CN113970776A - GNSS three-point relative positioning method and system - Google Patents
GNSS three-point relative positioning method and system Download PDFInfo
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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
- G01S19/51—Relative positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Abstract
The invention provides a GNSS three-point relative positioning method and a GNSS three-point relative positioning system, wherein a first receiver and a second receiver perform relative positioning simultaneously based on the same reference station, respectively calculate low-precision floating solution coordinates of non-fixed carrier phase integer ambiguity and high-precision fixed solution coordinates of fixed carrier phase integer ambiguity through the first receiver, and calculate the deviation of the floating solution coordinates through the fixed solution coordinates; and the second receiver simultaneously calculates the low-precision floating-point solution coordinates of the integer ambiguity of the non-fixed carrier phase, and the floating-point solution positioning coordinate precision of the second receiver is improved through the deviation correction number of the first receiver.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a GNSS three-point relative positioning method and a GNSS three-point relative positioning system.
Background
RTK relative positioning based on carrier phase observed value can obtain centimeter-level positioning accuracy by a method of fixing integer ambiguity. Because the cycle slip occurs frequently in a dynamic environment, the fixation of the ambiguity of the whole cycle needs a certain time each time, and the application of dynamic positioning is influenced. Secondly, for a single-frequency receiver, the cycle slip ratio in the carrier phase observation value is too large, the integer ambiguity is difficult to fix, and the positioning accuracy is not good. For example, in intelligent traffic, if the positioning accuracy of vehicles is uneven, the positioning accuracy between vehicles is too large, which affects traffic control.
Disclosure of Invention
The invention aims to provide a GNSS three-point relative positioning method and a GNSS three-point relative positioning system, which can avoid overlarge user positioning accuracy difference caused by environmental condition change or receiver difference and improve the consistency of user positioning accuracy.
The invention provides a GNSS three-point relative positioning method, wherein a reference station, a first receiver and a second receiver are in wireless communication, and the method is characterized by comprising the following steps:
(1) the first receiver and the second receiver respectively carry out relative positioning calculation through a reference station;
(2) the relative positioning calculation of the first receiver comprises calculating low-precision positioning coordinates through a non-fixed carrier phase integer ambiguity algorithm and calculating high-precision positioning coordinates through a fixed carrier phase integer ambiguity;
(3) the relative positioning calculation of the second receiver comprises calculating a low-precision positioning coordinate through an unfixed carrier phase integer ambiguity algorithm;
(4) the first receiver calculates the correction number of the low-precision positioning coordinate of the first receiver by comparing the low-precision positioning coordinate with the high-precision positioning coordinate;
(5) and the second receiver corrects the low-precision positioning coordinate of the second receiver according to the correction number of the low-precision positioning coordinate of the first receiver, so that the positioning coordinate precision calculated by the non-fixed carrier phase integer ambiguity is improved.
The invention also provides a GNSS three-point relative positioning system based on the GNSS three-point relative positioning method, which comprises a reference station, a first receiver and a second receiver, wherein a satellite signal data observation module and a communication module are arranged in the reference station, the first receiver is provided with the satellite signal data observation module, the communication module, a positioning calculation module, an output module and a comparison module, the second receiver is provided with the satellite signal data observation module, the communication module, the positioning calculation module, a correction module and the output module, the reference station, the first receiver and the second receiver respectively receive satellite signal information through the data observation module and carry out wireless communication through the communication module, and the GNSS three-point relative positioning system is characterized in that the first receiver and the second receiver simultaneously carry out relative positioning calculation through the positioning calculation module based on the reference station; the first receiver calculates low-precision positioning coordinates through a positioning calculation module by using an unfixed carrier phase integer ambiguity algorithm, calculates high-precision positioning coordinates through a fixed carrier phase integer ambiguity algorithm, calculates the deviation between the low-precision positioning coordinates and the high-precision positioning coordinates through a comparison module, obtains correction numbers of the low-precision positioning coordinates, sends the correction numbers through a communication module, and outputs the high-precision positioning coordinates through an output module; and the second receiver calculates low-precision positioning coordinates by adopting a non-fixed carrier phase integer ambiguity algorithm through a positioning calculation module, corrects the low-precision positioning coordinates of the second receiver through a correction module according to the low-precision positioning coordinate correction number acquired by the first receiver, and outputs the corrected low-precision positioning coordinates through an output module.
In the process that a first receiver and a second receiver carry out relative positioning simultaneously based on the same reference station, the low-precision (floating solution) coordinates of the non-fixed carrier phase integer ambiguity and the high-precision (fixed solution) coordinates of the fixed carrier phase integer ambiguity are calculated by the first receiver respectively, and the deviation of the floating solution coordinates is calculated by the fixed solution coordinates; and the second receiver simultaneously calculates the low-precision floating-point solution coordinates of the integer ambiguity of the non-fixed carrier phase, and the floating-point solution positioning coordinate precision of the second receiver is improved through the deviation correction number of the first receiver.
The invention obtains the position deviation of the low-precision positioning coordinate through the high-precision positioning coordinate of the first receiver, improves the precision of the positioning coordinate through the deviation correction number of the first receiver for a single-frequency receiver which is difficult to fix the carrier phase whole-cycle ambiguity, and can avoid the overlarge deviation of the positioning precision and keep the consistency of the positioning precision for the receiver which is fixed with the carrier phase whole-cycle ambiguity and has cycle slip in the process of re-fixing the carrier phase whole-cycle ambiguity.
Drawings
FIG. 1 is a flow chart of a positioning method according to the present invention.
Fig. 2 is a schematic diagram of the process of eliminating position jump according to the present invention.
Fig. 3 is a schematic structural framework diagram of an embodiment of the system of the present invention.
Detailed Description
In the schematic flow chart of the positioning method shown in fig. 1, the positioning method includes a reference station, a first receiver, and a second receiver, where the reference station, the first receiver, and the second receiver respectively obtain satellite signal observation data, perform communication in a wireless manner, and improve low-precision positioning of the second receiver by high-precision positioning of the first receiver, which is specifically as follows:
(1) the first receiver and the second receiver simultaneously receive observation data of a reference station to form a double-difference observation value based on the reference station so as to perform relative positioning calculation;
(2) the first receiver firstly calculates low-precision positioning coordinates through a non-fixed carrier phase integer ambiguity algorithm based on a reference station, then calculates high-precision positioning coordinates through a fixed carrier phase integer ambiguity, and outputs the high-precision positioning coordinates;
(3) the second receiver calculates low-precision positioning coordinates through a non-fixed carrier phase integer ambiguity algorithm based on the reference station;
(4) the first receiver calculates the correction number of the low-precision positioning coordinate of the first receiver by comparing the low-precision positioning coordinate with the high-precision positioning coordinate;
(5) and the second receiver corrects the low-precision positioning coordinate of the second receiver according to the correction number of the low-precision positioning coordinate of the first receiver and outputs the corrected low-precision positioning coordinate.
In the GNSS three-point relative positioning process, a first receiver and a second receiver perform relative positioning simultaneously based on a reference station, wherein the first receiver performs two-step calculation of a floating solution of low-precision positioning and a fixed solution of high-precision positioning respectively, and calculates a deviation correction number of the low-precision positioning coordinate by comparing the low-precision positioning coordinate with the high-precision positioning coordinate, the second receiver calculates the low-precision positioning coordinate by a non-fixed carrier phase integer ambiguity algorithm, and then improves the precision of the floating solution of the low-precision positioning coordinate of the second receiver by a position difference method according to the correction number of the first receiver.
The method obtains the deviation of the floating solution low-precision positioning coordinate through the fixed solution high-precision positioning coordinate of the first receiver, improves the precision of the floating solution positioning coordinate through the deviation correction number of the first receiver for a single-frequency receiver which is difficult to fix the carrier phase integer ambiguity, and can weaken the position jump from the fixed solution coordinate to the floating solution coordinate in the calculation process and keep the consistency of the positioning precision by improving the precision of the floating solution coordinate of the receiver which is fixed with the carrier phase integer ambiguity and has cycle jump in the process of re-fixing the carrier phase integer ambiguity.
The reference station comprises a real reference station and also comprises a network virtual station, such as a real-time differential data stream based on a network RTK virtual station (VRS), and can carry out dynamic relative positioning.
The relative positioning includes differential or non-differential, where differential includes double or single differences. The correction number comprises the position deviation or pseudo range deviation of the low-precision positioning coordinate calculated by the first receiver through the high-precision positioning coordinate, and the floating solution coordinate precision of the second receiver is improved through a position difference method.
Since the position differential positioning accuracy is closely related to the distance, the second receiver should be within a certain distance range from the first receiver to ensure that both observe the same set of satellites. And selecting the first receiver which is closest to the second receiver and completes the fixation of the integer ambiguity of the carrier phase according to the positioning coordinates of the second receiver, and shortening the distance between the two receivers to ensure that the receivers have higher spatial correlation, thereby improving the positioning accuracy of the second receiver.
In order to further improve the positioning accuracy of the floating point solution of the second receiver, the first receiver and the second receiver adopt the same relative positioning algorithm to calculate the low-accuracy positioning coordinates, so that the positioning accuracies of the floating point solutions of the first receiver and the second receiver are consistent as much as possible.
The same relative positioning algorithm comprises the same pseudorange differential algorithm. The first receiver and the second receiver both perform relative position with the reference station by means of code-measuring pseudorange differences and/or the first receiver and the second receiver both perform relative position with the reference station by means of phase-measuring pseudorange differences. The measurement precision of the code-measuring pseudo range is different from that of the phase-measuring pseudo range, wherein the measurement precision of the phase-measuring pseudo range is far higher than that of the code-measuring pseudo range due to the fact that the carrier frequency is large and the wavelength is short, and the second reference station and the user receiver can keep the same relative to the pseudo range differential positioning precision of the reference station through a measurement means with the same precision.
The same relative positioning method also comprises the same differential calculation model, and the first receiver and the second receiver adopt the same differential positioning calculation model software so as to improve the accuracy consistency of the relative positioning of the first receiver and the second receiver based on the same reference station. The positioning accuracy of different differential algorithm software is different, even if the positioning accuracy of the different differential algorithm software is not greatly different on the whole, the positioning accuracy still has difference in the positioning process aiming at different specific scenes such as satellite ephemeris or environmental noise. Therefore, by selecting the same algorithm software, the possible difference generated by the first receiver and the second receiver in the specific positioning process can be eliminated, and the positioning accuracy of the first receiver and the second receiver is kept consistent as far as possible.
In addition, the first receiver and the second receiver can also improve the accuracy consistency of the floating solution positioning of the first receiver and the second receiver based on the same reference station by selecting satellite observation data with consistent data quality.
The selecting of the satellite observation data with consistent data quality comprises selecting through auxiliary information representing the satellite observation data quality. In the GNSS positioning, there are a series of gross error detection, cycle slip detection, etc., which all have requirements on the GNSS observation data quality. For example, in the positioning of a smart phone, the Android system provides some auxiliary information capable of representing the state and quality of observation data, such as a multipath effect sign, a signal-to-carrier-to-noise ratio, carrier phase uncertainty and the like, besides necessary GNSS observation data, in a second reference station and a user receiver, a screening standard can be set for satellite observation data through the auxiliary information, such as a carrier phase uncertainty threshold value, an observation noise variance and the like, observation data with consistent data quality are selected based on the same standard, and it can be ensured that the relative positioning accuracy of the first receiver and the second receiver based on the same reference station is consistent.
Furthermore, the code measurement or the carrier phase measurement of the first receiver and the second receiver are respectively aligned with the code measurement or the carrier phase measurement of the reference station, so that the measurement of the first receiver and the measurement of the second receiver are synchronous, and the consistency of the positioning accuracy of the first receiver and the second receiver is further improved. The first receiver and the second receiver respectively track and acquire satellite signals and independently perform positioning calculation. When the relative positioning based on the reference station is carried out, the first receiver and the second receiver respectively carry out initial communication with the reference station, and code measurement and carrier phase measurement are carried out. During initialization, the code or carrier phase measurements of the first and second receivers are aligned with the code or carrier phase measurements, respectively, of the reference station, and the measurements made at a particular point in time by the first and second receivers should be aligned with the measurements made at the same point in time by the reference station, and if not possible, the measurements made at the particular point in time by the first or second receivers are extrapolated or interpolated to synchronize these measurements with the measurements of the reference station.
During the movement of the first receiver and/or the second receiver, approaching one reference station and moving away from another reference station, a replacement of the reference station is required. The reference station changes causing a jump in the position of the receiver. In order to absorb the position jump caused by the transformation of the reference stations, the output coordinates of the user receiver can be adjusted according to the relative positioning results of the two reference stations.
When the first receiver and/or the second receiver replaces the reference station, the first receiver and/or the second receiver firstly calculates the initial deviation between the positioning coordinates of the two reference stations which are close to each other and far away based on the positioning coordinates of the two reference stations, the positioning coordinates of the reference stations which are relatively close to each other are adjusted to the positioning coordinates of the reference stations which are relatively far away by the initial deviation, and the positioning coordinates of the reference stations which are relatively close to each other of the first receiver and/or the second receiver are gradually adjusted by setting the initial deviation reduction rate during the movement of the first receiver and/or the second receiver until the initial deviation is reduced to 0.
Fig. 2 shows a position jump adjustment process, assuming that a receiver has a starting offset between two position coordinates based on the last position coordinate far from the reference station being X0, Y0, Z0 and the first position coordinate near the reference station being X1, Y1, Z1, and the starting offset is the largest, being Δ X1= X0-X1, Δ Y1= Y0-Y1, and Δ Z1= Z0-Z1. The positioning coordinates based on the approach to the reference station are adjusted according to the initial deviation, and during the adjustment, the initial deviation is gradually reduced by setting a deviation reduction rate, for example 1/10, namely, the initial deviation is reduced by 0.1 meter for every 10 meters of movement in the X, Y, Z direction until the initial deviation is reduced to 0, and the position deviation adjustment is completed.
Specifically, as shown in fig. 2, the dashed line and the open circle on the right represent the movement path of the relative positioning performed based on the approach to the reference station before the deviation adjustment, and the solid line and the solid circle on the left represent the output movement path after the deviation adjustment. The first relative position coordinates are X1, Y1 and Z1 based on the approach of the reference station, after deviation adjustment is carried out on the position coordinates of delta X1, delta Y1 and delta Z1, the output positioning coordinates are X1 plus delta X1, Y1 plus delta Y1 and Z1 plus delta Z1, namely the last position coordinates of X0, Y0 and Z0 based on the relative positioning carried out on the distance from the reference station, and seamless connection during the conversion of the reference station is realized. Second position coordinates based on relative positioning near the reference station are X2, Y2 and Z2, and output coordinates after deviation adjustment are X2 +. DELTA.X 2, Y2 +. DELTA.Y 2 and Z2 +. DELTA.Z 2, wherein.DELTA.X 2= DELTA.X 1-0.1,. DELTA.Y 2 =. DELTA.Y 1-0.1 and. DELTA.Z 2 =. DELTA.Z 1-0.1; the third position coordinates based on relative positioning near the reference station are X3, Y3 and Z3, and the output coordinates after deviation adjustment are X3 +. DELTA.X 3, Y3 +. DELTA.Y 3 and Z3 +. DELTA.Z 3, wherein.DELTA.X 3= DELTA.X 2-0.1,. DELTA.Y 3 =. DELTA.Y 2-0.1 and. DELTA.Z 3 =. DELTA.Z 2-0.1; the fourth position coordinates based on relative positioning near the reference station are X4, Y4 and Z4, and the output coordinates after deviation adjustment are X4 +. DELTA.X 4, Y4 +. DELTA.Y 4 and Z4 +. DELTA.Z 4, wherein.DELTA.X 4= DELTA.X 3-0.1,. DELTA.Y 4 =. DELTA.Y 3-0.1 and. DELTA.Z 4 =. DELTA.Z 3-0.1; the fifth position coordinates based on relative positioning near the reference station are X5, Y5 and Z5, and the output coordinates after deviation adjustment are X5 +. DELTA.X 5, Y5 +. DELTA.Y 5 and Z5 +. DELTA.Z 5, wherein.DELTA.X 5= DELTA.X 4-0.1,. DELTA.Y 5 =. DELTA.Y 4-0.1 and. DELTA.Z 5 =. DELTA.Z 4-0.1; the sixth position coordinates based on the relative positioning near the reference station are X6, Y6, Z6, and the offset-adjusted output coordinates are still X6, Y6, Z6, where Δ X6=0, Δ Y6=0, and Δ Z6= 0. When the position reaches the sixth position, the relative positioning starting deviation based on the front and the back reference stations is reduced to 0, namely the adjustment is finished based on the relative positioning deviation far away from the reference stations, and the subsequent differential positioning result is completely based on the approaching reference station.
If the initial maximum deviations in the direction X, Y, Z are assumed to be Δ X =0.4, Δ Y =0.45, and Δ Z =0.2, respectively, then the deviation of 0.1 meter is adjusted every 10 meters of movement in the X direction, and the initial deviation Δ X =0 after 40 meters of movement, that is, the deviation in the X direction is adjusted; adjusting the deviation of 0.1 meter every 10 meters of movement in the Y direction, wherein after the movement of 50 meters, the initial deviation delta Y =0, namely the deviation adjustment in the Y direction is finished; and adjusting the deviation of 0.1 meter every 10 meters of movement in the Z direction, wherein after 20 meters of movement, the initial deviation delta Z =0, namely the Z direction deviation is adjusted.
The bias reduction rate is set to avoid too rapid a change in position of the receiver in the transition from far to near the reference station. Obviously, the speed of the decrease of the deviation in the direction X, Y, Z may be equal or different, and the time for adjusting the deviation in the direction X, Y, Z or the required moving distance may be different. If the relative position relationship between the user receivers needs to be judged, the same deviation reduction rate should be adopted between different user receivers, and the adjustment of the deviation should be synchronous.
Obviously, the first receiver and the second receiver should synchronously replace the reference station and perform synchronization adjustment based on the same initial bias reduction rate.
In addition, in the same reference station coverage area, when the distance between the first receiver and the second receiver is greatly deviated in the moving process, and the second receiver needs to replace the first receiver, the initial deviation between the positioning coordinates of the second receiver after being corrected based on the close receiver and the far receiver is firstly calculated, the positioning coordinates of the first receiver relatively close to the first receiver are adjusted to the positioning coordinates of the first receiver relatively far from the first receiver through the initial deviation, and the positioning coordinates of the second receiver relatively close to the first receiver are gradually adjusted in the moving process of the second receiver by setting the reduction rate of the initial deviation until the initial deviation is reduced to 0. The specific process is the same as that of replacing the reference station.
Based on the positioning method, the invention further provides a GNSS three-point relative positioning system, a structural block diagram of which is shown in fig. 3, and the GNSS three-point relative positioning system comprises a reference station, a first receiver and a second receiver, wherein a satellite signal data observation module and a communication module are arranged in the reference station, the first receiver is provided with a satellite signal data observation module, a communication module, a positioning calculation module, an output module and a comparison module, the second receiver is provided with a satellite signal data observation module, a communication module, a positioning calculation module, a correction module and an output module, and the reference station, the first receiver and the second receiver respectively receive satellite signal information through the data observation module and carry out wireless communication through the communication module.
And the first receiver and the second receiver simultaneously carry out relative positioning calculation through the positioning calculation module based on the reference station.
The first receiver firstly calculates low-precision positioning coordinates through a non-fixed carrier phase integer ambiguity algorithm, then calculates high-precision positioning coordinates through a fixed carrier phase integer ambiguity algorithm, then calculates the deviation between the low-precision positioning coordinates and the high-precision positioning coordinates through a comparison module, obtains the correction number of the low-precision positioning coordinates, sends the second receiver through a communication module, and outputs the high-precision positioning coordinates through an output module.
The second receiver firstly calculates low-precision positioning coordinates through a non-fixed carrier phase integer ambiguity algorithm, then corrects the low-precision positioning coordinates of the second receiver through a correction module according to the low-precision positioning coordinate correction number sent by the first receiver, and outputs the corrected low-precision positioning coordinates through an output module.
The reference station comprises an actual station or a network virtual station.
And the first receiver and the second receiver adopt the same relative positioning algorithm to calculate the low-precision positioning coordinates.
The code or carrier phase measurements by the first and second receivers are aligned with the code or carrier phase measurements of the reference station, respectively, to synchronize the measurements of the first and second receivers.
When the first receiver and/or the second receiver replaces the reference station, the first receiver and/or the second receiver firstly calculates the initial deviation between the positioning coordinates of the two reference stations which are close to each other and far away based on the positioning coordinates of the two reference stations, the positioning coordinates of the reference stations which are relatively close to each other are adjusted to the positioning coordinates of the reference stations which are relatively far away by the initial deviation, and the positioning coordinates of the reference stations which are relatively close to each other of the first receiver and/or the second receiver are gradually adjusted by setting the initial deviation reduction rate during the movement of the first receiver and/or the second receiver until the initial deviation is reduced to 0.
The method selects a first receiver which is closest to the position coordinates of a second receiver and completes the fixation of the carrier phase integer ambiguity.
When the second receiver is replaced by the first receiver, the initial deviation between the positioning coordinates of the second receiver after being corrected based on the close receiver and the far receiver is calculated, the positioning coordinates of the first receiver which is relatively close to the first receiver are adjusted to the positioning coordinates of the first receiver which is relatively far from the first receiver through the initial deviation, and the positioning coordinates of the second receiver which is relatively close to the first receiver are adjusted step by setting the reduction rate of the initial deviation in the moving process of the second receiver until the initial deviation is reduced to 0.
Furthermore, a correction module is arranged in the first receiver, and a comparison module is arranged in the second receiver, so that the first receiver and the second receiver can be interchanged. For example, the user receiver after the integer ambiguity is fixed is used as a first receiver, and the user receiver performing integer ambiguity resolution is used as a second receiver; and if the first receiver has cycle slip and needs to fix the integer ambiguity again, selecting the latest user receiver with the integer ambiguity fixed as the first receiver and switching the first receiver to a second receiver. Similarly, a second receiver with fixed carrier-phase integer ambiguity can be switched to the first receiver to provide floating point solution correction numbers for other second receivers with no or no fixed carrier-phase integer ambiguity.
Further, the system also comprises a positioning server, and the first receiver, the second receiver and the reference station are in wireless communication through the positioning server.
A vehicle positioning application example of urban traffic can select to set a positioning base station at a specific intersection signal lamp or a monitoring camera or select to set a base station on a specific street lamp post according to different influences of urban building environments on satellite signals or a certain set distance, a traffic control platform selects the base station closest to the traffic control platform as a positioning reference station of the vehicle according to vehicle positioning coordinates in the driving process of the vehicle, selects the vehicle with fixed whole-cycle ambiguity closest to the traffic control platform as a first receiver, connects the vehicle, the reference station and the first receiver through the control platform, and replaces the reference station or the first receiver for the vehicle according to the distance in the moving process of the vehicle.
The reference station is arranged along the road, so that the distance between the vehicle and the reference station can be shortened, the vehicle has higher spatial correlation, and the fixed solution precision of the first receiver vehicle is improved. The first receiver vehicle which is closest in distance and high in positioning accuracy is selected as the mobile positioning base station, the mobile positioning base station is more flexible than a fixed base station, and the distance between the first receiver vehicle and the second receiver vehicle is unchanged within a certain range. By means of the unchanged base line, on one hand, the consistency of the relative positioning accuracy of the two vehicles and the reference station can be kept, and on the other hand, the positioning accuracy of the second receiver vehicle based on the first receiver vehicle can be effectively improved.
The invention carries out two relative positioning among three points of a reference station, a first receiver and a second receiver, and firstly, the first receiver and the second receiver carry out the first relative positioning through a pseudo-range difference method based on the reference station respectively. In the first relative positioning, the first receiver calculates two positioning methods of a floating solution and a fixed solution, and obtains the position correction number of the low-precision floating solution coordinate according to the high-precision fixed solution coordinate. On the basis of the first relative positioning, the second receiver carries out second relative positioning through a position difference method based on the correction number of the first receiver, namely, the low-precision floating point solution positioning coordinate of the second receiver is corrected by acquiring the position correction number through the high-precision fixed solution positioning information of the first receiver.
Claims (10)
1. A GNSS three-point relative positioning method is characterized in that a reference station, a first receiver and a second receiver are in wireless communication, and the GNSS three-point relative positioning method comprises the following steps:
(1) the first receiver and the second receiver respectively carry out relative positioning calculation through a reference station;
(2) the relative positioning calculation of the first receiver comprises calculating low-precision positioning coordinates through non-fixed carrier phase integer ambiguity and calculating high-precision positioning coordinates through fixed carrier phase integer ambiguity;
(3) the relative positioning calculation of the second receiver comprises calculating a low-precision positioning coordinate through an unfixed carrier phase integer ambiguity;
(4) the first receiver calculates the correction number of the low-precision positioning coordinate of the first receiver by comparing the low-precision positioning coordinate with the high-precision positioning coordinate;
(5) and the second receiver corrects the low-precision positioning coordinate of the second receiver according to the correction number of the low-precision positioning coordinate of the first receiver, so that the positioning coordinate precision calculated by the non-fixed carrier phase integer ambiguity is improved.
2. The method as set forth in claim 1, wherein: the reference station comprises an actual station or a network virtual station.
3. The method as set forth in claim 1, wherein: and the first receiver and the second receiver adopt the same relative positioning algorithm to calculate the low-precision positioning coordinates.
4. The method as set forth in claim 1, wherein: the code or carrier phase measurements by the first and second receivers are aligned with the code or carrier phase measurements of the reference station, respectively, to synchronize the measurements of the first and second receivers.
5. The method as set forth in claim 1, wherein: when the first receiver and/or the second receiver replaces the reference station, the first receiver and/or the second receiver firstly calculates the initial deviation between the positioning coordinates of the two reference stations which are close to each other and far away based on the positioning coordinates of the two reference stations, the positioning coordinates of the reference stations which are relatively close to each other are adjusted to the positioning coordinates of the reference stations which are relatively far away by the initial deviation, and the positioning coordinates of the reference stations which are relatively close to each other of the first receiver and/or the second receiver are gradually adjusted by setting the initial deviation reduction rate during the movement of the first receiver and/or the second receiver until the initial deviation is reduced to 0.
6. The method as set forth in claim 1, wherein: the method selects a first receiver which is closest to the position coordinates of a second receiver and completes the fixation of the carrier phase integer ambiguity.
7. The method of claim 6, further comprising: when the second receiver is replaced by the first receiver, the initial deviation between the positioning coordinates of the second receiver after being corrected based on the close receiver and the far receiver is calculated, the positioning coordinates of the first receiver which is relatively close to the first receiver are adjusted to the positioning coordinates of the first receiver which is relatively far from the first receiver through the initial deviation, and the positioning coordinates of the second receiver which is relatively close to the first receiver are adjusted step by setting the reduction rate of the initial deviation in the moving process of the second receiver until the initial deviation is reduced to 0.
8. The utility model provides a GNSS three point relative positioning system, including the reference station, first receiver, the second receiver, wherein, set up satellite signal data observation module in the reference station, communication module, first receiver sets up satellite signal data observation module, communication module, the location calculation module, output module, contrast module, the second receiver sets up satellite signal data observation module, communication module, the location calculation module, the correction module, output module, the reference station, first receiver, the second receiver is respectively through data observation module receiving satellite signal information, and carry out radio communication through communication module, its characterized in that:
the first receiver and the second receiver simultaneously carry out relative positioning calculation based on the reference station through a positioning calculation module;
the first receiver calculates low-precision positioning coordinates through a non-fixed carrier phase integer ambiguity algorithm by a positioning calculation module, calculates high-precision positioning coordinates through a fixed carrier phase integer ambiguity algorithm, calculates the deviation of the low-precision positioning coordinates and the high-precision positioning coordinates through a comparison module, obtains the correction number of the low-precision positioning coordinates, sends the second receiver through a communication module, and outputs the high-precision positioning coordinates through an output module;
and the second receiver calculates low-precision positioning coordinates by adopting an unfixed carrier phase integer ambiguity algorithm through a positioning calculation module, corrects the low-precision positioning coordinates of the second receiver through a correction module according to the low-precision positioning coordinate correction number sent by the first receiver, and outputs the corrected low-precision positioning coordinates through an output module.
9. The system of claim 8, further comprising: the first receiver also comprises a correction module, the second receiver also comprises a comparison module, and the first receiver and the second receiver can be interchanged.
10. The system of claim 8 or 9, wherein: the system also comprises a positioning server, and the first receiver, the second receiver and the reference station are in wireless communication through the positioning server.
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| CN115032668B (en) * | 2022-06-15 | 2023-02-21 | 北京讯腾智慧科技股份有限公司 | Desensitization method and device for satellite navigation positioning reference station observation data |
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