CN114779296A - All-weather satellite wide-area precision positioning terminal all day - Google Patents
All-weather satellite wide-area precision positioning terminal all day 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- 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
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Abstract
An all-weather satellite wide-area precise positioning terminal in all seasons belongs to the field of satellite navigation positioning technology and devices thereof, and solves the problem that the existing precise positioning technology terminal cannot solve the problem of poor stability and reliability of wide-area precise positioning in all-weather application background in all seasons. The GNSS positioning information module receives multimode multi-frequency satellite signals in real time through a multimode GNSS receiver, analyzes original observation information of the satellite, and sends the analyzed original observation information out through a TTL high-speed serial port and an Ethernet at the same time; the wide area differential information interaction module is used for acquiring wide area differential information generated by the base station, the wide area differential positioning resolving module is used for respectively inquiring whether original observation information received through the TTL high-speed serial port and the Ethernet interface is complete, if so, the original observation information of the satellite is corrected based on the wide area differential information to obtain wide area differential precision positioning information, and then the wide area differential precision positioning information is coded and sent according to an NMEA0183 protocol. The invention is suitable for navigation positioning.
Description
Technical Field
The invention belongs to the field of satellite navigation positioning technology and a device thereof.
Background
With the continuous development and progress of scientific technology, the demand of various industries in national production for precise positioning technology is on a growing trend. The satellite navigation positioning technology has the advantages of wide application range, high positioning precision, flexible and universal system and the like, and is widely applied, particularly the precision positioning technology with the positioning precision reaching the sub-meter level and the terminal thereof are widely applied to key fields of industrial production, national defense construction, economic construction and the like. However, the conventional precision positioning technology and the terminal thereof are limited by the satellite positioning method and the positioning precision enhancing method thereof, so that the actual range of action for effectively providing precision positioning information is very limited, and the terminal does not have the capability of still providing precision positioning information in a wide area. Secondly, a single-mode single-frequency Satellite Navigation System is usually supported by a conventional precision positioning technology and a terminal thereof, that is, a single GNSS (Global Navigation Satellite System) board is used as a design application target, and the multi-System multi-band compatible application capability is poor, so that the precision positioning stability and reliability are limited. This further reduces the likelihood of its all-weather, all-day-long, stable and reliable use. In addition, the system universality of the conventional precision positioning technology and the user terminal thereof has limitations, the configuration cannot be timely adjusted according to complicated and variable actual environments and working conditions to quickly adapt to the current requirements, and redesigning the positioning terminal inevitably increases the development cost and the development period.
Disclosure of Invention
The invention aims to solve the problem that the existing precision positioning technology terminal cannot solve the problem of poor stability and reliability of wide-area precision positioning in all-weather application background all the day. An all-weather satellite wide-area precise positioning terminal is provided.
The invention relates to an all-weather satellite wide-area precision positioning terminal all day long, which comprises: the system comprises a GNSS positioning information module, a wide area differential information interaction module, a wide area differential positioning resolving module, a power supply conversion module and a positioning information output module;
the GNSS positioning information module receives multi-mode multi-frequency satellite signals in real time through a multi-mode GNSS receiver, analyzes original satellite observation information based on a GNSS board card, and simultaneously sends the analyzed original observation information to the wide-area differential positioning resolving module through a TTL high-speed serial port and an Ethernet;
the wide area differential information interaction module is used for acquiring wide area differential information generated by the base station and sending the acquired wide area differential information to the wide area differential positioning resolving module;
the wide area differential positioning resolving module is used for respectively inquiring whether the original observation information received through the TTL high-speed serial port and the Ethernet interface is complete or not, and if so, correcting the original observation information by utilizing the wide area differential information; establishing a wide area differential positioning equation by using the corrected original observation information, and solving the equation to obtain positioning information of the target; if the data is not complete, alarming;
the power supply conversion module is used for connecting an external power supply and supplying power to the GNSS positioning information module, the wide area differential information interaction module, the wide area differential positioning resolving module 3 and the power supply conversion module after converting the external power supply;
and the positioning information output module sends the wide area differential positioning information in different communication forms in real time.
Furthermore, in the invention, the GNSS positioning information module directly sends the GNSS positioning information to the wide area differential positioning resolving module through the TTL high-speed serial port at the Baud rate of 115200 bps.
Further, in the invention, the wide area differential information interaction module acquires the wide area differential information generated by the base station through the 4G network.
Further, the wide-area differential positioning resolving module comprises a communication interface expansion board card, a main controller and a solid state disk, wherein the communication interface expansion board card is used for providing a plurality of TTL high-speed serial ports to be connected with the GNSS positioning information module, the wide-area differential information interaction module and the positioning information output module;
the main controller is connected with the TTL high-speed serial port of the communication interface expansion board card and is also connected with the GNSS positioning information module through the Ethernet interface to inquire whether the original observation information received through the TTL high-speed serial port is complete or not, when the original observation information received by the TTL high-speed serial port is incomplete, inquiring whether the original observation information received by the Ethernet is complete, if the original observation information received by the Ethernet is still incomplete, inquiring whether the original observation information received by the TTL high-speed serial port is complete again until the original observation information received by the TTL high-speed serial port and the Ethernet interface is respectively inquired for m times, if the obtained query results are incomplete, alarming is carried out, if the original observation information received by the TTL high-speed serial port or the Ethernet port is queried completely, analyzing wide area differential information in real time according to an RTCM communication protocol, and correcting original observation information by using the wide area differential information; establishing a wide area differential positioning equation by using the corrected original observation information, and solving the equation to obtain positioning information of the target; wherein m is an integer greater than or equal to 5;
the main controller also sends the positioning information of the target to the solid state disk or displays and interacts the data through the USB interface and the VGA structure;
the solid state disk is used for storing the positioning information of the target.
Further, in the present invention, the wide area differential information generated by the base station and acquired by the wide area differential information interaction module is:
in the formula,. DELTA.PIF(ti) Is tiPseudorange correction, Δ P, without ionospheric layer at timeIF(ti-1) Is ti-1The pseudorange correction is not ionized at the moment,
is tiThe variation rate of the ionosphere-free pseudo range correction value at the moment, rho is the satellite distance between the satellite position and the reference station position, T is troposphere delay, and delta T is the clock error of a GNSS receiver of the reference station;
represents tiIonospheric-free pseudorange observations, Δ P, after time smoothingIF(ti) Is tiThe correction amount of the pseudo range without the ionized layer at the moment; c is the speed of light and c is 3 × 108m/s；
Wherein,
and
respectively represent tiAnd ti-1Ionosphere-free pseudo-range observed value P after time smoothingIF(ti) Represents tiIonosphere-free pseudorange observations at time, i represents the smoothing times,
representing the observed value change value of the ionosphere-free carrier between epochs:
wherein,
is tiTime signal frequency f1(ti) The observed value of the phase of the carrier wave above,
is tiTime signal frequency f2(ti) The observed value of the carrier phase of (c),
represents tiNo ionosphere carrier observed value exists at any moment;
in the formula, PIF(ti) Is tiTime ionosphere-free pseudo-range observed value, f1(ti) And f2(ti) Are each tiSignal frequency, P, of a time GNSS dual-frequency observation1(ti) Is tiTime signal frequency f1(ti) Pseudo-range observation of (1), P2(ti) Is tiTime signal frequency f2(ti) Or (3) a pseudorange observation.
Further, in the present invention, the specific method for the wide-area differential positioning calculation module to correct the original observation information by using the wide-area differential information is as follows:
firstly, the formula is adopted:
obtaining the correction quantity of non-ionized layer pseudo range received by the terminal, wherein in the formula, delta PIF(tj) Is tjThe terminal at the moment receives the correction quantity delta P of the pseudo range without the ionized layer sent by the base stationIF(ti) Is tiThe IGS station at the moment calculates the obtained ionosphere-free pseudo-range correction,
is tiThe change rate of the change value of the non-ionized layer pseudo range at the moment;
then based on tiNon-ionization time terminal receivingLayer pseudorange correction Δ PIF(ti)，tiIonosphere-free pseudo-range observation value locally received by time correction terminal
Obtaining:
Further, in the present invention, the wide-area differential positioning solution module uses the corrected original observation information to establish a wide-area differential positioning equation, and the specific method for solving the equation to obtain the positioning information of the target is as follows:
establishing a wide area differential positioning equation:
V＝B·X-L,P (8)
in the formula, V represents a residual error matrix, B represents a design matrix, X represents a parameter to be estimated, L represents an observation matrix, and P represents an observation value weight matrix;
V＝[v1 v2 … vn] (9)
X＝[dx dy dz cΔt]T (11)
P＝diag[1+sin2(e1) 1+sin2(e2) … 1+sin2(en)] (13)
in the formula, vk(k-1, 2, …, n) represents the k-th satellite corresponding observation equation residual, ek(k-1, 2, …, n) th satelliteThe corresponding satellite altitude, dx, dy, dz respectively represent the coordinate correction value corresponding to the current position of the terminal in the space rectangular coordinate system, (X)0,Y0,Z0) For the initial coordinate of the user side, ρ0k(k-1, 2, …, n) represents the initial satellite range of the kth satellite,
represents the initial satellite distance, T, of the kth satellitek(k ═ 1,2, …, n) represents the difference-corrected ionospheric-free pseudorange observations for the kth satellite and tropospheric delay values corrected via a tropospheric empirical model; x, Y, Z represents the coordinates corresponding to the current position of the terminal in the space rectangular coordinate system before correction.
The terminal solves the problems of low positioning precision, limited positioning distance, limited use condition, low compatibility and universality, high cost, long development period, low stability and reliability and the like of the traditional precision positioning technology and the terminal thereof, improves the multimode and multifrequency compatibility, improves the universal capability of a multi-GNSS platform, ensures the positioning precision, stability, reliability and other performances of the traditional precision positioning technology and the terminal thereof under the all-weather application background all day long, and ensures that the terminal thereof can accurately, continuously, stably and reliably complete wide-area precision positioning.
Drawings
FIG. 1 is an electrical schematic block diagram of an all-weather satellite wide-area precision positioning terminal of the present invention;
FIG. 2 is a diagram of wide area differential positioning measured east error versus epoch;
FIG. 3 is a graph of measured northbound error versus epoch for wide area differential positioning;
FIG. 4 is a graph of measured time error versus epoch for a wide area differential positioning.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The first specific implementation way is as follows: the present embodiment will be described with reference to fig. 1, and the present embodiment provides an all-weather satellite wide-area precision positioning terminal, which is characterized by comprising: the GNSS positioning system comprises a GNSS positioning information module 1, a wide area differential information interaction module 2, a wide area differential positioning resolving module 3, a power supply conversion module 4 and a positioning information output module 5;
the GNSS positioning information module 1 receives multi-mode multi-frequency satellite signals in real time through a multi-mode GNSS receiver, analyzes original observation information of a satellite based on a GNSS board card, and simultaneously sends the analyzed original observation information to the wide area differential positioning resolving module 3 through a TTL high-speed serial port and an Ethernet;
the wide area differential information interaction module 2 is used for acquiring wide area differential information generated by the base station and sending the acquired wide area differential information to the wide area differential positioning resolving module 3;
the wide area differential positioning resolving module 3 is used for respectively inquiring whether the original observation information received through the TTL high-speed serial port and the Ethernet interface is complete, and if so, correcting the original observation information by using the wide area differential information; establishing a wide-area differential positioning equation by using the corrected original observation information, and solving the equation to obtain the positioning information of the target; if the data is not complete, alarming;
the power supply conversion module 4 is used for connecting an external power supply and supplying power to the GNSS positioning information module 1, the wide area differential information interaction module 2, the wide area differential positioning resolving module 3 and the power supply conversion module 4 after converting the external power supply;
the positioning information output module 5 sends the wide area differential positioning information in different communication forms in real time.
In the embodiment, the GNSS positioning information module mainly includes a multi-mode multi-frequency satellite antenna (supporting a GPS/BDS/GLONASS/galileo multi-system) and a multi-frequency multi-mode GNSS board card BDM 683. As shown in fig. 1, the multi-mode multi-frequency satellite antenna receives satellite signals of the GPS/BDS/GLONASS/galileo system in real time, and the GNSS board BDM683 observes multiple satellites in the GPS/BDS/GLONASS/galileo system based on the captured satellite signals and acquires original observation information of the observed satellites in real time. And then, the GNSS board card BDM683 sends the observed satellite original observation information to the wide area differential positioning resolving module in a redundant backup mode through a TTL electric high-speed serial port and a 100M Ethernet, wherein the baud rate of the TTL high-speed serial port is 115200bps, and the transmission rate of the 100M Ethernet is 100 Mbps.
The wide area difference information interaction module 2 acquires the wide area difference information generated in advance from the IGS information station through the 4G network. The wide area differential information is mainly used for correcting local GNSS positioning information, and aims to improve the accuracy of the wide area positioning of the GNSS system. In order to ensure the long-distance transmission of the wide-area differential information to ensure the realizability of wide-area positioning, based on the characteristic of long-distance transmission of the 4G network, the wide-area differential information interaction module acquires the wide-area differential information generated in advance by the IGS information station in real time by using the 4G network, and the wide-area differential information interaction module transmits the wide-area differential information to the wide-area differential positioning resolving module in real time at a high baud rate of 115200bps through a high-speed serial port of the 4G network module. The received wide area differential information is coded according to an RTCM communication protocol, and the wide area differential positioning resolving module can realize data decoding according to the RTCM communication protocol.
The wide-area differential positioning resolving module 3 completes the real-time resolving of the wide-area differential positioning mainly based on the wide-area differential information and the GNSS positioning information. The wide area differential positioning resolving module adopts 1 PC104 core board SCM9011 as a main processing module, the board is matched with a communication interface expansion board PES-S2ED-X based on a PC104 bus to realize high-speed serial port expansion, and the maximum baud rate of the expanded 8-channel high-speed communication serial ports UART 1-UART 8 is 921600 bps.
The wide area differential positioning resolving module 3 is connected with the GNSS positioning information module 1 through a high-speed serial port and an Ethernet in a redundant backup transmission mode, and acquires original satellite observation information in real time through the GNSS positioning information module 1; the wide area differential positioning resolving module 3 is connected with the wide area differential information interaction module 2 through a high-speed serial port, and the wide area differential information is acquired through the wide area differential information interaction module 2. Based on GNSS positioning information and wide area differential information, a wide area differential positioning resolving module firstly resolves the wide area differential information in real time according to an RTCM communication protocol and acquires GNSS original observation correction information; then, constructing a wide area differential positioning equation and optimizing the equation based on GNSS original observation correction information so as to obtain more accurate positioning information; and finally, compiling target wide-area differential positioning information, such as GPGGA, GPVTG, GPRMC and the like, by a wide-area differential positioning resolving module according to the requirements of the NMEA0183 protocol.
The wide-area differential positioning resolving module 3 is in real-time communication with the GNSS positioning information module 1, the wide-area differential information interaction module 2 and the positioning information output module 5 through the extended 8-path high-speed serial port, and the electrical form of the high-speed serial port is 3.3V TTL. The extended high-speed serial ports UART1 and UART2 and UART1 and UART2 of the GNSS positioning information module transmit original satellite observation information in a redundant backup communication mode, and the baud rate of the redundant backup communication is 115200 bps. In addition, the high-speed serial ports UART1 and UART2 extended by the SCM9011 of the PC104 core board of the wide-area differential positioning solution module send parameter model configuration instructions to the UART1 and UART2 of the GNSS positioning information module at a baud rate of 115200bps, so as to adjust the working mode of the GNSS positioning information module.
The extended high-speed serial ports UART3 and UART4 and UART1 and UART2 of the wide area differential information interaction module transmit wide area differential information in a redundant backup communication mode, the baud rate of the redundant backup communication is 115200bps, meanwhile, 100M Ethernet is used as a second backup communication loop in an auxiliary mode, and the communication rate is 100 Mbps; the extended high-speed serial ports UART 5-UART 8 output wide area differential positioning information in real time in a multi-channel data synchronous transmission mode, the wide area differential positioning information is encoded according to an NMEA1083 protocol, and the baud rate can be configured at will according to requirements (the highest baud rate is 921600 bps). The communication interface expansion board PES-S2ED-X is further integrated with a 1-path CAN bus, wide area differential positioning information is coded according to the NMEA2000 protocol, and the communication speed is 500 Kbps.
The wide area differential positioning resolving module 3 adopts a PC104 core board SCM9011 which is in real-time communication with a communication interface expansion board PES-S2ED-X through a PC104 bus. The SCM9011 of the PC104 core board is loaded with and runs a 64-bit Windows7 operating system, and a driver of a communication interface extension board PES-S2ED-X can be directly installed in the Windows7 operating system and can directly use an extended 8-way high-speed serial port. In addition, a PC104 core board SCM9011 adopted by the wide area differential positioning calculation module integrates a PCIe bus, the SCM9011 extends a 128G solid state disk through the PCIe bus to increase an onboard memory, and storage can be achieved through a Windows7 operating system. In addition, an SCM9011 of a PC104 core board adopted by the wide-area differential positioning calculation module integrates an interface capable of outputting VGA video, the interface can be directly connected to a VGA display and displays a Windows7 operating system interface, the SCM9011 also integrates a USB universal interface, and the Windows7 operating system can be operated by connecting a USB mouse and a keyboard.
The positioning information output module 5 mainly completes the output of the wide-area differential positioning information. The positioning information output module broadcasts wide-area differential positioning information to users through CAN communication and a high-speed serial port RS 422. The communication interface extension board PES-S2ED-X extends out 1 path of CAN bus interface, and the 1 path of CAN bus interface is realized through a CAN bus conversion chip SIT233, the communication speed is 500kbps, and wide area differential positioning information is directly output to a user; the communication interface extension board PES-S2ED-X extends out of 4 high-speed serial ports, 4 high-speed serial ports RS422 are achieved through an RS422 conversion chip NSI83086, and the baud rate can be configured randomly according to requirements; one path of Ethernet interface of the SCM9011 of the PC104 core board realizes 1 path of Ethernet communication, and the communication rate is 100 Mbps. In addition, the GNSS positioning information module can output 1 channel of pulse per second signals, and the positioning information output module outputs the signals in a TTL level electrical form to provide pulse per second information for a user.
The power supply conversion module 4 comprises a power supply circuit and a real-time clock circuit, wherein the power supply circuit supports 9-36VDC input, and outputs 5VDC and 3.3VDC after conversion by the power supply module. Wherein, 12VDC is converted into 5VDC via the voltage conversion module URB2405YMD _10WR3, and 12VDC is converted into 3.3VDC via the voltage conversion module URB2403YMD _10WR3 to supply power for 5VDC and 3.3VDC levels respectively. In addition, the auxiliary unit is integrated with a power supply control switch with a lamp ring, and the lamp ring is turned on or off to indicate the working state of the system.
Further, in the embodiment, the baud rate of the rate of sending information from the GNSS positioning information module 1 to the wide-area differential positioning solution module 3 through the TTL high-speed serial port is 115200 bps.
Further, in this embodiment, the wide area differential information interaction module 2 acquires the wide area differential information generated by the base station through the 4G network.
Further, in this embodiment, the wide area differential positioning resolving module 3 includes a communication interface expansion board 301, a main controller 302 and a solid state disk 303, where the communication interface expansion board 301 is used to provide a plurality of TTL high-speed serial ports to connect the GNSS positioning information module 1, the wide area differential information interaction module 2 and the positioning information output module 5;
the main controller 302 is connected with the TTL high-speed serial port of the communication interface expansion board 301, and is also connected with the GNSS positioning information module 1 through the Ethernet interface, and inquires whether the original observation information received through the TTL high-speed serial port is complete, when the original observation information received by the TTL high-speed serial port is incomplete, whether the original observation information received by the Ethernet is complete is inquired, if the original observation information received by the Ethernet is incomplete, whether the original observation information received by the TTL high-speed serial port is complete is inquired again until the original observation information received by the TTL high-speed serial port and the Ethernet interface is inquired for m times respectively, if the obtained query results are incomplete, alarming is carried out, if the original observation information received by the TTL high-speed serial port or the Ethernet port is queried completely, analyzing wide area differential information in real time according to an RTCM communication protocol, and correcting original observation information by using the wide area differential information; establishing a wide-area differential positioning equation by using the corrected original observation information, and solving the equation to obtain the positioning information of the target; wherein m is an integer greater than or equal to 5;
the main controller 302 further sends the positioning information of the target to the solid state disk 303 or displays and interacts data through a USB interface and a VGA structure;
the solid state disk 303 is used for storing positioning information of the target.
Further, in this embodiment, the wide area difference information generated by the base station and acquired by the wide area difference information interaction module 2 is:
in the formula,. DELTA.PIF(ti) Is tiTime ionosphere free pseudorange correction, Δ PIF(ti-1) Is ti-1The pseudo-range correction quantity of the non-ionized layer at the moment,
is tiThe variation rate of the ionosphere-free pseudo range correction value at the moment, rho is the satellite distance between the satellite position and the reference station position, T is the troposphere delay, and delta tm is the clock error of the GNSS receiver of the reference station (obtained by pseudo range single-point positioning);
denotes tiNon-ionospheric pseudo-range observed value, delta P, after time smoothingIF(ti) Is tiThe non-ionized layer pseudo range correction quantity of the moment; c is the speed of light and c is 3 × 108m/s；
Wherein,
and
respectively represent tiAnd ti-1Ionosphere-free pseudo-range observed value P after time smoothingIF(ti) Represents tiIonospheric-free pseudorange observations at time, i represents the number of smoothing,
representThe change value of the observed value of the carrier without the ionized layer between epochs is as follows:
wherein,
is tiTime signal frequency f1(ti) The observed value of the carrier phase of (c),
is tiTime signal frequency f2(ti) The observed value of the carrier phase of (c),
denotes tiNo ionosphere carrier observed value exists at any moment;
in the formula, PIF(ti) Is tiTime of ionospheric-free pseudo-range observation, f1(ti) And f2(ti) Are each tiSignal frequency, P, of a dual-frequency observation of a time-of-day GNSS1(ti) Is tiTime signal frequency f1(ti) Pseudo-range observation of (1), P2(ti) Is tiTime signal frequency f2(ti) Of the pseudo-range observations.
Further, in the embodiment, a specific method for the wide-area differential positioning calculation module 3 to correct the original observation information by using the wide-area differential information is as follows:
firstly, the formula is adopted:
obtaining the correction quantity of non-ionized layer pseudo range received by the terminal, wherein in the formula, delta PIF(tj) Is tjThe terminal at the moment receives the correction quantity delta P of the pseudo range without the ionized layer sent by the base stationIF(ti) Is tiThe IGS station at the moment calculates the obtained ionosphere-free pseudo-range correction quantity,
is tiThe change rate of the change value of the non-ionized layer pseudo range at the moment;
then, based on tiNon-ionized layer pseudo range correction quantity delta P received by time terminalIF(ti)，tiIonosphere-free pseudo-range observed value locally received by time correction terminal
Obtaining:
Further, in this embodiment, the wide-area differential positioning solution module 3 uses the corrected original observation information to establish a wide-area differential positioning equation, and a specific method for solving the equation to obtain the positioning information of the target includes:
establishing a wide area differential positioning equation:
V＝B·X-L,P (8)
in the formula, V represents a residual error matrix, B represents a design matrix, X represents a parameter to be estimated, L represents an observation matrix, and P represents an observation value weight matrix;
V＝[v1 v2 … vn] (9)
X＝[dx dy dz cΔt]T (11)
P＝diag[1+sin2(e1) 1+sin2(e2) … 1+sin2(en)] (13)
in the formula, vk(k is 1,2, …, n) represents the observation equation residual corresponding to the k-th satellite, ek(k is 1,2, …, n) satellite height angle corresponding to kth satellite, dx, dy, dz respectively represent coordinate correction values corresponding to the current position of the terminal in a space rectangular coordinate system, (X)0,Y0,Z0) For the initial coordinate of the user side, ρ0k(k-1, 2, …, n) represents the initial satellite range of the kth satellite,
represents the initial station-to-satellite distance, T, of the kth satellitek( k 1,2, …, n) represents the difference corrected ionospheric-free pseudo-range observations and tropospheric delay values corrected via an empirical tropospheric model for the kth satellite; x, Y, Z represents the coordinates corresponding to the current position of the terminal in the space rectangular coordinate system before correction.
The precision, the universality and the stability of the high-stability high-reliability satellite wide-area precision positioning terminal which can be used for all-weather wide-area precision positioning all day long are used for carrying out long-time positioning performance examination test on the high-stability high-reliability satellite wide-area precision positioning terminal. In order to obtain a more accurate and reliable positioning comparison result, an accurate positioning reference point which is subjected to multiple calibration by a multi-frequency multi-mode global satellite navigation positioning system is used as a reference point, and the placement location of a satellite antenna of a high-stability high-reliability satellite wide-area accurate positioning terminal is completely coincided with or as close as possible to the accurate positioning reference point which is subjected to multiple calibration by the multi-frequency multi-mode global satellite navigation positioning system. However, due to the height difference between the two antennas, if the two antennas are placed too close to each other, the two antennas will be shielded from each other, thereby affecting the quality and continuity of the satellite signal. In order to accurately determine the optimal placement distance of the satellite antenna, multiple tests are carried out on the actual placement positions of the intelligent antenna and the reference satellite antenna, and the placement distance is preferably 15-25 cm. Therefore, the placing distance of the selected satellite antenna is 15 cm. The specific test steps of the long-time positioning performance assessment test are as follows:
(1) selecting an open place as a test place, erecting a multi-frequency multi-mode global navigation satellite system (Novatel GNSS 750) satellite antenna of a positioning system and a satellite antenna of a high-stability high-reliability satellite wide-area precise positioning terminal at a preselected open test place, wherein the arrangement distance of the two antennas is 15 cm.
(2) The high-stability high-reliability satellite wide-area precise positioning terminal is connected to the 4G communication module through a serial port, the satellite antenna is connected to the high-stability high-reliability satellite wide-area precise positioning terminal, and the high-stability high-reliability satellite wide-area precise positioning terminal is connected with the test PC through the serial port. Meanwhile, the Novatel GNSS 750 is connected to the satellite antenna and the power supply cable, and is connected to the test PC through a serial port.
(3) And starting and configuring a Novatel GNSS 750, continuously receiving the positioning result for 96h, and recording the positioning result to a test PC. Then, the positioning result is averaged and the value is used as a reference value of the positioning result.
(4) And starting the high-stability and high-reliability satellite wide-area precise positioning terminal, and storing a wide-area differential positioning result by the test PC. The positioning results are then analyzed against the CEP with Novatel GNSS 750 positioning results.
As shown in fig. 2-4, in the east, north and sky directions, the actual measurement result continuously fluctuates above and below the reference value, no data jumping occurs, and the stable output trend is increasingly obvious as the system operation time gradually increases; as shown in FIG. 4, the actual measurement CEP values of the wide-area differential positioning actual measurement results in the east and north directions are less than 0.5m, and the performance requirements of the wide-area precise positioning accuracy, stability and reliability are met. However, the CEP value of the measured wide-area differential positioning result in the sky direction is increased, which is caused by the disadvantage of the single-antenna navigation system for accurately measuring elevation information. Therefore, the high-stability high-reliability wide-area precise positioning terminal has continuous, stable and reliable precise positioning capability, can continuously output the wide-area differential positioning actual measurement result for a long time in real time, improves the multi-mode multi-frequency compatibility, improves the universal capability of a multi-GNSS platform, effectively eliminates the defects of the traditional precise positioning technology and the terminal thereof under the all-weather application background all day long, and ensures that the wide-area precise positioning is accurately, continuously, stably and reliably completed.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (7)
1. An all-weather satellite wide-area precise positioning terminal all day long, comprising: the GNSS positioning system comprises a GNSS positioning information module (1), a wide area differential information interaction module (2), a wide area differential positioning resolving module (3), a power supply conversion module (4) and a positioning information output module (5);
the GNSS positioning information module (1) receives multi-mode multi-frequency satellite signals in real time through a multi-mode GNSS receiver, analyzes original satellite observation information based on a GNSS board card, and simultaneously sends the analyzed original observation information to the wide area differential positioning resolving module (3) through a TTL high-speed serial port and an Ethernet;
the wide area differential information interaction module (2) is used for acquiring wide area differential information generated by the base station and sending the acquired wide area differential information to the wide area differential positioning resolving module (3);
the wide-area differential positioning resolving module (3) is used for respectively inquiring whether original observation information received through the TTL high-speed serial port and the Ethernet interface is complete or not, and if so, correcting the original observation information by utilizing the wide-area differential information; establishing a wide-area differential positioning equation by using the corrected original observation information, and solving the equation to obtain the positioning information of the target; if the data is not complete, alarming;
the power supply conversion module (4) is used for connecting an external power supply and supplying power to the GNSS positioning information module (1), the wide area differential information interaction module (2), the wide area differential positioning resolving module (3) and the power supply conversion module (4) after converting the external power supply;
and the positioning information output module (5) sends the positioning information of the target in different communication forms in real time.
2. The all-weather satellite wide-area precise positioning terminal as claimed in claim 1, wherein the baud rate of the rate of sending information from the GNSS positioning information module (1) to the wide-area differential positioning solution module (3) through the TTL high-speed serial port is 115200 bps.
3. The all-weather satellite wide-area precise positioning terminal as claimed in claim 1, wherein the wide-area differential information interaction module (2) acquires the wide-area differential information generated by the base station through a 4G network.
4. The all-weather satellite wide-area precise positioning terminal as claimed in claim 1, wherein the wide-area differential positioning resolving module (3) comprises a communication interface expansion board (301), a main controller (302) and a solid state disk (303), wherein the communication interface expansion board (301) is used for providing a plurality of TTL high-speed serial ports to connect the GNSS positioning information module (1), the wide-area differential information interaction module (2) and the positioning information output module (5);
the main controller (302) is connected with the TTL high-speed serial port of the communication interface expansion board card (301) and is also connected with the GNSS positioning information module (1) through an Ethernet interface to inquire whether the original observation information received through the TTL high-speed serial port is complete or not, when the original observation information received by the TTL high-speed serial port is incomplete, whether the original observation information received by the Ethernet is complete is inquired, if the original observation information received by the Ethernet is incomplete, whether the original observation information received by the TTL high-speed serial port is complete is inquired again until the original observation information received by the TTL high-speed serial port and the Ethernet interface is inquired for m times respectively, if the obtained query results are all incomplete, alarming is carried out, if the original observation information received by the TTL high-speed serial port or the Ethernet port is queried completely, analyzing wide area differential information in real time according to an RTCM communication protocol, and correcting original observation information by using the wide area differential information; establishing a wide area differential positioning equation by using the corrected original observation information, and solving the equation to obtain positioning information of the target; wherein m is an integer greater than or equal to 5;
the main controller (302) also sends the positioning information of the target to the solid state disk (303) or displays and interacts the data through a USB interface and a VGA structure;
the solid state disk (303) is used for storing positioning information of the target.
5. The all-weather satellite wide-area precise positioning terminal as claimed in claim 1, wherein the wide-area differential information generated by the base station and acquired by the wide-area differential information interaction module (2) is ionosphere-free pseudo-range correction value change rate
Rate of change of said ionospheric-free pseudorange correction value
By:
is obtained by calculation, wherein, delta PIF(ti) Is tiPseudorange correction, Δ P, without ionospheric layer at timeIF(ti-1) Is ti-1The pseudorange correction is not ionized at the moment,
is tiThe variation rate of the ionosphere-free pseudo range correction value at the moment is rho, T and delta T, wherein rho is the satellite distance between the satellite position and the reference station position, T is troposphere delay, and delta T is the clock error of a GNSS receiver of the reference station;
represents tiAn ionospheric-free pseudo-range observed value after time smoothing processing, wherein c is the speed of light and c is 3 × 108m/s；
Wherein,
and
respectively represent tiAnd ti-1Ionospheric-free pseudorange observations, P, after time smoothingIF(ti) Denotes tiIonospheric-free pseudorange observations at time, i represents the number of smoothing,
representing the change value of the observation value without an ionized layer carrier among epochs;
wherein,
is tiTime signal frequency f1(ti) The observed value of the phase of the carrier wave above,
is tiTime signal frequency f2(ti) The observed value of the phase of the carrier wave above,
represents tiNo ionosphere carrier observed value exists at any moment;
in the formula, PIF(ti) Is tiTime of ionospheric-free pseudo-range observation, f1(ti) And f2(ti) Are each tiSignal frequency, P, of a dual-frequency observation of a time-of-day GNSS1(ti) Is tiTime signal frequency f1(ti) Pseudo-range observation of (1), P2(ti) Is tiTime signal frequency f2(ti) Or (3) a pseudorange observation.
6. The all-weather satellite wide-area precise positioning terminal according to claim 1, wherein the specific method for the wide-area differential positioning calculation module (3) to correct the original observation information by using the wide-area differential information is as follows:
firstly, the formula is adopted:
obtaining the correction quantity of the non-ionized layer pseudo range received by the terminal, wherein in the formula, delta PIF(tj) Is tjThe terminal at the moment receives the correction quantity delta P of the pseudo range without the ionized layer sent by the base stationIF(ti) Is tiThe IGS station at the moment calculates the obtained ionosphere-free pseudo-range correction,
is tiThe change rate of the change value of the non-ionized layer pseudo range at the moment;
then, based on tiIonosphere-free pseudo-range correction quantity delta P received by time terminalIF(ti)，tiIonosphere-free pseudo-range observed value locally received by time correction terminal
Obtaining:
7. The all-weather satellite wide-area precise positioning terminal according to claim 1, wherein the wide-area differential positioning calculation module (3) establishes a wide-area differential positioning equation by using the corrected original observation information, and the specific method for solving the equation to obtain the positioning information of the target comprises the following steps:
establishing a wide area differential positioning equation:
V＝B·X-L,P (8)
in the formula, V represents a residual error matrix, B represents a design matrix, X represents a parameter to be estimated, L represents an observation matrix, and P represents an observation value weight matrix;
V＝[v1 v2 … vn] (9)
X＝[dx dy dz cΔt]T (11)
P＝diag[1+sin2(e1) 1+sin2(e2) … 1+sin2(en)] (13)
in the formula, vkRepresenting the residual error of the corresponding observation equation of the kth satellite, ekThe satellite altitude corresponding to the kth satellite, where k is 1,2, …, n, dx, dy, and dz respectively represent coordinate correction values corresponding to the current position of the terminal in the rectangular spatial coordinate system, (X)0,Y0,Z0) Is the initial coordinate of the user terminal, rho0kRepresenting the initial satellite-to-satellite distance for the kth satellite,
represents the initial satellite distance, T, of the kth satellitekRepresenting the differential corrected ionospheric-free pseudo-range observed value of the kth satellite and the corrected tropospheric delay value through the tropospheric empirical model; x, Y, Z represents the coordinates corresponding to the current position of the terminal in the space rectangular coordinate system before correction.
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| CN115657090B (en) * | 2022-10-24 | 2023-04-28 | 上海时空奇点智能技术有限公司 | Low-delay analysis processing method for interface data of GNSS Beidou positioning module |
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