CN114814906A - Single frequency positioning method, device, receiver equipment and computer readable storage medium - Google Patents
Single frequency positioning method, device, receiver equipment and computer readable storage medium Download PDFInfo
- Publication number
- CN114814906A CN114814906A CN202210319977.4A CN202210319977A CN114814906A CN 114814906 A CN114814906 A CN 114814906A CN 202210319977 A CN202210319977 A CN 202210319977A CN 114814906 A CN114814906 A CN 114814906A
- Authority
- CN
- China
- Prior art keywords
- satellite
- correction
- enhanced
- target
- ionospheric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
Abstract
The embodiment of the invention discloses a single frequency positioning method, a single frequency positioning device, receiver equipment and a computer readable storage medium, wherein the single frequency positioning method comprises the following steps: receiving an enhanced message sent by a satellite-based enhancement system of a target satellite; analyzing the enhancement message to obtain ionosphere grid point information corresponding to the target satellite and fast-changing correction numbers and slow-changing correction numbers corresponding to preset GNSS satellites; calculating an ionospheric correction value according to the ionospheric grid point information; and correcting the satellite observation quantity according to the fast-changing correction quantity, the slow-changing correction quantity and the ionosphere correction value, and calculating the enhanced positioning coordinate of the satellite-based enhancement system according to the corrected satellite observation quantity. The embodiment of the application provides a method for enhancing single-frequency single-point positioning by a low-cost receiver satellite-based enhancement system, optimizes the satellite search range of the satellite-based enhancement system, and effectively improves the single-frequency positioning speed.
Description
Technical Field
The present invention relates to the field of satellite positioning, and in particular, to a single frequency positioning method, apparatus, receiver device, and computer-readable storage medium.
Background
The Beidou Satellite-Based Augmentation System (BDSBAS) broadcasts ionosphere correction numbers, ephemeris clock correction numbers of all navigation satellites, corresponding covariance and the like to users respectively through Beidou Geosynchronous Earth Orbit (GEO) rebroadcast Satellite Augmentation signals. The Beidou GEO satellite broadcasting the satellite enhanced signals is still in an on-orbit test stage, but the sbas B1C signals broadcasted by the Beidou GEO satellite can be put into use, and the positioning accuracy enhanced by the sbas broadcasting information is improved through testing.
In GNSS real-time single-frequency positioning, ionosphere correction values can only be calculated by broadcast ephemeris, and the accuracy of the ionosphere correction values is easy to generate large deviation in the process of extrapolation, so that a data source with higher accuracy is required.
In the past, sbas are mostly applied in the field range of civil aviation and the like, the purpose of the method is to improve the positioning accuracy and stability to the maximum extent, multiple satellites and multiple frequency bands can be tracked simultaneously, and real-time satellite screening is performed from collected satellite signals, however, the method undoubtedly increases power consumption and calculation amount.
Disclosure of Invention
In order to solve the foregoing technical problem, embodiments of the present application provide a single frequency positioning method, apparatus, receiver device, and computer-readable storage medium, and the specific scheme is as follows:
in a first aspect, an embodiment of the present application provides a single frequency positioning method, where the single frequency positioning method includes:
receiving an enhanced message sent by a satellite-based enhancement system of a target satellite;
analyzing the enhancement message to obtain ionosphere grid point information corresponding to the target satellite and fast-changing correction numbers and slow-changing correction numbers corresponding to preset GNSS satellites;
calculating an ionospheric correction value according to the ionospheric grid point information;
and correcting the satellite observation quantity according to the fast-changing correction quantity, the slow-changing correction quantity and the ionosphere correction value, and calculating the enhanced positioning coordinate of the satellite-based enhancement system according to the corrected satellite observation quantity.
According to a specific implementation manner of the embodiment of the present application, before the step of receiving the enhanced text sent by the satellite-based augmentation system of the target satellite, the single-frequency positioning method further includes:
acquiring satellite coordinates of all to-be-selected satellite-based enhanced satellites;
calculating altitude angle information of all to-be-selected satellite-based enhanced satellites according to the coordinate of the observation station and the satellite coordinate;
and determining the target satellite from a plurality of to-be-selected satellite-based augmentation satellites according to the altitude angle information, wherein the target satellite is the to-be-selected satellite-based augmentation satellite with the largest altitude angle information.
According to a specific implementation manner of the embodiment of the present application, the step of parsing the enhanced message to obtain the information of the ionospheric grid point corresponding to the target satellite includes:
resolving a target enhancement message related to an ionosphere to obtain ionosphere grid point information corresponding to the target satellite, wherein the target enhancement message comprises a T18 type enhancement message and a T26 type enhancement message;
before the step of parsing the enhanced message, the single frequency positioning method further comprises:
screening out a plurality of groups of basic enhancement messages related to an ionized layer from enhancement messages sent by the satellite-based enhancement system, wherein each group of basic enhancement messages related to the ionized layer comprises corresponding enhancement messages of T18 type and enhancement messages of T26 type;
when the data age of the T18 type enhanced message and the data age of the T26 type enhanced message in a group of basic enhanced messages related to the ionosphere are consistent, marking the basic enhanced message as a target enhanced message.
According to a specific implementation manner of the embodiment of the present application, the step of calculating the ionosphere correction value according to the ionosphere grid point information includes:
calculating puncture point correction information according to the ionized layer lattice point information, wherein the puncture point correction information comprises puncture point positions and a preset number of lattice points around the puncture point positions;
and selecting a preset number of grid points around the puncture point position to perform bilinear interpolation so as to obtain an ionosphere correction value corresponding to the puncture point position.
According to a specific implementation manner of the embodiment of the application, the step of correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and the ionospheric correction value includes:
if the positioning mode is a single-frequency single-mode positioning mode, correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and the ionospheric correction value of the single GNSS satellite;
and if the positioning mode is a single-frequency multimode positioning mode, correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and the ionospheric correction values of different GNSS satellites.
According to a specific implementation manner of the embodiment of the present application, when the positioning mode belongs to a single-frequency multimode positioning mode and the type of the received satellite-based augmentation system signal is a B1C signal, the step of correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and ionospheric correction values of different GNSS satellites further includes:
obtaining initial ionospheric correction values for a predetermined GNSS satellite
Converting the initial ionospheric correction values based on frequency ratios of different signals to obtain ionospheric correction values corresponding to different GNSS satellites;
and calculating the enhanced positioning coordinate of the satellite-based augmentation system based on the ionospheric correction values of different GNSS satellites.
According to a specific implementation manner of the embodiment of the present application, after the step of calculating puncture point correction information according to the information of the ionosphere grid points, the single-frequency positioning method further includes:
judging whether the number of grid points around the puncture point is greater than or equal to a preset value or not;
when the number of the grid points is smaller than a preset value, finishing the detection of the current target satellite, and skipping to execute the number detection of the grid points of the next target satellite;
and when the number of the grid points is larger than or equal to a preset numerical value, skipping to execute the step of selecting the preset number of grid points around the puncture point position to perform bilinear interpolation.
In a second aspect, an embodiment of the present application provides a single frequency positioning apparatus, including:
the receiving module is used for receiving an enhanced message sent by a satellite-based enhancement system of a target satellite;
the analysis module is used for analyzing the enhancement message to obtain ionization layer lattice point information corresponding to the target satellite and a fast change correction number and a slow change correction number corresponding to a preset GNSS satellite;
the first calculation module is used for calculating an ionosphere correction value according to the information of the grid points of the ionosphere;
and the second calculation module is used for correcting the satellite observation quantity according to the fast-changing correction quantity, the slow-changing correction quantity and the ionosphere correction quantity and calculating the enhanced positioning coordinate of the satellite-based enhancement system according to the corrected satellite observation quantity.
In a third aspect, an embodiment of the present application provides a receiver device, where the receiver device includes a processor and a memory, where the memory stores a computer program, and the computer program, when executed on the processor, executes the single frequency positioning method in the first aspect and any implementation manner of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program runs on a processor, the single frequency positioning method according to any one of the foregoing first aspect and embodiments of the first aspect is executed.
The embodiment of the application provides a single frequency positioning method, a single frequency positioning device, receiver equipment and a computer readable storage medium, wherein the single frequency positioning method comprises the following steps: receiving an enhanced message sent by a satellite-based enhancement system of a target satellite; analyzing the enhancement message to obtain ionosphere grid point information corresponding to the target satellite and fast-changing correction numbers and slow-changing correction numbers corresponding to preset GNSS satellites; calculating an ionospheric correction value according to the ionospheric grid point information; and correcting the satellite observation quantity according to the fast-changing correction quantity, the slow-changing correction quantity and the ionosphere correction value, and calculating the enhanced positioning coordinate of the satellite-based enhancement system according to the corrected satellite observation quantity. Through the single-frequency positioning method, when the enhanced positioning coordinate is resolved, only a connection relation is needed to be established with one target satellite, therefore, for the receiver equipment, the satellite coordinate of the target satellite is searched, the communication between the satellite-based enhanced system of the target satellite can be completed, the satellite searching range of the satellite-based enhanced system is optimized, in the correction step of the satellite observed quantity, through the resolution step of the enhanced message, the fast-changing correction number and the slow-changing correction number of a plurality of types of preset GNSS satellites can be obtained at the same time, the interaction with a plurality of satellite-based enhanced system satellites is not needed, and the single-frequency positioning efficiency is effectively improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 is a schematic flowchart illustrating a method of a single frequency location method according to an embodiment of the present application;
fig. 2 is a schematic data interaction diagram of a single frequency location method according to an embodiment of the present application;
fig. 3 is a schematic diagram illustrating a process of calculating an ionospheric correction value of a single-frequency location method according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating a calculation flow of enhanced positioning coordinates of a single-frequency positioning method according to an embodiment of the present application;
fig. 5 shows a schematic device block diagram of a single frequency positioning device according to an embodiment of the present application.
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.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Referring to fig. 1, a schematic method flow diagram of a single frequency positioning method provided in an embodiment of the present application is shown, where the single frequency positioning method provided in the embodiment of the present application is shown in fig. 1, and the single frequency positioning method includes:
step S101, receiving an enhanced message sent by a satellite-based enhancement system of a target satellite;
the single-frequency positioning method provided by this embodiment is applied to a receiver device, where the receiver device includes an ARM processor and a Digital Signal Processing Unit (DSP for short), and the ARM processor is in communication connection with the Digital Signal Processing Unit.
In a specific embodiment, the ARM processor of the receiver device determines a target satellite according to observation station coordinate information and satellite coordinate information input by a user, and sends a satellite coordinate of the target satellite to the digital signal processing unit.
The digital signal processing unit of the receiver device is used for performing data interaction with the ARM processor to obtain coordinate information related to a target Satellite, and searching for a target Satellite-Based Augmentation System (SBAS) Satellite according to the coordinate information.
After the DSP digital signal processing unit searches a target SBAS satellite, SBAS message information broadcasted by the target SBAS satellite is acquired, and after the SBAS message information is acquired, the SBAS message information is forwarded to the ARM processor to perform single-frequency positioning calculation.
Specifically, the SBAS message information sent by the target SBAS satellite is an SBAS enhanced message.
In the single-frequency positioning resolving process, an SBAS enhancement message sent by a satellite-based enhancement system comprises a large number of correction numbers, wherein the correction numbers in the SBAS enhancement message comprise information such as fast-change correction numbers, slow-change correction numbers, ionosphere correction numbers, efficiency degradation parameters and the like.
In the single-frequency Beidou satellite-based augmentation system, SBAS augmentation information in the Beidou satellite navigation system is broadcasted by a GEO geosynchronous geostationary satellite, and the corresponding relation between the SBAS augmentation information and the Beidou satellite navigation system is shown in Table 1.
TABLE 1
| PRN | SVN | Satellite type | Service signal | Position of |
| 130 | GEO-01 | BDS-3 | B1C/B2a | 140°E |
| 143 | GEO-03 | BDS-3 | B1C/B2a | 110.5°E |
| 144 | GEO-02 | BDS-3 | B1C/B2a | 80°E |
According to a specific implementation manner of the embodiment of the present application, before the step of receiving the enhanced text sent by the satellite-based augmentation system of the target satellite, the single frequency positioning method further includes:
acquiring satellite coordinates of all to-be-selected satellite-based enhanced satellites;
calculating altitude angle information of all to-be-selected satellite-based enhanced satellites according to the coordinate of the observation station and the satellite coordinate;
and determining the target satellite from the plurality of candidate satellite-based augmentation satellites according to the altitude angle information, wherein the target satellite is the candidate satellite-based augmentation satellite with the largest altitude angle information.
In a specific embodiment, before performing single-frequency positioning calculation, the digital signal processing unit in the receiver device needs to select a satellite system of the SBAS.
The Satellite System with the SBAS includes an enhanced GPS Wide Area Augmentation System (WAAS), a European Geostationary Navigation Overlay Service (EGNOS), a Multi-Functional Satellite Augmentation System (MSAS), a GPS assisted Geostationary Navigation Augmentation System (GAGAN), and a beidou Satellite-based Augmentation System (BDSBAS).
In this embodiment, the satellite system is preferably a beidou satellite-based augmentation system BDSBAS, and the target satellite is preferably a beidou GEO satellite.
In a specific embodiment, as shown in fig. 2, a user may input satellite coordinates of a plurality of GEO satellites in advance in an ARM processor, and after acquiring a survey station coordinate of an observation station for the first time, altitude angle information of a corresponding GEO satellite may be obtained according to the survey station coordinate and the satellite coordinate in the ARM processor.
Specifically, the satellite coordinates of the GEO satellite are stable and unchanged.
After altitude angle information of a plurality of GEO satellites is obtained according to the survey station coordinates and the satellite coordinates, the GEO satellites can be sequenced according to the altitude angle power-down sequence, and one satellite with the largest altitude angle is selected from the GEO satellites as a target satellite.
The ARM processor sends the coordinate information of the target GEO satellite to the digital signal processing unit, so that the capturing speed of the digital signal processing unit on the SBAS message information sent by the target GEO satellite and the continuity of the obtained SBAS message information of the target GEO satellite can be ensured.
In order to save resources, the ARM end transmits coordinate information of one satellite to the DSP each time, the DSP only needs to search one SBAS satellite, after the DSP searches a target SBAS satellite, a binding relation is established between the DSP and the target SBAS satellite, after binding, the DSP starts to receive an SBAS enhanced message transmitted by the target SBAS satellite, and in a subsequent epoch, the bound target SBAS satellite is not changed.
The continuity of the SBAS message information sent by the SBAS satellite can be ensured by the ARM processor and the digital signal processing unit through the selection method of the target satellite, and because the digital signal processing unit only needs to search the coordinate information of one target satellite, the resource consumption of satellite search is avoided, and the single-frequency positioning resolving efficiency is effectively improved.
Step S102, analyzing the enhancement message to obtain ionization layer grid point information corresponding to the target satellite and a fast change correction number and a slow change correction number corresponding to a preset GNSS satellite;
in a specific embodiment, the ionosphere grid point information can be obtained by analyzing a target enhancement message related to the ionosphere, wherein the ionosphere grid point information includes grid point ionosphere delay, ionosphere grid point number and other information. And analyzing the satellite-based enhanced message related to ephemeris clock correction in the enhanced message to obtain the fast-changing correction number and the slow-changing correction number of different satellites.
Specifically, parsing the enhancement message to obtain ionospheric grid point information corresponding to the target satellite comprises parsing a target enhancement message related to an ionosphere to obtain ionospheric grid point information corresponding to the target satellite, the target enhancement message comprising a T18 type enhancement message and a T26 type enhancement message;
before the step of parsing the enhanced message, the single frequency location method further includes:
screening out a plurality of groups of basic enhancement messages related to an ionized layer from enhancement messages sent by the satellite-based enhancement system, wherein each group of basic enhancement messages related to the ionized layer comprises corresponding enhancement messages of T18 type and enhancement messages of T26 type;
when the data age of the T18 type enhanced message and the data age of the T26 type enhanced message in a group of basic enhanced messages related to the ionosphere are consistent, marking the basic enhanced message as a target enhanced message.
In particular embodiments, all enhancement messages transmitted by the satellite-based enhancement system include a variety of types, including T2, T3, T4, T7, T10, T18, T25, T26, T28, and the like. Each type of enhanced message sent by the satellite-based enhancement system is associated with corresponding content information, wherein the enhanced messages of the T18 type and the T26 type are associated with ionized layer lattice point information, the enhanced messages of the T2 type, the T3 type and the T4 type are used for storing fast change correction information, and the enhanced messages of the T25 type are used for storing slow change correction information.
Specifically, the relevant information stored in each type of enhanced text message can be adaptively replaced according to the text message information sent by different satellite-based enhanced systems in the actual application scene.
And when receiving the enhanced message information sent by the satellite-based enhancement system of the target satellite, the digital signal processing unit can automatically classify according to the related information contents in the enhanced messages of different types.
In a specific embodiment, the digital signal processing unit divides the target enhancement messages related to the ionosphere into a group. Specifically, the target enhancement messages are enhancement messages of T18 type and enhancement messages of T26 type.
As shown in fig. 3, after acquiring the SBAS message information, the ARM processor screens out the enhanced messages of T18 type and T26 type related to the ionosphere. For each set of target enhancement messages, the ARM processor will use the data age IODI of T18 and T26 as a match condition for a set of target enhancement messages.
That is, for each set of target enhanced messages, the ARM processor compares the data age of the enhanced message of the T18 type with the data age of the enhanced message of the T26 type, and when the data age of the enhanced message of the T18 type is consistent with the data age of the enhanced message of the T26 type, divides the current set of target enhanced messages into valid information and stores the valid information in a preset storage medium for subsequent decoding. Wherein the data age range of the target enhanced message is 0-3.
The digital signal processing unit receives the enhanced telegraph text for a period of time, and the ARM processor continuously acquires and analyzes the enhanced telegraph text, so that a plurality of pieces of information of the grid points of the ionized layer can be acquired.
In a specific embodiment, the ARM processor analyzes the ephemeris enhancement message related to the ephemeris clock correction in the enhancement message, so as to obtain the fast-varying correction number and the slow-varying correction number of a preset Global Navigation Satellite System (GNSS).
Specifically, the target satellite mainly includes visible GNSS satellites of all signal types.
In a specific implementation process, in the process of sending the enhanced message information, the target satellite-based enhanced satellite prestores the fast-changing correction number information and the slow-changing correction number information of all visible satellites in a related enhanced message, and broadcasts the fast-changing correction number information and the slow-changing correction number information to the digital signal processing unit in a mode of broadcasting the enhanced message information.
And the ARM processor receives the enhanced message information sent by the satellite-based enhanced satellite and performs a preset analysis step, so that the fast-changing correction number and the slow-changing correction number corresponding to all visible satellites can be obtained.
Step S103, calculating an ionosphere correction value according to the information of the grid points of the ionosphere;
in a specific embodiment, the ionospheric correction information in the SBAS enhanced message sent by the SBAS satellite is ionospheric correction information of a grid point, and when the ionospheric correction information is used, the correction information of the puncture point needs to be calculated according to the grid point around the puncture point, so that a correction value corresponding to the ionospheric layer is obtained.
Specifically, the puncture point is the intersection of the straight line segment of the observation station and the target satellite and the ionosphere which is about 350km away from the ground. Specifically, the puncture site location determination method in the related art may be used as the puncture site location determination method, and is not particularly limited herein.
And calculating the ionospheric correction value corresponding to the target satellite, namely calculating the correction information of the corresponding puncture point.
According to a specific implementation manner of the embodiment of the present application, the step of calculating the ionosphere correction value according to the ionosphere grid point information includes:
calculating puncture point correction information according to the ionized layer lattice point information, wherein the puncture point correction information comprises puncture point positions and a preset number of lattice points around the puncture point positions;
and selecting a preset number of grid points around the puncture point position to perform bilinear interpolation so as to obtain an ionosphere correction value corresponding to the puncture point position.
In a specific embodiment, after the puncture point position corresponding to the target satellite is obtained through calculation, according to grid point information around the puncture point position, 4 grid points are selected around the puncture point position to perform bilinear interpolation, and then an ionospheric correction value corresponding to the puncture point position can be obtained. And the ionospheric correction value at the puncture point position is the ionospheric correction value corresponding to the target satellite.
According to a specific implementation manner of the embodiment of the present application, after the step of calculating puncture point correction information according to the information of the ionosphere grid points, the single-frequency positioning method further includes:
judging whether the number of grid points around the puncture point position is larger than or equal to a preset value or not;
when the number of the grid points is smaller than a preset value, finishing the detection of the current target satellite, and skipping to execute the detection of the grid points of the surrounding ionized layer of the next target satellite;
and when the number of the grid points is larger than or equal to a preset numerical value, skipping to execute the step of selecting the preset number of grid points around the puncture point position to perform bilinear interpolation.
In a specific embodiment, as shown in fig. 3, after the ARM processor analyzes the target enhanced message, the information of the ionosphere grid points of the current target satellite is obtained through analysis, and if the number of the grid points around the puncture point position is smaller than a preset value, the ARM processor marks the current target satellite as an abnormal detection satellite, ends the detection of the current target satellite, and jumps to execute the detection of the next target satellite.
When the number of the grid points is larger than or equal to a preset value, the ionospheric correction value of the current target satellite can be obtained, and the ARM processor continues to execute the step of selecting the preset number of grid points around the puncture point position to perform bilinear interpolation, so that the ionospheric correction value of the current satellite is obtained. And skipping to the detection of the next target satellite, and repeating the method of the embodiment until all visible satellites are detected.
And S104, correcting the satellite observation quantity according to the fast-changing correction quantity, the slow-changing correction quantity and the ionosphere correction value, and calculating the enhanced positioning coordinate of the satellite-based enhanced system according to the corrected satellite observation quantity.
In a specific embodiment, the digital signal processing unit may substitute the fast-varying correction number, the slow-varying correction number, and the ionosphere correction value corresponding to the GNSS satellite into a positioning calculation algorithm, and calculate the satellite-based enhanced positioning coordinate through an algorithm such as least square or kalman filtering.
Specifically, as shown in fig. 4, the ARM processor further receives a corresponding observed message and a corresponding broadcast ephemeris from the target satellite, and calculates data, such as a satellite-to-satellite distance and an observed value residual, corresponding to the target satellite based on the observed message and the broadcast ephemeris.
After the ARM processor obtains the fast-changing correction number, the slow-changing correction number and the ionosphere correction value of the corresponding GNSS satellite, the data are all imported into a preset SBAS enhanced positioning resolving model, and then enhanced positioning coordinates can be obtained through calculation.
Specifically, the SBAS-enhanced positioning calculation model may be trained based on a SBAS-enhanced positioning coordinate calculation method in the prior art, and is not described herein again.
In a specific embodiment, the ionospheric correction value, the fast-varying correction number, and the slow-varying correction number may all be added to the pseudorange observed quantity, and the modified pseudorange observed quantity is put into the positioning calculation model, so as to obtain the SBAS enhanced positioning coordinate.
According to a specific implementation manner of the embodiment of the application, the step of correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and the ionospheric correction value includes:
if the positioning mode is a single-frequency single-mode positioning mode, correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and the ionospheric correction value of the single GNSS satellite;
and if the positioning mode is a single-frequency multimode positioning mode, correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and ionospheric correction values of different GNSS satellites.
In a specific embodiment, if the positioning mode is a single-frequency multimode positioning mode, ionospheric correction values of different GNSS satellites are converted through a frequency ratio, and satellite observation quantities are corrected by combining a fast-varying correction number and a slow-varying correction number, so that enhanced positioning coordinates of the survey station are calculated. In a specific embodiment, the target satellite may be selected from one or more than one target satellite.
The single-frequency positioning resolving process has two different modes, namely a single-frequency single-mode positioning mode and a single-frequency multi-mode positioning mode. The single-frequency single-mode positioning mode means that the receiver equipment only receives GPS satellite signals or only receives Beidou satellite signals for positioning calculation. The single-frequency multi-mode positioning mode means that the receiver equipment receives GPS satellite signals and Beidou satellite signals at the same time for positioning calculation.
Of course, in the single-frequency multimode positioning mode, the receiver device may also receive more satellite signals for positioning calculation, which is not an example here.
The ionospheric correction values are different for different GNSS satellites, and therefore the receiver device also performs a computational adjustment of the ionospheric correction values according to different positioning modes.
According to a specific implementation manner of the embodiment of the present application, when the positioning mode belongs to a single-frequency multimode positioning mode and the type of the received signal of the satellite based augmentation system is a B1C signal, the step of calculating the augmented positioning coordinates of the satellite based augmentation system according to the fast-varying correction number, the slow-varying correction number and the ionospheric correction value further includes:
converting based on preset frequency ratios of different signals to obtain ionosphere correction values corresponding to different GNSS satellites;
and calculating the enhanced positioning coordinate of the satellite-based augmentation system based on the ionospheric correction values of different GNSS satellites.
In a specific embodiment, if the positioning mode is a single-frequency multimode positioning mode, ionospheric correction values of different GNSS satellites may be converted according to a predetermined frequency ratio, where the conversion formula is
Wherein, ionA is the ionospheric correction value of the target GNSS satellite, ionB is the ionospheric correction value corresponding to the GPS satellite, f0 is the base frequency, and f1 is the frequency of the target GNSS satellite.
In a specific embodiment, the B1C signal only sends the fast-changing correction and the slow-changing correction of the GPS satellite, and when the positioning mode of the receiver device is the single-frequency multimode positioning mode, the ionospheric correction of the SBAS received by the ARM processor is insufficient. The ARM processor can calculate the ionosphere correction value of the corresponding GNSS satellite according to the conversion formula, so that a partial SBAS enhanced positioning result is obtained.
According to the single-frequency positioning method, the ionosphere correction value of the corresponding GNSS satellite can be obtained according to the frequency ratio of the preset basic frequency to different signals, and therefore the receiver equipment can carry out enhanced positioning calculation under a single-frequency single-mode positioning mode and a single-frequency multi-mode positioning mode. The single-frequency positioning method can quickly search the target satellite and acquire the enhanced message information sent by the target satellite, so that the resolving speed of single-frequency positioning is effectively improved.
Referring to fig. 5, a schematic diagram of device modules of a single frequency positioning device 500 provided in the embodiment of the present application is shown, where the single frequency positioning device 500 provided in the embodiment of the present application is, as shown in fig. 5, the single frequency positioning device 500 includes:
an obtaining module 501, configured to receive an enhanced message sent by a satellite-based enhanced system of a target satellite;
an analyzing module 502, configured to analyze the enhanced message to obtain information of an ionosphere grid point corresponding to the target satellite and a fast-varying correction number and a slow-varying correction number corresponding to a preset GNSS satellite;
a first calculating module 503, configured to calculate an ionospheric correction value according to the ionospheric grid point information;
a second calculating module 504, configured to correct the satellite observation amount according to the fast-varying correction number, the slow-varying correction number, and the ionosphere correction value, and calculate an enhanced positioning coordinate of the satellite-based augmentation system according to the corrected satellite observation amount.
In addition, an embodiment of the present application further provides a receiver device, where the receiver device includes a processor and a memory, where the memory stores a computer program, and the computer program, when executed on the processor, executes the single frequency positioning method according to the foregoing embodiment.
The embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on a processor, the single frequency positioning method according to the foregoing embodiment is executed.
In summary, embodiments of the present application provide a single-frequency positioning method, a single-frequency positioning device, a receiver device, and a computer-readable storage medium. When only the B1C signal is searched, a method for enhancing positioning by partial SBAS is provided. In addition, for specific implementation processes of the single frequency positioning apparatus, the receiver device, and the computer-readable storage medium mentioned in the foregoing embodiments, reference may be made to the specific implementation processes of the foregoing method embodiments, which are not described in detail herein.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A single frequency positioning method, comprising:
receiving an enhanced message sent by a satellite-based enhancement system of a target satellite;
analyzing the enhancement message to obtain ionosphere grid point information corresponding to the target satellite and fast-changing correction numbers and slow-changing correction numbers corresponding to preset GNSS satellites;
calculating an ionospheric correction value according to the ionospheric grid point information;
and correcting the satellite observation quantity according to the fast-changing correction quantity, the slow-changing correction quantity and the ionosphere correction value, and calculating the enhanced positioning coordinate of the satellite-based enhancement system according to the corrected satellite observation quantity.
2. Single frequency location method according to claim 1, characterized in that, before the step of receiving an enhanced text sent by a satellite based augmentation system of a target satellite, it further comprises:
acquiring satellite coordinates of all to-be-selected satellite-based enhanced satellites;
calculating altitude angle information of all to-be-selected satellite-based enhanced satellites according to the coordinate of the observation station and the satellite coordinate;
and determining the target satellite from a plurality of to-be-selected satellite-based augmentation satellites according to the altitude angle information, wherein the target satellite is the to-be-selected satellite-based augmentation satellite with the largest altitude angle information.
3. A single frequency location method according to claim 1 wherein said step of parsing said enhanced message to obtain ionospheric grid point information corresponding to said target satellite comprises:
resolving a target enhancement message related to an ionosphere to obtain ionosphere grid point information corresponding to the target satellite, wherein the target enhancement message comprises a T18 type enhancement message and a T26 type enhancement message;
before the step of parsing the enhanced message, the single frequency location method further includes:
screening out a plurality of groups of basic enhancement messages related to an ionized layer from enhancement messages sent by the satellite-based enhancement system, wherein each group of basic enhancement messages related to the ionized layer comprises corresponding enhancement messages of T18 type and enhancement messages of T26 type;
when the data age of the T18 type enhanced message and the data age of the T26 type enhanced message in a group of basic enhanced messages related to the ionosphere are consistent, marking the basic enhanced message as a target enhanced message.
4. A single frequency location method as claimed in claim 1 wherein the step of calculating ionospheric correction values from said ionospheric grid point information comprises:
calculating puncture point correction information according to the ionized layer lattice point information, wherein the puncture point correction information comprises puncture point positions and a preset number of lattice points around the puncture point positions;
and selecting a preset number of grid points around the puncture point position to perform bilinear interpolation so as to obtain an ionosphere correction value corresponding to the puncture point position.
5. A single frequency location method as recited in claim 1 wherein the step of correcting satellite observations in accordance with said fast-varying corrections, said slow-varying corrections and said ionospheric corrections comprises:
if the positioning mode is a single-frequency single-mode positioning mode, correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and an ionospheric correction value of a single GNSS satellite;
and if the positioning mode is a single-frequency multimode positioning mode, correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and ionospheric correction values of different GNSS satellites.
6. The single-frequency positioning method according to claim 5, wherein when the positioning mode belongs to a single-frequency multimode positioning mode and the received signal type of the satellite based augmentation system is a B1C signal, the step of correcting the satellite observation amount according to the fast-varying correction number, the slow-varying correction number and the ionospheric correction values of different GNSS satellites further comprises:
acquiring an initial ionosphere correction value of a preset GNSS satellite;
converting the initial ionospheric correction value based on the frequency ratio of different signals to obtain ionospheric correction values corresponding to different GNSS satellites;
and correcting the satellite observation quantity based on ionospheric correction values of different GNSS satellites.
7. A single frequency location method as recited in claim 4 wherein after the step of calculating puncture correction information from said ionospheric lattice point information, said single frequency location method further comprises:
judging whether the number of grid points around the puncture point position is larger than or equal to a preset value or not;
when the number of the grid points is smaller than a preset value, finishing the detection of the current target satellite, and skipping to execute the detection of the grid points of the surrounding ionized layer of the next target satellite;
and when the number of the grid points is larger than or equal to a preset numerical value, skipping to execute the step of selecting the preset number of grid points around the puncture point position to perform bilinear interpolation.
8. A single frequency positioning apparatus, comprising:
the acquisition module is used for receiving an enhanced message sent by a satellite-based enhancement system of a target satellite;
the analysis module is used for analyzing the enhancement message to obtain ionization layer lattice point information corresponding to the target satellite and a fast change correction number and a slow change correction number corresponding to a preset GNSS satellite;
the first calculation module is used for calculating an ionosphere correction value according to the information of the grid points of the ionosphere;
and the second calculation module is used for correcting the satellite observation quantity according to the fast-changing correction quantity, the slow-changing correction quantity and the ionosphere correction quantity and calculating the enhanced positioning coordinate of the satellite-based enhancement system according to the corrected satellite observation quantity.
9. A receiver device, characterized in that it comprises a processor and a memory, said memory storing a computer program which, when run on said processor, performs the single frequency positioning method of any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when run on a processor, performs the single frequency location method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210319977.4A CN114814906A (en) | 2022-03-29 | 2022-03-29 | Single frequency positioning method, device, receiver equipment and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210319977.4A CN114814906A (en) | 2022-03-29 | 2022-03-29 | Single frequency positioning method, device, receiver equipment and computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114814906A true CN114814906A (en) | 2022-07-29 |
Family
ID=82530730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210319977.4A Pending CN114814906A (en) | 2022-03-29 | 2022-03-29 | Single frequency positioning method, device, receiver equipment and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114814906A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117579391A (en) * | 2024-01-16 | 2024-02-20 | 中国人民解放军战略支援部队航天工程大学 | Clock difference telegraph text down-conversion optimization method and system based on SBAS authentication service |
-
2022
- 2022-03-29 CN CN202210319977.4A patent/CN114814906A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117579391A (en) * | 2024-01-16 | 2024-02-20 | 中国人民解放军战略支援部队航天工程大学 | Clock difference telegraph text down-conversion optimization method and system based on SBAS authentication service |
| CN117579391B (en) * | 2024-01-16 | 2024-04-05 | 中国人民解放军战略支援部队航天工程大学 | Clock difference telegraph text down-conversion optimization method and system based on SBAS authentication service |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2307901B1 (en) | Location specific search for regional satellite vehicles | |
| CN110488328B (en) | Message receiving and sending method and system for low-orbit satellite navigation enhancement platform | |
| JP6625237B2 (en) | Positioning reinforcement device, positioning reinforcement system and positioning reinforcement method | |
| EP3115807B1 (en) | Gnss receiver with an on-board capability to implement an optimal error correction mode | |
| CN105527629A (en) | Beidou satellite navigation system performance monitoring device and monitoring method thereof | |
| CN105425255B (en) | Method for geographical selection of global navigation satellite system elements | |
| US10241210B2 (en) | Navigation data configuration for optimal time to first fix | |
| RU2478221C2 (en) | Improved sbas receiver | |
| CN105353391A (en) | Location augmentation system of multi-network integration supporting multi-type location terminals and location augmentation method of multi-network integration supporting multi-type location terminals | |
| JP4613334B2 (en) | Method and apparatus for transmitting satellite orbit information in satellite navigation system | |
| US8830123B2 (en) | Satellite navigation system for optimal time to first fix using code and carrier diversity | |
| US9470795B2 (en) | Time to first fix optimization in a satellite navigation receiver | |
| EP3214464B1 (en) | Positioning device | |
| Miya et al. | Centimeter level augmentation service (CLAS) in Japanese quasi-zenith satellite system, its user interface, detailed design, and plan | |
| KR101964241B1 (en) | Method and apparatus for determining a position of a gnss receiver | |
| CN101726727A (en) | Method and system for processing signal | |
| JP2019015636A (en) | Positioning device | |
| KR20130124464A (en) | An apparatus for processing differential information of differential global navigation satellite system and the method thereof | |
| US20120086597A1 (en) | Apparatus for processing satellite navigation signals adaptively, and method therefor | |
| Tsai et al. | Performance assessment on expanding SBAS service areas of GAGAN and MSAS to Singapore region | |
| CN114814906A (en) | Single frequency positioning method, device, receiver equipment and computer readable storage medium | |
| CN113093250B (en) | Pseudo-range observation data restoration method, positioning information determination method and device | |
| JP2018100874A (en) | Positioning device, positioning method and program | |
| CN108254762B (en) | Pseudo-range differential positioning method and system | |
| Liu et al. | Beidou wide-area augmentation system clock error correction and performance verification |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |