CN113866807A - High-precision GNSS navigation system based on BDS positioning - Google Patents
High-precision GNSS navigation system based on BDS positioning Download PDFInfo
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- 239000005433 ionosphere Substances 0.000 claims description 12
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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
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Abstract
The invention discloses a high-precision GNSS navigation system based on BDS positioning, which relates to the field of navigation systems and aims at solving the problems that the existing GNSS navigation system is low in precision, so that positioning cannot be well performed during use and positioning deviation often occurs. The high-precision GNSS navigation system based on BDS positioning is convenient for weakening the influence of each system error through a network RTK module and a precision single-point positioning module which are arranged in a GNSS signal processing mechanism.
Description
Technical Field
The invention relates to the field of navigation systems, in particular to a high-precision GNSS navigation system based on BDS positioning.
Background
The Beidou satellite navigation system consists of three parts, namely a space section, a ground section and a user section, can provide high-precision, high-reliability positioning, navigation and time service for various users all day long in the world, has short message communication capacity, has the capacity of regional navigation, positioning and time service preliminarily, has the positioning precision of decimeter and centimeter level, the speed measurement precision of 0.2 meter/second and the time service precision of 10 nanoseconds, is also called as a global navigation satellite system, is a space-based radio navigation positioning system which can provide all-weather 3-dimensional coordinates, speed and time information for the users at any place on the earth surface or near ground space, comprises one or more satellite constellations and an enhancement system required by supporting specific work of the satellite constellation, has lower precision compared with the GNSS navigation system used by people at present, and can not accurately navigate between high-rise buildings, in addition, the GNSS navigation system has a certain disadvantage that the accuracy is reduced due to the influence of factors such as earth rotation and signal transmission time difference.
Aiming at the problems that the currently used GNSS Navigation System is low in precision, so that positioning cannot be well performed when the GNSS Navigation System is used, positioning deviation often occurs, and the variation distance is large, a high-precision GNSS Navigation System based on BDS positioning is provided, wherein English of the BDS is called as BeiDou Navigation Satellite System, and Chinese meaning is Beidou Satellite Navigation System.
Disclosure of Invention
The invention provides a high-precision GNSS navigation system based on BDS positioning, which solves the problems that the existing GNSS navigation system is low in precision, so that the existing GNSS navigation system cannot be well positioned when in use, positioning deviation often occurs, and the variation distance is large.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a high accuracy GNSS navigation based on BDS location, includes BDS location plate, BDS location plate includes the location module, tests the speed module, the star clock error module, relativistic error module, rotation error module and ephemeris error module, the inside of BDS location plate is provided with the signal emission module, just the output of signal emission module is provided with the GNSS plate, just the inside of GNSS plate is provided with GNSS signal processing mechanism, just GNSS signal processing mechanism includes network RTK module and accurate single-point location module.
Preferably, the positioning module is configured to position the user, and the positioning module combines a rectangular earth coordinate system and a geodetic coordinate system through the earth centroid to form two three-dimensional coordinate systems, where the rectangular earth coordinate system has an origin O coinciding with the earth centroid, a Z axis pointing to the north pole of the earth, an X axis pointing to an intersection point (i.e. 0 longitude direction) of the equatorial plane of the earth and the meridian of greenwich mean, and a Y axis forming a right-handed coordinate system (i.e. pointing to the east longitude 90-degree direction) with XOZ in the equatorial plane, and the expression is: x = (n + h) cos Φ cos λ; y = (n + h) cos φ sin λ; z = [ n (1-e) + h ] sin phi, the earth geodetic coordinate system is formed by coinciding the center of an ellipsoid of the earth with the center of mass of the earth, and the short axis of the ellipsoid is coincident with the earth rotation axis. The geodetic latitude of any point on the earth surface is an included angle phi between the normal of an ellipsoid passing the point and the equatorial plane of the ellipsoid, the longitude is an included angle lambda between the meridian plane of the ellipsoid where the point is located and the meridian plane of Greenwich earth, the height h of the point is the distance from the normal of the ellipsoid to the ellipsoid, and the expression is as follows: λ = actan (y/x); Φ c = act (z/√ x + y) has been lost; h = (√ x + y + z) -a (-epsin 2 φ).
Preferably, the speed measuring module is convenient for judging the running speed of the user so as to judge the moving direction of the user.
Preferably, the satellite clock error module is used for eliminating an error between an on-satellite clock and a BDS standard clock, so as to increase the precision, and the binomial expression of the satellite clock error is as follows: δ (t) = a0+a（t-t0）+a2（t-t0）。
Preferably, the relativistic error module is adapted to eliminate a change in clock frequency after a clock having a frequency on the ground is installed on a satellite traveling at a speed, the change in clock frequency being expressed by: Δ f1=-（vs²/2C²）f。
Preferably, the rotation error module is used for conveniently eliminating distance deviation generated between positions of the signal transmission device earth due to rotation.
Preferably, the ephemeris error module facilitates elimination of errors of the ionosphere and the troposphere of the earth surface to the GNSS positioning, thereby increasing the accuracy of the apparatus, and the ionosphere and the troposphere errors are eliminated by giving ionosphere and troposphere models and model parameters, and the model is used to improve the ionosphere errors and the troposphere errors, thereby improving the ephemeris errors.
Preferably, a GNSS receiving module is disposed inside the GNSS panel, and an output end of the GNSS receiving module is connected to the GNSS signal processing mechanism.
Preferably, the network RTK module employs a network RTK technology, and the precise single-point positioning module employs a precise single-point positioning technology.
Preferably, the output end of the GNSS signal processing mechanism is provided with a route generation module, the interior of the GNSS signal processing mechanism comprises navigation resolving and signal baseband processing, the navigation resolving is convenient for calculating the pseudorange and decoding navigation data, and the signal baseband processing is convenient for increasing the reuse rate of hardware.
The invention has the beneficial effects that:
the positioning module arranged in the BDS positioning plate is convenient for positioning the specific coordinates of a user, the speed measurement module is matched to judge the direction of the moving speed machine of the user, the clock error module, the relativistic error module, the autorotation error module and the ephemeris error module are convenient for increasing the GNSS navigation precision, and the network RTK module and the precise single-point positioning module arranged in the GNSS signal processing mechanism are convenient for weakening the influence of each system error, so that a high-precision positioning result is obtained.
Drawings
FIG. 1 is a flow chart of the structure of the present invention.
FIG. 2 is a schematic diagram of a GNSS signal processing mechanism according to the present invention.
Reference numbers in the figures: 1. a BDS positioning plate; 101. a positioning module; 102. a speed measuring module; 103. a star clock error module; 104. a relativistic error module; 105. a rotation error module; 106. an ephemeris error module; 2. a signal transmitting module; 3. a GNSS plate; 4. a GNSS receiving module; 5. a GNSS signal processing mechanism; 501. a network RTK module; 502. a precise single-point positioning module; 6. and a route generation 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.
Referring to fig. 1-2, a high-precision GNSS navigation system based on BDS positioning is disclosed, where a BDS positioning plate 1 includes a positioning module 101, a speed measurement module 102, a clock error module 103, a relativistic error module 104, an autorotation error module 105, and an ephemeris error module 106, a signal emission module 2 is disposed inside the BDS positioning plate 1, a GNSS plate 3 is disposed at an output end of the signal emission module 2, a GNSS signal processing mechanism 5 is disposed inside the GNSS plate 3, and the GNSS signal processing mechanism 5 includes a network RTK module 501 and a precision single-point positioning module 502.
Example one
The positioning module 101 is used for positioning a user, and the positioning module combines an earth rectangular coordinate system and an earth geodetic coordinate system through an earth centroid to form two three-dimensional coordinate systems, wherein the earth rectangular coordinate system enables an origin O to coincide with the earth centroid, a Z axis points to the earth north pole, an X axis points to an intersection point (namely the 0 longitude direction) of an earth equatorial plane and a Greenwich mean meridian, a Y axis forms a right-handed coordinate system (namely points to the east longitude direction 90 degrees) with XOZ in an equatorial plane, the earth geodetic coordinate system enables the center of an earth ellipsoid to coincide with the earth centroid, and a short axis of the ellipsoid coincides with an earth rotation axis; the geodetic latitude of any point on the earth surface is the included angle phi between the normal of an ellipsoid passing the point and the equatorial plane of the ellipsoid, the longitude is the included angle lambda between the meridian plane of the ellipsoid where the point is located and the meridian plane of Greenwich earth, and the height h of the point is the distance from the normal of the ellipsoid to the ellipsoid; let any point P on the earth surface be expressed as P (x, y, z) in the earth rectangular coordinate system and as P (phi, lambda, h) in the earth geodetic coordinate system, wherein the positioning expressions and the transformation algorithm of the rectangular coordinate system and the earth geodetic coordinate system are as follows:
x=（n+h）cosφcosλ
Y=（n+h）cosφsinλ
Z=[n（1-e²）+h]sinφ
in the formula, n is the curvature radius of the unitary-mortise ring of the ellipsoid, and e is the first eccentricity of the ellipsoid.
If the major radius of the ellipsoid is a and the minor radius is b, then
e=（√a²-b²）/a
w=√1-e²sin²φ
N=a/w
The rectangular coordinate system is changed into a geodetic coordinate system, and can be obtained by the following method
λ=actan（y/x）
Phi is obtained by iterative method, phi c is geocentric latitude, ep is ellipticity
φc=actan（z/√x²+y²）
ep=（a-b）/a
The initial value phi = phi c may be set for iteration until i phi = 1-phi i is less than a certain threshold
h=（√x²+y²+z²）-a（-epsin2φ）；
The speed measuring module 102 is convenient for judging the running speed of a user so as to judge the moving direction of the user, and after the speed measuring module 102 receives more than or equal to 3 satellite signals in the sky, the speed measuring module can quickly and accurately measure and calculate the speed value of the user, express the speed value in numbers and send the speed value to a monitoring center through a wireless network to be displayed on an electronic map in real time;
the star clock error module 103 facilitates eliminating errors between a satellite clock and a BDS standard clock, thereby increasing accuracy, the star clock error is generally expressed by a binomial expression, and the binomial expression of the star clock error is: δ (t) = a0+a（t-t0）+a2（t-t0）；
The relativistic error module 104 facilitates eliminating a change in clock frequency after a clock having a frequency on the ground is installed on a satellite traveling at speed, the change in clock frequency expressed as: Δ f1=-（vs²/2C²）f；
The rotation error module 105 is used for eliminating the distance deviation between the positions of the signal transmission device earth caused by rotation, and the rotation error calculation method is as follows:
if the earth rotation angular velocity is we, and the signal transmission delay from the moment of transmitting a signal to the moment of receiving the signal is delta t, the longitude of the elevation intersection point is adjusted in the time process, and the three-dimensional coordinate is adjusted as follows:
X=X1cos∆Ω+Y1sin∆Ω
Y=Y1cos∆Ω-X1sin∆Ω
Z=Z1；
the ephemeris error module 106 is convenient for eliminating the errors of the ionosphere and the troposphere on the earth surface to the GNSS positioning, so as to increase the accuracy of the device, the ionosphere and the troposphere errors are eliminated by giving ionosphere and troposphere models and model parameters, and the model is used for improving the ionosphere errors and the troposphere errors, so as to improve the ephemeris errors;
the GNSS plate 3 is internally provided with a GNSS receiving module 4, the output end of the GNSS receiving module 4 is connected with a GNSS signal processing mechanism 5, the GNSS receiving module 4 comprises a GNSS antenna, the GNSS signal processing mechanism 5 adopts a network RTK module 501, the output end of the GNSS signal processing mechanism 5 is provided with a route generating module 6, the GNSS signal processing mechanism 5 internally comprises navigation resolving and signal baseband processing, the navigation resolving is convenient for calculating pseudo range and decoding navigation data, the signal baseband processing is convenient for increasing the multiplexing rate of hardware, the network RTK module 501 adopts a network RTK technology, namely, the network RTK module comprises a base station network, a data processing center, a data communication link and a mobile station, the base station is required to be provided with a dual-frequency full-wavelength GPS receiver, and the station coordinate of the base station is required to be accurately known and continuously observed according to a specified sampling rate, and the data processing center calculates error correction information according to the approximate coordinates sent by the rover and then broadcasts the information to the rover.
Example two
The difference from the first embodiment is that a GNSS receiving module 4 is disposed inside the GNSS plate 3, an output end of the GNSS receiving module 4 is connected to a GNSS signal processing mechanism 5, the GNSS signal processing mechanism 5 employs a precise single-point positioning module 502, and the precise single-point positioning module 502 employs a precise single-point positioning technology, that is, a precise ephemeris of a satellite of a BDS or a precise ephemeris after the precise ephemeris is used as known coordinate calculation data; meanwhile, the precise satellite clock error obtained in a certain way is used for replacing satellite clock error parameters in a BDS positioning observation value equation of the user; the user can perform real-time dynamic positioning or faster static positioning with 2-4 cm-level precision by using the observation data of a single BDS double-frequency double-code receiver at any position within tens of millions of square kilometers and even the global range, and the method is suitable for the non-signal areas such as the sea surface and the like.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The high-precision GNSS navigation system based on BDS positioning comprises a BDS positioning plate (1) and is characterized in that the BDS positioning plate (1) comprises a positioning module (101), a speed measuring module (102), a star clock error module (103), a relativistic error module (104), an autorotation error module (105) and an ephemeris error module (106), a signal transmitting module (2) is arranged inside the BDS positioning plate (1), a GNSS plate (3) is arranged at the output end of the signal transmitting module (2), a GNSS signal processing mechanism (5) is arranged inside the GNSS plate (3), and the GNSS signal processing mechanism (5) comprises a network RTK module (501) and a precise single-point positioning module (502).
2. A BDS-based positioning high-precision GNSS navigation system as claimed in claim 1, wherein the positioning module (101) is configured to position the user, the positioning module (101) combines the earth rectangular coordinate system and the earth terrestrial coordinate system through the earth centroid, so as to form two three-dimensional coordinate systems, the earth rectangular coordinate system has an origin O coinciding with the earth centroid, the Z axis is directed to the earth north pole, the X axis is directed to the intersection point of the earth equatorial plane and the greenwich mean circle, i.e. the 0 longitude direction, the Y axis forms a right-handed coordinate system with XOZ in the equatorial plane, i.e. the east longitude 90 direction, and the expression is: x = (n + h) cos Φ cos λ; y = (n + h) cos φ sin λ; z = [ n (1-e) + h ] sin phi, the earth geodetic coordinate system is that the center of an earth ellipsoid is coincident with the earth centroid, the minor axis of the ellipsoid is coincident with the earth rotation axis, the geodetic latitude of any point on the earth surface is the included angle phi between the normal of the ellipsoid passing the point and the equatorial plane of the ellipsoid, the longitude is the included angle lambda between the meridian plane of the ellipsoid where the point is located and the Greenwich geodetic meridian plane, the height h of the point is the distance from the normal of the ellipsoid to the ellipsoid, and the expression is as follows: λ = actan (y/x); Φ c = act (z/√ x + y) has been lost; h = (√ x + y + z) -a (-epsin 2 φ).
3. A BDS positioning-based high-precision GNSS navigation system as claimed in claim 1, wherein the speed measuring module (102) determines the moving speed of the user, thereby determining the moving direction thereof.
4. A BDS positioning-based high-precision GNSS navigation system according to claim 1, wherein the clock error module (103) eliminates the error between the clock on the satellite and the BDS standard clock, and the binomial expression of the clock error is: δ (t) = a0+a（t-t0）+a2（t-t0）。
5. A BDS-based positioning high accuracy GNSS navigation system as claimed in claim 1, wherein said relativistic error module (104) is configured to eliminate the variation of clock frequency after a clock with frequency on the ground is installed on a satellite in speed row, and the expression of the variation of clock frequency is: Δ f1=-（vs²/2C²）f。
6. A BDS positioning-based high-precision GNSS navigation system as claimed in claim 1, wherein the rotation error module (105) is configured to eliminate a distance deviation between positions due to rotation of the earth signal transmission device.
7. A BDS positioning based high accuracy GNSS navigation system as claimed in claim 1, wherein the ephemeris error module (106) is configured to eliminate the error of ionosphere and troposphere to GNSS positioning on the earth's surface, eliminate ionosphere and troposphere errors by giving ionosphere and troposphere models and model parameters, and improve the ionosphere and troposphere errors with the models to improve the ephemeris error.
8. A BDS positioning-based high-precision GNSS navigation system according to claim 1, wherein the GNSS plate (3) is internally provided with a GNSS receiving module (4), and the output end of the GNSS receiving module (4) is connected with a GNSS signal processing mechanism (5).
9. A BDS positioning based high accuracy GNSS navigation system according to claim 1, wherein the network RTK module (501) employs network RTK technology and the precise single point positioning module (502) employs precise single point positioning technology.
10. A BDS positioning-based high-precision GNSS navigation system according to claim 1, wherein the output end of the GNSS signal processing mechanism (5) is provided with a route generation module (6), and the inside of the GNSS signal processing mechanism (5) comprises navigation solution and signal baseband processing, the navigation solution is convenient for calculating pseudo-range and decoding navigation data, and the signal baseband processing is convenient for increasing the multiplexing rate of hardware.
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