CN114076968A - High-precision navigation system and method and navigation terminal equipment - Google Patents

High-precision navigation system and method and navigation terminal equipment Download PDF

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CN114076968A
CN114076968A CN202010801916.2A CN202010801916A CN114076968A CN 114076968 A CN114076968 A CN 114076968A CN 202010801916 A CN202010801916 A CN 202010801916A CN 114076968 A CN114076968 A CN 114076968A
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ambiguity
satellite
integer
navigation system
receiver
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李一鹤
扈璇璇
董志华
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Aceinna Transducer Systems Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—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
    • 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
    • G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering

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  • 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 provides a high-precision navigation system and method and navigation terminal equipment. The navigation terminal device is configured to obtain satellite observation data of a plurality of satellite navigation systems; and carrying out position positioning by utilizing satellite observation data of a satellite navigation system based on the code division multiple access technology to obtain the position of the navigation terminal equipment. Then, the obtained position of the navigation terminal equipment and the estimated receiver clock error are substituted into a pseudo-range observation value and a phase observation value of a satellite navigation system based on the frequency division multiple access technology to calculate a receiver pseudo-range residual error and a receiver phase residual error; filtering and smoothing the calculated receiver pseudo-range residual error and the receiver phase residual error to obtain a receiver pseudo-range deviation and a receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology after convergence; satellite observation data, receiver pseudo range deviation and receiver phase deviation of a satellite navigation system based on the frequency division multiple access technology are subjected to integer ambiguity fixing.

Description

High-precision navigation system and method and navigation terminal equipment
Technical Field
The invention relates to the field of navigation, in particular to a high-precision navigation system and method and navigation terminal equipment.
Background
Real Time Kinematic (RTK) positioning of Global Navigation Satellite System (GNSS) is a low-cost and high-precision positioning technology. The global satellite navigation system includes GPS in the united states, GLONASS in russia, BEIDOU in china, GALILEO in the european union. Among them, GPS, BEIDOU and GALILEO navigation signals are based on Code Division Multiple Access (CDMA). Therefore, the frequency of the same frequency band signal is the same for different satellite signals. While GLONASS navigation signals are based on Frequency Division Multiple Access (FDMA). The navigation double-frequency signal band frequency is between L1: 1602.0-1615.5 MHz and L2,1246.0-1256.5 MHz. And broadcasting pseudo range and phase observation values by the navigation satellite system. Due to the defects of GNSS satellites and devices, certain delay is generated during signal transmission (at the satellite end) and signal reception (at the receiver end), and further hardware deviations between the satellites and the receiver end are generated in pseudo ranges and phase observed values of different frequency bands, namely, the pseudo ranges and the phase deviations of the satellites/receivers. Because the observed values of different satellites in the same frequency band have the same frequency, the pseudo-range phase observed values of the CDMA-based GPS, BEIDOU and GALILEO systems can eliminate satellite and receiver deviations through double differences between satellites. The conventional GLONASS ambiguity fix method estimates an ambiguity floating solution by decomposing double-difference observations into a linear combination of double-difference ambiguities and inter-station single-difference ambiguities, and using single-difference phases and pseudoranges to roughly estimate single-difference ambiguities. Because the GLONASS system is based on FDMA, satellite biases can only be eliminated by inter-station single differences, and receiver biases cannot be eliminated by inter-station single differences. Resulting in the GLONASS floating ambiguity not being fixed directly.
Therefore, there is a need to provide a new solution to overcome the related problems.
Disclosure of Invention
An object of the present invention is to provide a high-precision navigation system and method, which can estimate the receiver pseudo-range bias and the receiver phase bias of GLONASS without increasing the computation load of the navigation terminal device, thereby fixing the whole-cycle ambiguity of GLONASS.
Another object of the present invention is to provide a navigation terminal device, which can estimate the receiver pseudo-range bias and the receiver phase bias of GLONASS without increasing the calculation load of the navigation terminal device, thereby fixing the whole-cycle ambiguity of GLONASS.
To achieve the object, according to one aspect of the present invention, there is provided a high-precision navigation system including: a navigation server; a navigation terminal device configured to obtain satellite observation data for a plurality of satellite navigation systems, wherein the satellite observation data comprises pseudorange observations, phase observations, and doppler observations, at least one satellite navigation system is based on a code division multiple access technique, and at least one satellite navigation system is based on a frequency division multiple access technique; positioning by using satellite observation data of a satellite navigation system based on a code division multiple access technology to obtain the position of navigation terminal equipment; subsequently, the high precision navigation system: substituting the obtained position of the navigation terminal equipment and the estimated receiver clock error into a pseudo-range observation value and a phase observation value of a satellite navigation system based on the frequency division multiple access technology to calculate a receiver pseudo-range residual error and a receiver phase residual error; filtering and smoothing the calculated receiver pseudo-range residual error to obtain the converged receiver pseudo-range deviation of the satellite navigation system based on the frequency division multiple access technology; filtering and smoothing the calculated receiver phase residual error to obtain the converged receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology; satellite observation data, receiver pseudo range deviation and receiver phase deviation of a satellite navigation system based on the frequency division multiple access technology are subjected to integer ambiguity fixing.
According to another aspect of the present invention, there is provided a high-precision navigation method, including: the method comprises the steps that navigation terminal equipment obtains satellite observation data of a plurality of satellite navigation systems, wherein the satellite observation data comprise pseudo-range observation values, phase observation values and Doppler observation values, at least one satellite navigation system is based on a code division multiple access technology, and at least one satellite navigation system is based on a frequency division multiple access technology; positioning by using satellite observation data of a satellite navigation system based on a code division multiple access technology to obtain the position of navigation terminal equipment; substituting the obtained position of the navigation terminal equipment and the estimated receiver clock error into a pseudo-range observation value and a phase observation value of a satellite navigation system based on the frequency division multiple access technology to calculate a receiver pseudo-range residual error and a receiver phase residual error; filtering and smoothing the calculated receiver pseudo-range residual error to obtain the converged receiver pseudo-range deviation of the satellite navigation system based on the frequency division multiple access technology; filtering and smoothing the calculated receiver phase residual error to obtain the converged receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology; satellite observation data, receiver pseudo range deviation and receiver phase deviation of a satellite navigation system based on the frequency division multiple access technology are subjected to integer ambiguity fixing.
According to yet another aspect of the present invention, a navigation terminal device is provided, comprising a satellite positioning receiver, a processing module, a wireless transmission module, the navigation terminal device being configured to obtain satellite observation data of a plurality of satellite navigation systems, wherein the satellite observation data comprises pseudo-range observations, phase observations, and Doppler observations, at least one satellite navigation system being based on a code division multiple access technique, at least one satellite navigation system being based on a frequency division multiple access technique; positioning by using satellite observation data of a satellite navigation system based on a code division multiple access technology to obtain the position of navigation terminal equipment; substituting the obtained position of the navigation terminal equipment and the estimated receiver clock error into a pseudo-range observation value and a phase observation value of a satellite navigation system based on the frequency division multiple access technology to calculate a receiver pseudo-range residual error and a receiver phase residual error; fixing the integer ambiguity of satellite observation data, receiver pseudo range deviation and receiver phase deviation of a satellite navigation system based on a frequency division multiple access technology; the receiver pseudo-range deviation of the satellite navigation system based on the frequency division multiple access technology is obtained by filtering and smoothing the calculated receiver pseudo-range residual error, and the receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology is obtained by filtering and smoothing the calculated receiver phase residual error.
Compared with the prior art, the method and the device can estimate the receiver pseudo-range deviation and the receiver phase deviation of the GLONASS by using the positions positioned by other satellite navigation systems under the condition of not increasing the calculation load of the navigation terminal equipment, thereby fixing the whole-cycle ambiguity of the GLONASS.
Drawings
FIG. 1 is a schematic diagram of a high-precision navigation system of the present invention in one embodiment;
FIG. 2 is a schematic structural diagram of a navigation terminal device in one embodiment of the present invention;
fig. 3 is a flow chart illustrating a high-precision navigation method according to an embodiment of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be given with reference to the accompanying drawings and preferred embodiments.
In order to realize estimation of GLONASS receiver pseudo range bias and receiver phase bias without increasing the calculation load of the navigation terminal device, the whole-cycle ambiguity of GLONASS is fixed. The position of the navigation terminal can be obtained by first positioning with other satellite navigation systems, such as beidou, GPS or galileo. It should be noted that the position of the navigation terminal device in this document refers to the position of the satellite positioning receiver of the navigation terminal device, and since the navigation terminal device and the satellite positioning receiver are integrated, they are not strictly distinguished.
FIG. 1 is a schematic diagram of a high-precision navigation system 100 according to an embodiment of the present invention. The high-precision navigation system 100 includes a navigation terminal device 102 and a navigation server 106.
The navigation terminal apparatus 102 may be plural. The navigation terminal device 102 can be mounted on a motor vehicle, so as to perform high-precision navigation on driving navigation, especially unmanned navigation, of the motor vehicle. The navigation terminal 102 can communicate with the navigation server 106 via a wireless network 104. The wireless network 104 may be a 2G, 3G, 4G or 5G network, or a combination of multiple networks, such as bluetooth +4G, Wifi + internet +5G, etc., and the present invention has no requirement on the specific type of the wireless network 104, as long as it can support stable communication.
Fig. 2 is a schematic structural diagram of the navigation terminal device 102 in an embodiment of the present invention. The navigation terminal apparatus 102 includes a satellite positioning receiver 220, a processing module 230, and a wireless transmission module 240.
Fig. 3 is a flow chart illustrating a high-precision navigation method according to an embodiment of the present invention. An embodiment of the high-precision navigation method 400 of the present invention is described below with reference to fig. 3.
In step 410, the navigation terminal device obtains satellite observation data of a plurality of satellite navigation systems, wherein at least one satellite navigation system is based on Code Division Multiple Access (CDMA) technology, such as beidou, GPS or galileo, and at least one satellite navigation system is based on frequency Division Multiple Access FDMA, such as GLONASS.
Specifically, the satellite positioning receiver 220 of the navigation terminal device obtains satellite observation data of a plurality of satellite navigation systems, where the satellite observation data includes pseudo-range observation values, phase observation values, and doppler observation values.
And step 420, performing position positioning by using satellite observation data of a satellite navigation system based on the code division multiple access technology to obtain the position of the navigation terminal equipment.
The specific implementation of this step 420 will be described in detail below.
And 430, substituting the obtained position of the navigation terminal equipment and the estimated receiver clock error into a pseudo-range observation value and a phase observation value of the satellite navigation system based on the frequency division multiple access technology to calculate a receiver pseudo-range residual error and a receiver phase residual error.
In particular, the method comprises the following steps of,
the receiver pseudorange residuals and receiver phase residuals are:
Figure BDA0002627698220000041
Figure BDA0002627698220000042
…
Figure BDA0002627698220000043
Figure BDA0002627698220000051
Figure BDA0002627698220000052
…
Figure BDA0002627698220000053
wherein, subscript "P", "L" represents pseudo-range observation and phase observation values, superscript "1-n" represents satellite numbers, Deltav is residual error,
Figure BDA0002627698220000059
receiver pseudorange biases for satellites i of a satellite navigation system based on frequency division multiple access technology,
Figure BDA0002627698220000054
for receiver phase bias of satellite i of a satellite navigation system based on frequency division multiple access technique,
Figure BDA0002627698220000055
and the pseudo range observed value random noise and the phase observed value random noise are obtained.
And step 440, filtering and smoothing the calculated receiver pseudo-range residual error to obtain the converged receiver pseudo-range deviation of the satellite navigation system based on the frequency division multiple access technology.
And step 450, filtering and smoothing the calculated receiver phase residual error to obtain the converged receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology.
It should be noted that when the reference station of the satellite navigation system based on the frequency division multiple access technology is changed, the receiver pseudo range bias and the receiver phase bias of the satellite navigation system based on the frequency division multiple access technology need to be estimated.
Step 460, performing integer ambiguity fixing on satellite observation data, receiver pseudo-range bias and receiver phase bias of the satellite navigation system based on the frequency division multiple access technology.
Specifically, the integer ambiguity fixing of satellite observation data, receiver pseudo range deviation and receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology comprises the following steps:
based on the receiver pseudo-range deviation and the receiver phase deviation of the GLONASS, correcting the single-difference pseudo-range observed value and the phase observed value of the GLONASS to obtain a corrected GLONASS double-difference pseudo-range observed value and a corrected phase observed value:
Figure BDA0002627698220000056
Figure BDA0002627698220000057
Figure BDA0002627698220000058
sk, Sj are non-reference and reference satellites respectively,
and fixing the integer ambiguity based on the corrected double-difference pseudo range observed value and the corrected phase observed value of the GLONASS. Specifically, the position and the ambiguity parameters can be estimated together according to the equations (13), (14) and (3), (4) mentioned below, thereby performing ambiguity search and fixing.
And finally, positioning the satellite observation data and the fixed integer ambiguity of the satellite navigation system based on the frequency division multiple access technology to obtain and update the position of the navigation terminal equipment again.
Due to the nature of the GLONASS system signal FDMA, the ambiguity fixing depends on the receiver pseudo range deviation and the accurate estimation of the receiver phase deviation. On one hand, the hardware delay of the low-cost GNSS chip is unstable, and on the other hand, when the network RTK enhancement correction service is actually used, if a correction provider does not provide receiver deviation, a user cannot reliably fix the ambiguity. The invention provides a method for pseudo-range phase deviation estimation and integer ambiguity fixing of a GLONASS receiver based on a navigation cloud server under the condition of not increasing the calculation load of a terminal, thereby improving the ambiguity fixing rate and the positioning accuracy of the terminal.
Wherein steps 430 and 460 can be performed by the navigation terminal 102 and steps 440 and 450 can be performed by the navigation server, in which case intermediate data needs to be transmitted between the navigation terminal 102 and said navigation server 106. Of course, in some embodiments, steps 430, 440 and 450, and 460 may be executed on navigation terminal 102.
The specific process of step 420 for performing position location using satellite observations from a satellite navigation system based on code division multiple access techniques will be described in detail below. In this process, unless otherwise specified, the satellite observations and associated data refer to satellite observations of a satellite navigation system based on code division multiple access techniques, rather than the satellite observations of GLONASS. The method specifically comprises the following steps.
And 320, calculating by the navigation terminal equipment based on the satellite observation data to obtain a satellite ambiguity floating solution and a variance.
Specifically, the navigation terminal device 102 further obtains a pseudo-range observation value and a phase observation value of the reference station. The reference station is a commonly used technique in satellite navigation, and is a navigation station whose position is known, and the reference station is provided to facilitate high-precision satellite positioning. The ambiguity floating solution is obtained by the navigation terminal device 102 through real-time kinematic (RTK) floating solution calculation based on the pseudo-range observation and the phase observation of the reference station and the pseudo-range observation and the phase observation obtained locally (which may also be referred to as a subscriber station) of the navigation terminal device 102
Figure BDA0002627698220000061
And sum of variance
Figure BDA0002627698220000062
The specific calculation process is as follows:
for short range RTK (baseline less than 20 km), the single difference GNSS observations models for the reference and subscriber stations are as follows
Figure BDA0002627698220000063
Figure BDA0002627698220000064
In the formulas (1) and (2), delta represents the single difference between stations; p and L respectively represent GNSS pseudo range and phase observation value; subscripts i and s are the frequency and satellite PRN number, respectively; p is a position; c is the speed of light; t is a clock difference; r is a receiver and d is pseudo range deviation; u is a phase deviation; and N is the ambiguity. ε is the observed error.
Selecting a reference satellite, forming a double-difference observation value of a non-reference satellite and the reference satellite, and eliminating the clock error of a receiver and the phase deviation of a pseudo range
Figure BDA0002627698220000071
Figure BDA0002627698220000072
Figure BDA0002627698220000076
Representing the single difference between stars.
For the four systems of GPS, GLONASS, galileo and BEIDOU, the estimated state parameters are the position and the correction of the double-difference ambiguity:
Figure BDA0002627698220000073
the ambiguity float solution and the variance are estimated by least squares or kalman filtering.
In step 330, the wireless transmission module 240 of the navigation terminal device 102 may obtain an ambiguity floating solution
Figure BDA0002627698220000077
And sum of variance
Figure BDA0002627698220000078
Uploaded to the navigation server 106 over the network 104.
Step 340, the navigation terminal device 102 floating-point solution according to the obtained ambiguity
Figure BDA0002627698220000079
And sum of variance
Figure BDA00026276982200000710
And calculating by using a first integer ambiguity search and verification strategy to obtain a first group of integer ambiguities and variances, wherein the first group of integer ambiguities and variances comprises a plurality of integer ambiguities and variances, and each integer ambiguity and variance corresponds to a frequency band of one satellite.
Step 350, the navigation server 106 floats the solution according to the obtained ambiguity
Figure BDA00026276982200000711
And sum of variance
Figure BDA00026276982200000712
And calculating by using a second integer ambiguity searching and verifying strategy to obtain a second group of integer ambiguities and variances, wherein the second group of integer ambiguities and variances comprises a plurality of integer ambiguities and variances, and each integer ambiguity and variance corresponds to a frequency band of one satellite.
It should be noted that step 340 and step 350 are performed synchronously by the navigation terminal device 102 and the navigation server 106, respectively, and there is no precedence relationship between them. The amount of computation required for the first integer ambiguity search and verification strategy is less than the amount of computation required for the second integer ambiguity search and verification strategy.
Preferably, the first integer ambiguity searching and verifying strategy comprises:
setting the maximum fixed fuzzy degree and the minimum tracking epoch number
Figure BDA0002627698220000074
And maximum ambiguity variance
Figure BDA0002627698220000075
Determining optimal group candidate integer ambiguity and variance and suboptimal group candidate integer ambiguity and variance in a search space by a least square criterion according to the conditional ambiguity and variance;
and determining whether to fix the first group of integer ambiguities and variances based on the optimal group of candidate integer ambiguities and variances according to the optimal group of candidate integer ambiguities and variances and the second group of candidate integer ambiguities and variances (a verification step).
Preferred second integer ambiguity search and verification strategies include:
setting a minimum number of tracking epochs
Figure BDA0002627698220000081
And maximum ambiguity variance
Figure BDA0002627698220000082
Determining m groups of candidate integer ambiguities and variances according with the conditions in a search space by using a least square criterion, wherein m is more than or equal to 3;
and calculating to obtain a second group of integer ambiguities and variances according to the m groups of candidate integer ambiguities and variances (a verification step).
Because the first integer ambiguity searching and verifying strategy sets the maximum fixed ambiguity, and the second integer ambiguity searching and verifying strategy does not set the maximum fixed ambiguity, the calculation amount of the first integer ambiguity searching and verifying strategy can be reduced. In addition, the verification steps in the first integer ambiguity search and verification strategy are more computationally intensive than the verification steps in the second integer ambiguity search and verification strategy.
In one embodiment, the first integer ambiguity search and verification strategy comprises:
removing the correlation between the ambiguities by Z-space transformation of the ambiguity floating solution and the variance to obtain the ambiguity floating solution and the variance in Z space, namely
Figure BDA0002627698220000083
And
Figure BDA0002627698220000084
setting maximum fixed degree of blur
Figure BDA0002627698220000085
Minimum number of tracking epochs
Figure BDA0002627698220000086
And maximum ambiguity variance
Figure BDA0002627698220000087
Discarding unsatisfied minimum tracking epoch numbers
Figure BDA0002627698220000088
And maximum ambiguity variance
Figure BDA0002627698220000089
If the number of remaining ambiguities exceeds
Figure BDA00026276982200000810
Discarding the ambiguity with larger variance;
determining the optimal set of candidate integers in the search space according to the least square criterion by using the qualified ambiguity and the variancePeripheral ambiguity and variance
Figure BDA00026276982200000811
And
Figure BDA00026276982200000812
and sub-optimal set of candidate integer ambiguities and variances
Figure BDA00026276982200000813
And
Figure BDA00026276982200000814
the corresponding residual squared sum scale value R is calculated,
Figure BDA00026276982200000815
if R is larger than the preset threshold value, fixing the optimal group of candidate integer ambiguities and variances, otherwise, after eliminating the ambiguity with the maximum variance, continuously determining the next optimal group of candidate integer ambiguities and variances in the search space by the least square criterion
Figure BDA00026276982200000816
And
Figure BDA00026276982200000817
and sub-optimal set of candidate integer ambiguities and variances
Figure BDA0002627698220000091
And
Figure BDA0002627698220000092
converting the fixed satellite whole-cycle ambiguity and variance in Z space to normal space to obtain a first group of whole-cycle ambiguity and variance, namely
Figure BDA0002627698220000093
And
Figure BDA0002627698220000094
in one embodiment, the second integer ambiguity search and verification policy comprises:
and removing the correlation between the ambiguities by Z-space transformation of the ambiguity floating solution and the variance. Obtaining the ambiguity float solution and variance in Z space, i.e.
Figure BDA0002627698220000095
And
Figure BDA0002627698220000096
setting a minimum number of tracking epochs
Figure BDA0002627698220000097
And maximum ambiguity variance
Figure BDA0002627698220000098
It is necessary to discard unsatisfied minimum tracking epoch numbers
Figure BDA0002627698220000099
And maximum ambiguity variance
Figure BDA00026276982200000910
The ambiguity and variance of;
determining optimal m groups of candidate integer ambiguities and variances in search space according to the least square criterion
Figure BDA00026276982200000911
And
Figure BDA00026276982200000912
the chi value of each set of candidate integer ambiguities is calculated, and the kth set of candidate integer ambiguities chi is calculated as follows
Figure BDA00026276982200000913
Obtaining chi corresponding to the optimal combination of the fuzzy degreesb(i.e., the smallest chi).
And calculating the weight of each group of candidate integer ambiguities according to the chi value:
Figure BDA00026276982200000914
Figure BDA00026276982200000915
computing a weighted average z of integer ambiguities and varianceswAnd Qw：
Figure BDA00026276982200000916
And
Figure BDA00026276982200000917
weighted average integer ambiguity and variance Z in Z spacewAnd QwConversion to normal space yields a second set of integer ambiguities and variances, i.e.
Figure BDA00026276982200000918
And
Figure BDA00026276982200000919
in step 360, the navigation terminal 102 filters a plurality of integer ambiguities and variances from the first group of integer ambiguities and variances and the second group of integer ambiguities and variances to form a filtered group of integer ambiguities and variances. Preferably, the screening is more reliable and the plurality of integer ambiguities and variances form a screening set of integer ambiguities and variances.
In one embodiment, for
Figure BDA00026276982200000920
In which there is a fixed whole-cycle ambiguity
Figure BDA00026276982200000921
In the absence of a fixed integer ambiguity, use
Figure BDA00026276982200000922
The fixed integer ambiguity may correspond to a variance of 1.0-e8, but may be set to other values, such as zero;
for the
Figure BDA0002627698220000101
Neutralization
Figure BDA0002627698220000102
Wherein there is a fixed integer ambiguity, and if the difference is less than a predetermined threshold, for example 0.01 week, the fixation is considered correct, and
Figure BDA0002627698220000103
or
Figure BDA0002627698220000104
If not, regarding the fixed integer ambiguity as a fixed error, and adopting an initial floating ambiguity and a variance;
for the
Figure BDA0002627698220000105
Neutralization
Figure BDA0002627698220000106
All in no fixed integer ambiguity at this time
Figure BDA0002627698220000107
Neutralization
Figure BDA0002627698220000108
The floating ambiguity and variance are used as the unfixed integer ambiguity and variance, so the method adopts
Figure BDA0002627698220000109
Floating ambiguity and variance in (1);
for the
Figure BDA00026276982200001010
In a fixed integer ambiguity
Figure BDA00026276982200001011
In the absence of fixed integer ambiguities, using
Figure BDA00026276982200001012
Fixed integer ambiguity and variance in (c).
In step 370, the navigation terminal 102 may perform position location based on the filtered group integer ambiguity and variance and the satellite observation data, so as to obtain an accurate position of the navigation terminal.
In the part of the invention, the ambiguity fixing and verifying method is optimized aiming at the low-cost navigation terminal equipment, and the high fixing rate and reliability of ambiguity fixing are ensured. As shown in fig. 3, steps 310, 320, 330, 340, 360, 370 are implemented on the navigation terminal device and step 350 is implemented on the navigation server. The high-precision navigation system can run on navigation terminal equipment with low cost (such as $ 50), can support the quick fixation of the whole-cycle ambiguity only by spending less calculation amount, and solves the contradiction between the high fixation rate of the whole-cycle ambiguity and the limited memory and calculation capacity of the low-cost navigation terminal equipment, and the contradiction between the reliability of the whole-cycle ambiguity verification and the limited memory and calculation capacity of the low-cost navigation terminal equipment.
For details of implementation of the high-precision navigation method, reference may be made to the above high-precision navigation system, which is not repeated here.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (14)

1. A high accuracy navigation system, comprising:
a navigation server;
a navigation terminal device configured to obtain satellite observation data for a plurality of satellite navigation systems, wherein the satellite observation data comprises pseudorange observations, phase observations, and doppler observations, at least one satellite navigation system is based on a code division multiple access technique, and at least one satellite navigation system is based on a frequency division multiple access technique; positioning by using satellite observation data of a satellite navigation system based on a code division multiple access technology to obtain the position of navigation terminal equipment;
the high-precision navigation system then: substituting the obtained position of the navigation terminal equipment and the estimated receiver clock error into a pseudo-range observation value and a phase observation value of a satellite navigation system based on the frequency division multiple access technology to calculate a receiver pseudo-range residual error and a receiver phase residual error; filtering and smoothing the calculated receiver pseudo-range residual error to obtain the converged receiver pseudo-range deviation of the satellite navigation system based on the frequency division multiple access technology; filtering and smoothing the calculated receiver phase residual error to obtain the converged receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology; satellite observation data, receiver pseudo range deviation and receiver phase deviation of a satellite navigation system based on the frequency division multiple access technology are subjected to integer ambiguity fixing.
2. A high-precision navigation method is characterized by comprising the following steps:
the method comprises the steps that navigation terminal equipment obtains satellite observation data of a plurality of satellite navigation systems, wherein the satellite observation data comprise pseudo-range observation values, phase observation values and Doppler observation values, at least one satellite navigation system is based on a code division multiple access technology, and at least one satellite navigation system is based on a frequency division multiple access technology;
positioning by using satellite observation data of a satellite navigation system based on a code division multiple access technology to obtain the position of navigation terminal equipment;
substituting the obtained position of the navigation terminal equipment and the estimated receiver clock error into a pseudo-range observation value and a phase observation value of a satellite navigation system based on the frequency division multiple access technology to calculate a receiver pseudo-range residual error and a receiver phase residual error;
filtering and smoothing the calculated receiver pseudo-range residual error to obtain the converged receiver pseudo-range deviation of the satellite navigation system based on the frequency division multiple access technology;
filtering and smoothing the calculated receiver phase residual error to obtain the converged receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology;
satellite observation data, receiver pseudo range deviation and receiver phase deviation of a satellite navigation system based on the frequency division multiple access technology are subjected to integer ambiguity fixing.
3. A high accuracy navigation system or method as claimed in claim 1 or 2, wherein the position location using satellite observation data of a satellite navigation system based on code division multiple access technique comprises:
calculating to obtain a satellite ambiguity floating solution and a variance based on the satellite observation data;
calculating by utilizing a first integer ambiguity search and verification strategy according to the obtained ambiguity floating solution and variance to obtain a first group of integer ambiguities and variances, wherein the first group of integer ambiguities and variances comprise a plurality of integer ambiguities and variances;
uploading the obtained ambiguity floating solution and variance to a navigation server through a network;
receiving a second set of integer ambiguities and variances of the navigation server through the network, wherein the second set of integer ambiguities and variances are calculated by the navigation server according to the obtained ambiguity floating solution and variance by using a second integer ambiguity search and verification strategy, the second set of integer ambiguities and variances comprise a plurality of integer ambiguities and variances, and the calculation amount required by the first integer ambiguity search and verification strategy is less than the calculation amount required by the second integer ambiguity search and verification strategy;
screening a plurality of integer ambiguities and variances from the first group of integer ambiguities and variances and the second group of integer ambiguities and variances to form a screening group of integer ambiguities and variances;
performing position positioning based on the integer ambiguity and variance of the screening group and the satellite observation data;
wherein each integer ambiguity and variance corresponds to a frequency band of a satellite, and pseudo range deviation and phase deviation of the satellite navigation system based on the frequency division multiple access technology are estimated when a reference station of the satellite navigation system based on the frequency division multiple access technology is changed,
it still includes: and positioning the satellite observation data and the fixed integer ambiguity of the satellite navigation system based on the frequency division multiple access technology to obtain and update the position of the navigation terminal equipment again.
4. The high accuracy navigation system or method of claim 3, wherein the satellite observation data includes pseudo-range observations, phase observations, and Doppler observations, the navigation terminal device obtains pseudo-range observations and phase observations of a reference station, and the ambiguity floating solution is computed by a real-time dynamic positioning floating solution based on the pseudo-range observations and phase observations of the reference station and the pseudo-range observations and phase observations obtained locally by the navigation terminal device
Figure FDA0002627698210000021
And sum of variance
Figure FDA0002627698210000022
5. The high accuracy navigation system or method of claim 3, wherein the first integer ambiguity search and verification strategy comprises:
setting the maximum fixed fuzzy degree and the minimum tracking epoch number
Figure FDA0002627698210000023
And maximum ambiguity variance
Figure FDA0002627698210000024
Determining optimal group candidate integer ambiguity and variance and suboptimal group candidate integer ambiguity and variance in a search space by a least square criterion according to the conditional ambiguity and variance;
and determining whether to fix the first group of integer ambiguities and variances based on the optimal group of candidate integer ambiguities and variances according to the optimal group of candidate integer ambiguities and variances and the second group of candidate integer ambiguities and variances.
6. The high accuracy navigation system or method of claim 3, wherein the first integer ambiguity search and verification strategy comprises:
removing the correlation between the ambiguities by Z-space transformation of the ambiguity floating solution and the variance to obtain the ambiguity floating solution and the variance in Z space, namely
Figure FDA0002627698210000031
And
Figure FDA0002627698210000032
setting maximum fixed degree of blur
Figure FDA0002627698210000033
Minimum number of tracking epochs
Figure FDA0002627698210000034
And maximum ambiguity variance
Figure FDA0002627698210000035
Discarding unsatisfied minimum tracking epoch numbers
Figure FDA0002627698210000036
And maximum ambiguity variance
Figure FDA0002627698210000037
If the number of remaining ambiguities exceeds
Figure FDA0002627698210000038
Discarding the ambiguity with larger variance;
determining the optimal set of candidate integer ambiguities and variances by the least square criterion in the search space according to the eligible ambiguities and variances
Figure FDA0002627698210000039
And
Figure FDA00026276982100000310
and sub-optimal set of candidate integer ambiguities and variances
Figure FDA00026276982100000311
And
Figure FDA00026276982100000312
the corresponding residual squared sum scale value R is calculated,
Figure FDA00026276982100000313
if R is larger than the preset threshold value, fixing the optimal group of candidate integer ambiguities and variances, otherwise, after eliminating the ambiguity with the maximum variance, continuously determining the next optimal group of candidate integer ambiguities and variances in the search space by the least square criterion
Figure FDA00026276982100000314
And
Figure FDA00026276982100000315
and sub-optimal set of candidate integer ambiguities and variances
Figure FDA00026276982100000316
And
Figure FDA00026276982100000317
converting the fixed satellite whole-cycle ambiguity and variance in Z space to normal space to obtain a first group of whole-cycle ambiguity and variance, namely
Figure FDA00026276982100000318
And
Figure FDA00026276982100000319
7. the high accuracy navigation system or method of claim 3, wherein the second integer ambiguity search and verification strategy comprises:
setting a minimum number of tracking epochs
Figure FDA00026276982100000320
And maximum ambiguity variance
Figure FDA00026276982100000321
Determining m groups of candidate integer ambiguities and variances according with the conditions in a search space by using a least square criterion, wherein m is more than or equal to 3;
and calculating to obtain a second group of integer ambiguities and variances according to the m groups of candidate integer ambiguities and variances.
8. The high accuracy navigation system or method of claim 3, wherein the second integer ambiguity search and verification strategy comprises:
removing the correlation between the ambiguities by Z-space transformation of the ambiguity floating solution and the variance to obtain the ambiguity floating solution and the variance in Z space, namely
Figure FDA0002627698210000041
And
Figure FDA0002627698210000042
setting a minimum number of tracking epochs
Figure FDA0002627698210000043
And maximum ambiguity variance
Figure FDA0002627698210000044
It is necessary to discard unsatisfied minimum tracking epoch numbers
Figure FDA0002627698210000045
And maximum ambiguity variance
Figure FDA0002627698210000046
The ambiguity and variance of;
determining optimal m groups of candidate integer ambiguities and variances in search space according to the least square criterion
Figure FDA0002627698210000047
And
Figure FDA0002627698210000048
calculating chi values of each group of candidate integer ambiguities, and obtaining chi corresponding to the optimal combination of ambiguitiesb(i.e., the smallest chi), the kth set of candidate integer ambiguities chikIs calculated as follows
Figure FDA0002627698210000049
And calculating the weight of each group of candidate integer ambiguities according to the chi value:
Figure FDA00026276982100000410
Figure FDA00026276982100000411
computing a weighted average z of integer ambiguities and varianceswAnd Qw：
Figure FDA00026276982100000412
And
Figure FDA00026276982100000413
weighted average integer ambiguity and variance Z in Z spacewAnd QwConversion to normal space yields a second set of integer ambiguities and variances, i.e.
Figure FDA00026276982100000414
And
Figure FDA00026276982100000415
9. the high accuracy navigation system or method of claim 3,
from the first set of integer ambiguities and variances
Figure FDA00026276982100000416
And
Figure FDA00026276982100000417
and a second set of integer ambiguities and variances
Figure FDA00026276982100000418
And
Figure FDA00026276982100000419
the step of screening a plurality of integer ambiguities and variances to form a screening set of integer ambiguities and variances comprises the following steps:
for the
Figure FDA00026276982100000420
In which there is a fixed whole-cycle ambiguity
Figure FDA00026276982100000421
In the absence of a fixed integer ambiguity, use
Figure FDA00026276982100000422
Medium fixed integer ambiguity;
for the
Figure FDA00026276982100000423
Neutralization
Figure FDA00026276982100000424
There is a fixed integer ambiguity, if the difference between the two is less than a predetermined threshold, the fixation is considered correct, and
Figure FDA00026276982100000425
or
Figure FDA00026276982100000426
If the integer ambiguity is fixed, otherwise, the integer ambiguity is considered as a fixed error, and the initial floating ambiguity and the variance are adopted;
for the
Figure FDA00026276982100000427
Neutralization
Figure FDA00026276982100000428
The whole-cycle ambiguity of none of them being fixed by
Figure FDA00026276982100000429
Floating ambiguity and variance in (1);
for the
Figure FDA00026276982100000430
In a fixed integer ambiguity
Figure FDA00026276982100000431
In the absence of fixed integer ambiguities, using
Figure FDA00026276982100000432
Fixed integer ambiguity and variance in (c).
10. The high accuracy navigation system or method of claim 1 or 2,
the receiver pseudorange residuals and receiver phase residuals are:
Figure FDA0002627698210000051
Figure FDA0002627698210000052
…
Figure FDA0002627698210000053
Figure FDA0002627698210000054
Figure FDA0002627698210000055
…
Figure FDA0002627698210000056
wherein, subscript "P", "L" represents pseudo-range observation and phase observation values, superscript "1-n" represents satellite numbers, Deltav is residual error,
Figure FDA0002627698210000057
receiver pseudorange biases for satellites i of a satellite navigation system based on frequency division multiple access technology,
Figure FDA0002627698210000058
for receiver phase bias of satellite i of a satellite navigation system based on frequency division multiple access technique,
Figure FDA0002627698210000059
and the pseudo range observed value random noise and the phase observed value random noise are obtained.
11. The high accuracy navigation system or method of claim 1 or 2,
the satellite navigation system based on the frequency division multiple access technology is GLONASS, and the integer ambiguity fixing of the satellite observation data, the receiver pseudo range deviation and the receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology comprises the following steps:
based on the receiver pseudo-range deviation and the receiver phase deviation of the GLONASS, correcting the single-difference pseudo-range observed value and the phase observed value of the GLONASS to obtain a corrected double-difference pseudo-range observed value and a corrected phase observed value of the GLONASS:
Figure FDA00026276982100000510
Figure FDA00026276982100000511
Figure FDA00026276982100000512
sk, Sj are non-reference and reference satellites respectively,
and fixing the integer ambiguity based on the corrected GLONASS double-difference pseudo range observed value and the phase observed value.
12. A navigation terminal device, characterized in that it comprises a satellite positioning receiver, a processing module, a wireless transmission module, the navigation terminal device being configured to:
obtaining satellite observation data of a plurality of satellite navigation systems, wherein the satellite observation data comprises pseudo-range observation values, phase observation values and Doppler observation values, at least one satellite navigation system is based on a code division multiple access technology, and at least one satellite navigation system is based on a frequency division multiple access technology;
positioning by using satellite observation data of a satellite navigation system based on a code division multiple access technology to obtain the position of navigation terminal equipment;
substituting the obtained position of the navigation terminal equipment and the estimated receiver clock error into a pseudo-range observation value and a phase observation value of a satellite navigation system based on the frequency division multiple access technology to calculate a receiver pseudo-range residual error and a receiver phase residual error;
fixing the integer ambiguity of satellite observation data, receiver pseudo range deviation and receiver phase deviation of a satellite navigation system based on a frequency division multiple access technology;
the receiver pseudo-range deviation of the satellite navigation system based on the frequency division multiple access technology is obtained by filtering and smoothing the calculated receiver pseudo-range residual error, and the receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology is obtained by filtering and smoothing the calculated receiver phase residual error.
13. The navigation terminal device of claim 11, wherein the position location using satellite observation data of a satellite navigation system based on a code division multiple access technique comprises:
calculating to obtain a satellite ambiguity floating solution and a variance based on the satellite observation data;
calculating by utilizing a first integer ambiguity search and verification strategy according to the obtained ambiguity floating solution and variance to obtain a first group of integer ambiguities and variances, wherein the first group of integer ambiguities and variances comprise a plurality of integer ambiguities and variances;
uploading the obtained ambiguity floating solution and variance to a navigation server through a network;
receiving a second set of integer ambiguities and variances of the navigation server through the network, wherein the second set of integer ambiguities and variances are calculated by the navigation server according to the obtained ambiguity floating solution and variance by using a second integer ambiguity search and verification strategy, the second set of integer ambiguities and variances comprise a plurality of integer ambiguities and variances, and the calculation amount required by the first integer ambiguity search and verification strategy is less than the calculation amount required by the second integer ambiguity search and verification strategy;
screening a plurality of integer ambiguities and variances from the first group of integer ambiguities and variances and the second group of integer ambiguities and variances to form a screening group of integer ambiguities and variances;
performing position positioning based on the integer ambiguity and variance of the screening group and the satellite observation data;
wherein each integer ambiguity and variance corresponds to a frequency band of a satellite, and pseudo range deviation and phase deviation of the satellite navigation system based on the frequency division multiple access technology are estimated when a reference station of the satellite navigation system based on the frequency division multiple access technology is changed,
it still includes: and positioning the satellite observation data and the fixed integer ambiguity of the satellite navigation system based on the frequency division multiple access technology to obtain and update the position of the navigation terminal equipment again.
14. The navigation terminal device of claim 12,
the satellite navigation system based on the frequency division multiple access technology is GLONASS, and the integer ambiguity fixing of the satellite observation data, the receiver pseudo range deviation and the receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology comprises the following steps:
based on the receiver pseudo-range deviation and the receiver phase deviation of the GLONASS, correcting the single-difference pseudo-range observed value and the phase observed value of the GLONASS to obtain a corrected GLONASS double-difference pseudo-range observed value and a corrected phase observed value:
Figure FDA0002627698210000071
Figure FDA0002627698210000072
Figure FDA0002627698210000073
sk, Sj are non-reference and reference satellites respectively,
and fixing the integer ambiguity based on the corrected GLONASS double-difference pseudo range observed value and the phase observed value.
CN202010801916.2A 2020-08-11 2020-08-11 High-precision navigation system and method and navigation terminal equipment Pending CN114076968A (en)

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