaneous coordinates of satellite i, and/>The following are provided:
Recording device
Where l, m, n are the directional cosine of the station p1 to satellite i. The formula 2 is rewritten into the form of an error equation
Wherein the method comprises the steps of
When s (s is greater than or equal to 4) satellites are observed, the following errors can be composed
Writing the error equation into a matrix form
According to the least square principle, the coordinate correction of the measuring station p1 can be obtained according to the formula 9, and the accuracy is evaluated. The absolute positioning is performed by using a navigation satellite, and the precision is mainly determined by the following two factors: one is the geometric distribution of the measured satellites in space, commonly referred to as the satellite geometry; and the second is the accuracy of the observed quantity. The method for evaluating absolute positioning accuracy, the influence of satellite distribution geometry on positioning accuracy and the problem of observation satellite selection are described in the navigation.
A co-factor matrix of pending parameter spread values can be obtained from equation 9,
Wherein q 11、q12……q44 is covariance matrix element of each satellite pseudo-range error under rectangular coordinate system, which expresses all solutions and correlation information therebetween, and is used for calculating and evaluating positioning accuracy, which is the basis for evaluating positioning result.
The above co-factor matrix is generally given in a space rectangular coordinate system, and in order to estimate the positional accuracy of the observation station, its expression in a geodetic coordinate system is often adopted. Assume that in the geodetic coordinate system, the co-factor matrix of the corresponding point location coordinates is
Q B＝HTQX H equation 11
Wherein,
In equation 13, B is the observation station earth latitude value, and L is the observation station earth longitude value. Then
In equation 14, g 11、g12……g33 is a covariance matrix element of each satellite pseudo-range error in the geodetic coordinate system, and can be obtained after the covariance matrix of the rectangular space coordinate system is transformed.
In order to evaluate the results of the positioning, in addition to the accuracy of each unknown parameter solution that can be estimated using equation 9, in navigator, the concept of the accuracy attenuation factor DOP (Dilution Precision) is generally used, which is defined as follows:
m P＝DOP·σ0 equation 15
In equation 15, m P is the positioning accuracy of the observation station, and σ 0 is the pseudo-range observation accuracy.
As can be seen by comparing equation 9, in practice DOP is a function of the principal diagonal elements of the co-factor array. In practice, different accuracy assessment models and corresponding accuracy attenuation factors can be used according to different requirements, typically
Planar position accuracy attenuation factor HDOP (Horizontal DOP). Corresponding plane position accuracy
In the formula, m H is the horizontal positioning precision of the observation station.
The elevation accuracy attenuation factor VDOP (Vertical DOP). Corresponding elevation position accuracy
Wherein m V is the height positioning precision of the observation station.
Spatial position accuracy attenuation factor PDOP (Position DOP). Corresponding three-dimensional positioning accuracy
Receiver clock skew accuracy attenuation factor TDOP (Time DOP). Corresponding clock error precision
Geometric dilution of precision factor GDOP (Geometric DOP). The precision attenuation factor describing the comprehensive influence of three-dimensional position and time error is called geometric precision attenuation factor, and the corresponding medium error is
With the above precision attenuation factors, we can evaluate the precision of absolute positioning from different aspects.
Since the value of the positioning accuracy attenuation factor is related to the geometric distribution pattern of the measured satellite, what distribution pattern is appropriate is naturally a concern. Assuming that the hexahedral volume formed by the observation station and 4 observation satellites is V, analysis shows that the accuracy attenuation factor GDOP is proportional to the reciprocal of the hexahedral volume V, i.e
Generally, the larger the hexahedron volume is, the larger the distribution range of the measured satellite in space is, and the smaller the GDOP value is; conversely, the smaller the distribution range of the measured satellites, the larger the GDOP value.
Theoretical analysis shows that the hexahedral integration is maximum when the included angle between any two directions approaches 109.5 degrees in the observation directions from the observation station to 4 satellites. However, in practical observation, the altitude of the satellite measured should not be too low in order to mitigate the effects of atmospheric refraction. It is therefore necessary under this condition to maximize the volume of the hexahedron formed by the satellite under test and the observation station.
As shown in fig. 2, S1 is GEO or IGSO satellite, S2, S3, S4, S5 are MEO satellite, and if S1 and S3, S4, S5 are selected for positioning calculation when calculating GDOP; the former results in a smaller GDOP value and the latter results in a larger GDOP because the former forms a hexahedron with a larger volume than the latter, compared to the positioning solution using S2 and the other three MEOs. But from the actual positioning result, the positioning accuracy is basically the same. It can be seen that the comparison of the GDOP values should be based on the case where the satellites are in the same orbit. Therefore, in the invention, if GEO satellites and IGSO are used in the positioning operation, the Beidou satellite receiver firstly uses a projection method to project the position information onto the MEO orbit height before calculating the direction cosine of the position information.
Specifically, as shown in fig. 3, the invention provides a Beidou satellite positioning accuracy evaluation improvement method based on vertical projection, which comprises the following steps:
Step S101: after satellite position information is resolved according to satellite broadcast messages and pseudo-range information, vertical projection processing is carried out on the position information of the GEO satellite and the IGSO satellite of the Beidou system, and corrected position information of the GEO satellite and the IGSO satellite is obtained;
Step S102: and (3) carrying out positioning calculation according to the corrected position information of the GEO satellite and the IGSO satellite of the Beidou system processed in the step (S101) and the positioning information acquired by the MEO satellite of the Beidou system, obtaining a positioning precision attenuation factor, and carrying out positioning precision evaluation.
Further, the step S101 includes:
Step S101.1: calculating the distance from the GEO/IGSO satellite to the earth center according to the orbit height of the GEO/IGSO satellite of the Beidou system, and calculating the distance from the MEO satellite to the earth center according to the orbit height of the MEO satellite of the Beidou system; dividing the distance from the MEO satellite to the earth center by the distance from the GEO/IGSO satellite to the earth center to obtain a vertical projection factor corresponding to the GEO/IGSO satellite;
specifically, as shown in fig. 4, si is a connection line between a GEO or IGSO satellite and the earth, the connection line passes through a spherical surface where the orbit height of the MEO satellite is located, and the intersection point is Si', namely a projection point.
In the geocentric coordinate system, the ratio of Si (X i,Yi,Zi) coordinates to Si ' (X i′,Yi′,Zi ') coordinates is equal to the ratio of H (GEO/IGSO orbit height + earth radius) to H ' (MEO orbit height + earth radius):
x i′＝(H′/H)*Xi,Yi′＝(H′/H)*Yi,Zi′＝(H′/H)*Zi formula 16
Calculating the cosine vector of S1' relative to the Beidou satellite receiver in a geocentric coordinate system:
Wherein the method comprises the steps of Step S101.2: and multiplying the obtained position information of the GEO satellite and the IGSO satellite of the Beidou system by the vertical projection factor correspondingly obtained in the step S101.1 to obtain the corrected position information of the GEO satellite and the IGSO satellite.
Further, in the step S101.2, if GEO satellites and IGSO satellites are used in the positioning calculation, corrected position information of the GEO satellites and IGSO satellites is used; if MEO satellites are used, MEO satellite position information calculated from satellite broadcast messages and pseudorange information is directly used.
The S1 satellite coordinates are still used in the calculation of the formulas 2 and 3 so as to correspond to the pseudo-range and the observed quantity data. The S1' projection coordinates are used only in the positioning accuracy measurement formulas (e.g., PDOP, GDOP calculation formulas).
On the basis of the embodiment, the invention also provides a Beidou satellite positioning accuracy evaluation and improvement system based on vertical projection, which comprises the following steps:
The vertical projection module is used for carrying out vertical projection processing on the position information of the GEO satellite and the IGSO satellite of the Beidou system after carrying out satellite position information calculation according to the satellite broadcast message and the pseudo-range information to obtain corrected position information of the GEO satellite and the IGSO satellite;
And the positioning resolving module is used for performing positioning resolving according to the corrected position information of the GEO satellite and the IGSO satellite of the Beidou system processed in the step S1 and the positioning information acquired by the MEO satellite of the Beidou system to obtain a positioning precision attenuation factor and performing positioning precision evaluation.
Further, the vertical projection module includes:
the first calculation sub-module is used for calculating the distance from the GEO/IGSO satellite to the earth center according to the orbit height of the GEO/IGSO satellite of the Beidou system, and then calculating the distance from the MEO satellite to the earth center according to the orbit height of the MEO satellite of the Beidou system; dividing the distance from the MEO satellite to the earth center by the distance from the GEO/IGSO satellite to the earth center to obtain a vertical projection factor corresponding to the GEO/IGSO satellite;
The second computing sub-module is used for multiplying the obtained position information of the GEO satellite and the IGSO satellite of the Beidou system by the vertical projection factors correspondingly obtained in the first computing sub-module to obtain corrected position information of the GEO satellite and the IGSO satellite.
Further, in the positioning resolving module, if the GEO satellite and the IGSO satellite are used in the positioning resolving, the corrected position information of the GEO satellite and the IGSO satellite is used; and if the MEO satellite is used, directly using MEO satellite position information calculated according to satellite broadcast messages and pseudo-range information.
In summary, the invention participates the correction position information of GEO satellite and IGSO satellite obtained by vertical projection method into the operation of the positioning precision attenuation factor, because all satellites are based on the orbit of MEO satellite, the obtained positioning precision attenuation factors (such as PDOP and GDOP values) can reflect the positioning precision more objectively, and the positioning precision is improved under the condition of not influencing the number of satellites.
The foregoing is merely illustrative of the preferred embodiments of this invention, and it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of this invention, and it is intended to cover such modifications and changes as fall within the true scope of the invention.

Claims (4)

1. A Beidou satellite positioning accuracy evaluation improvement method based on vertical projection is characterized by comprising the following steps:
Step 1: after satellite position information is resolved according to satellite broadcast messages and pseudo-range information, vertical projection processing is carried out on the position information of the GEO satellite and the IGSO satellite of the Beidou system, and corrected position information of the GEO satellite and the IGSO satellite is obtained;
Step 2: according to the corrected position information of the GEO satellite and the IGSO satellite of the Beidou system processed in the step 1 and the positioning information acquired by the MEO satellite of the Beidou system, positioning calculation is carried out, a positioning precision attenuation factor is obtained, and positioning precision evaluation is carried out;
the step 1 comprises the following steps:
step 1.1: calculating the distance from the GEO/IGSO satellite to the earth center according to the orbit height of the GEO/IGSO satellite of the Beidou system, and calculating the distance from the MEO satellite to the earth center according to the orbit height of the MEO satellite of the Beidou system; dividing the distance from the MEO satellite to the earth center by the distance from the GEO/IGSO satellite to the earth center to obtain a vertical projection factor corresponding to the GEO/IGSO satellite;
Step 1.2: and multiplying the obtained position information of the GEO satellite and the IGSO satellite of the Beidou system by the vertical projection factor correspondingly obtained in the step 1.1 to obtain the corrected position information of the GEO satellite and the IGSO satellite.
2. The method for improving positioning accuracy evaluation of Beidou satellite based on vertical projection according to claim 1, wherein in the step 2, when positioning calculation is performed, if GEO satellites and IGSO satellites are used, corrected position information of the GEO satellites and the IGSO satellites is used; if MEO satellites are used, MEO satellite position information calculated from satellite broadcast messages and pseudorange information is directly used.
3. Beidou satellite positioning accuracy evaluation improvement system based on vertical projection, and is characterized by comprising:
The vertical projection module is used for carrying out vertical projection processing on the position information of the GEO satellite and the IGSO satellite of the Beidou system after carrying out satellite position information calculation according to the satellite broadcast message and the pseudo-range information to obtain corrected position information of the GEO satellite and the IGSO satellite;
The positioning calculation module is used for performing positioning calculation according to the corrected position information of the GEO satellite and the IGSO satellite of the Beidou system processed by the vertical projection module and the positioning information acquired by the MEO satellite of the Beidou system to obtain a positioning precision attenuation factor and performing positioning precision evaluation;
The vertical projection module includes:
the first calculation sub-module is used for calculating the distance from the GEO/IGSO satellite to the earth center according to the orbit height of the GEO/IGSO satellite of the Beidou system, and then calculating the distance from the MEO satellite to the earth center according to the orbit height of the MEO satellite of the Beidou system; dividing the distance from the MEO satellite to the earth center by the distance from the GEO/IGSO satellite to the earth center to obtain a vertical projection factor corresponding to the GEO/IGSO satellite;
The second computing sub-module is used for multiplying the obtained position information of the GEO satellite and the IGSO satellite of the Beidou system by the vertical projection factors correspondingly obtained in the first computing sub-module to obtain corrected position information of the GEO satellite and the IGSO satellite.
4. The improved system for estimating positioning accuracy of Beidou satellite based on vertical projection according to claim 3, wherein when the positioning calculation module performs positioning calculation, if GEO satellites and IGSO satellites are used, corrected position information of the GEO satellites and the IGSO satellites is used; and if the MEO satellite is used, directly using MEO satellite position information calculated according to satellite broadcast messages and pseudo-range information.
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