CN114994724A - GNSS pseudo-range differential positioning performance evaluation method and system - Google Patents

GNSS pseudo-range differential positioning performance evaluation method and system Download PDF

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CN114994724A
CN114994724A CN202210636333.8A CN202210636333A CN114994724A CN 114994724 A CN114994724 A CN 114994724A CN 202210636333 A CN202210636333 A CN 202210636333A CN 114994724 A CN114994724 A CN 114994724A
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positioning
server
parameter information
differential
pseudo
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梁峰
邢建平
李文娇
刘群
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Shandong High Speed Construction Management Group Co ltd
Shandong University
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Shandong High Speed Construction Management Group Co ltd
Shandong University
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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]
    • 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
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • 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
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Abstract

The invention relates to a GNSS pseudo-range differential positioning performance evaluation method, which comprises the steps of obtaining parameter information of data required by positioning, wherein the parameter information comprises the parameter information of the data required by the positioning of a server side and the parameter information of the data required by the positioning of a user side; respectively obtaining a server non-differential non-combination PPP resolving coefficient and a client pseudo-range differential positioning RTD resolving coefficient according to the obtained parameter information; the atmospheric deviation of each epoch of the server is obtained by correcting the server non-differential non-combination PPP resolving coefficient and the parameter information of the data required by the server positioning in real time; the method comprises the steps that a user side acquires parameter information of data required by RTD atmospheric deviation positioning of pseudo-range differential positioning of the user side by capturing atmospheric deviation of each epoch of a server side; the invention improves the integrity of the GNSS positioning performance evaluation field, and the user station receiver utilizes the high-precision real-time atmospheric inversion parameters of the service station to improve the positioning precision of pseudo-range differential positioning, thereby providing a new idea for improving the performance of the pseudo-range differential positioning field of a GNSS user terminal.

Description

GNSS pseudo-range differential positioning performance evaluation method and system
Technical Field
The invention relates to the technical field of performance evaluation, in particular to a GNSS pseudo-range differential positioning performance evaluation method and a GNSS pseudo-range differential positioning performance evaluation system.
Background
Common satellite Positioning methods include conventional Single-Point Positioning (SPP), carrier-phase differential Positioning (rtk) (real Time kinematic), pseudo-range differential Positioning (rtd) (real Time differential), and precision Single-Point Positioning (ppp) (precision Point Positioning). The conventional single-point positioning SPP technology is a common positioning mode when a mobile phone is used in daily life, the positioning process is simple, track errors, clock errors and the like cannot be eliminated during positioning, and interference is easily caused in the positioning process, so that the positioning precision reaches the meter level. The precise point positioning PPP technology is independently operated by a single double-frequency receiver, and the precise satellite clock error used for resolving is resolved by the satellite precise ephemeris. The static or dynamic independence can be performed by a single receiver to achieve even centimeter-level accuracy, but at the same time, a long initialization time and various error correction models are required during the PPP positioning process. The core of the carrier phase differential positioning RTK technology is a differential positioning technology, and the difference from the pseudo-range differential RTD is that the RTK technology uses an observed value of a carrier phase to perform solution. A complete RTK system includes a reference station, a rover station and a transmission data link, and the positioning accuracy can reach centimeter level. The RTK positioning has the advantages of reliable data, high positioning precision, no error accumulation, high positioning speed, less operation limitation, all-weather operation and the like, is widely applied to the professional fields of surveying and mapping and the like, but has higher requirements on receiving equipment of a user mobile terminal due to the fact that the RTK positioning technology has higher requirements on the receiving equipment of the user mobile terminal, so that the higher cost of the receiving equipment of the user mobile terminal is caused, and the RTK positioning technology is not suitable for civil scenes with non-high precision requirements. The low-cost receiver and the sub-meter positioning accuracy better meet the requirements of non-high-accuracy positioning such as automobile navigation positioning.
The pseudo-range differential positioning RTD technique is a differential positioning technique in which an observed value is corrected by a pseudo-range error solution. The RTD system includes a reference station receiver, a mobile station receiver, and a data transmission link. The RTD technology has low requirements on a user side receiver, the GNSS receiver can be held by hand to meet the requirements, and the positioning cost of a user is effectively reduced. When the distance between the base station and the reference station is close, the sub-meter positioning precision can be obtained by adopting differential positioning of the single base station. Therefore, the RTD positioning technology with the characteristics of quick positioning, high reliability, sub-meter precision, low cost and the like has wide application prospect for mass users.
However, in the prior art, the research on the atmospheric delay part in the evaluation of the GNSS pseudo-range differential positioning performance is limited to the conventional error model, and since the conventional model can only correct 60% -70% of the atmospheric delay, the accuracy is not high, and an unnecessary error is caused, and the evaluation research on the GNSS pseudo-range differential positioning performance based on the non-differential non-combined PPP inversion atmospheric delay is not performed, a method and a system for evaluating the GNSS pseudo-range differential positioning performance are urgently needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a GNSS pseudo-range differential positioning performance evaluation method and a GNSS pseudo-range differential positioning performance evaluation system, which are used for solving the problems in the background art.
Interpretation of terms:
1. GNSS: global Navigation Satellite System, the Global Navigation Satellite System, mainly includes: GPS in the United states, GLONASS in Russia, Galileo in the European Union, and Beidou satellite navigation System in China.
The technical scheme of the invention is as follows:
a GNSS pseudo-range differential positioning performance evaluation method comprises the following steps:
acquiring parameter information of data required for positioning, wherein the parameter information comprises parameter information of data required for positioning by a server side and parameter information of data required for positioning by a user side;
respectively obtaining a server non-differential non-combination PPP resolving coefficient and a client pseudo-range differential positioning RTD resolving coefficient according to the obtained parameter information;
the atmospheric deviation of each epoch of the server is obtained by correcting the server non-differential non-combination PPP resolving coefficient and the parameter information of the data required by the server positioning in real time;
the method comprises the steps that a user side acquires parameter information of data required by RTD atmospheric deviation positioning of pseudo-range differential positioning of the user side by capturing atmospheric deviation of each epoch of a server side;
the user terminal obtains real-time RTD static and dynamic solution by fitting parameter information of data required by the pseudo-range differential positioning RTD atmospheric deviation positioning and a user terminal pseudo-range differential positioning RTD solution coefficient;
and obtaining the RTD static and dynamic positioning evaluation results according to the real-time RTD static and dynamic calculation.
Further, the parameter information of the data required by the server positioning is the basic calculation information of the server non-differential non-combination ppp calculation coefficient, and comprises precise orbit, clock error and continuous observation data.
Further, the non-differential non-combined PPP solution coefficient of the server is obtained according to the obtained parameter information, specifically, the non-differential non-combined PPP solution coefficient of the server is obtained by using a non-differential non-combined PPP model, where the non-differential non-combined PPP model is:
Figure BDA0003680430540000021
wherein, γ i Denotes the ionospheric delay parameter coefficient, when i is 1, γ i When i is equal to 2, the total weight of the catalyst is 1,
Figure BDA0003680430540000022
wherein f is frequency; I.C. A s (t) represents ionospheric delay values in the satellite and receiver line-of-sight directions; rho r (t) a pseudo-range observed value at time t; the subscript i denotes the frequency number of the satellite; superscript s to denote satellite number; the subscript r denotes the receiver; r is r (t) represents the geometric distance between the earth and the satellite at time t; c represents the speed of light; m is s Representing the diagonal path of the troposphere from the direction of the zenith of the survey station to the satelliteA projection function in a radial direction; t is s (t) represents the tropospheric delay in the direction of the zenith of the survey station at time t; b r,i The pseudo range hardware delay at the receiver is represented; b is s Representing the hardware delay of the pseudo range of the satellite terminal; ε represents the pseudorange observation noise.
Further, the real-time correction of the parameter information of the server non-differential non-combination ppp calculation coefficient and the server positioning required data includes receiver clock error correction, and the corrected non-differential non-combination model is as follows:
ρ i (t)＝r r (t)+c·(dt r -dt s )+γ i ·I s (t)+m s ·T s (t)+ε
therein, dt s And dt r The corrected clock difference between the satellite end and the receiver end.
Further, the real-time correction is performed on the server non-differential non-combination ppp solution coefficient and the parameter information of the data required by the server positioning, and the ionospheric correction is also included, wherein an ionospheric correction model of the server is as follows:
I s ＝a 0 +a 1 ·(lat s -lat 0 )+a 2 ·(lon s -lon 0 )
wherein, I s To represent ionospheric delay values (ramp paths); lon s 、lat s Respectively representing the longitude and the latitude of the satellite puncture point; lon 0 、lat 0 A longitude and latitude representing a reference point; a is 0 、a 1 、a 2 Is a constant coefficient.
Further, the real-time correction of the parameter information of the server non-differential non-combination ppp solution coefficient and the data required by the server positioning further includes troposphere correction, and the troposphere correction model of the server is as follows:
Figure BDA0003680430540000031
in the formula, the basic quantity T of the zenith troposphere of the survey station fun,u And a high amount of T ele,u ；A i (i ═ 1,2,3) and B i Each of (i ═ 1, 2., n) is an interpolation coefficient, and n is the number of reference stations.
Further, the parameter information of the data required by the pseudo-range differential positioning RTD atmospheric deviation positioning and the user side pseudo-range differential positioning RTD calculation coefficient are fitted, and the fitting model is as follows:
Figure BDA0003680430540000032
wherein the content of the first and second substances,
Figure BDA0003680430540000033
a pseudo-range observation value representing the user station u at the time t; δ t u Clock difference representing display time of a clock face of a signal received by the receiver and standard time; δ t s Clock error between the display time of the clock surface and the standard time of the satellite signal;
Figure BDA0003680430540000034
representing the equivalent distance error caused by delay when the signal of the user station u passes through the ionosphere at the moment t;
Figure BDA0003680430540000041
representing the equivalent range error due to delay when the signal of the subscriber station u passes through the troposphere at time t;
Figure BDA0003680430540000042
indicating the ephemeris error for subscriber station u to the s-th satellite at time t.
A GNSS pseudo-range differential positioning performance evaluation system comprises:
the first obtaining unit is used for obtaining parameter information of positioning required data such as a precise track, clock error and continuous observation data of a server;
the second obtaining unit is used for obtaining a server non-differential non-combined ppp calculation coefficient according to parameter information of data required by server positioning, wherein the parameter information of the data required by the server positioning is basic calculation information of the server non-differential non-combined ppp calculation coefficient, and comprises a precise track, a clock error and continuous observation data;
the third obtaining unit is used for correcting the non-differential non-combination ppp resolving coefficient of the server, the precise orbit and clock error of the server, continuous observation data and the like in real time according to the short-time modeling processing of the atmosphere of the server to obtain the atmospheric deviation of each epoch of the server;
a fourth obtaining unit, configured to obtain the atmospheric deviation of each epoch after the server side is encoded by performing real-time RTCM3 encoding on the atmospheric deviation of each epoch of the server side;
a fifth obtaining unit, configured to broadcast, in a network or satellite manner, the atmospheric deviation of each epoch after the server side encoding, so that a user side receiver can capture the atmospheric deviation;
a sixth obtaining unit, configured to obtain, by a user side, parameter information of data required for positioning, such as a broadcast track, a clock offset, and continuous observation data;
a seventh obtaining unit, configured to obtain a user-side pseudo-range differential positioning RTD solution coefficient according to parameter information of data required for user-side positioning, where the parameter information of the data required for user-side positioning is basic solution information of the user-side pseudo-range differential positioning RTD solution coefficient, and includes broadcast track, clock error, continuous observation data, and the like;
an eighth obtaining unit, configured to obtain, by the user side, parameter information of data required for positioning pseudo-range differential positioning RTD atmospheric deviation of the user side by capturing the atmospheric deviation of each epoch after encoding the atmospheric deviation broadcast by the server side;
a ninth obtaining unit, configured to fit, by the user side, parameter information of data required for atmospheric deviation positioning of the pseudo-range differential positioning RTD, so as to obtain real-time RTD static and dynamic solution;
and the seventh obtaining unit is used for solving the real-time RTD statically and dynamically to obtain the RTD static and dynamic positioning evaluation result.
A computer-readable storage medium, wherein a plurality of instructions are stored, said instructions being adapted to be loaded by a processor of a terminal device and to execute said method for GNSS pseudorange differential positioning performance estimation.
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the GNSS pseudo-range differential positioning performance evaluation method.
The beneficial effects of the invention are as follows:
compared with the prior art, the method of the invention fully utilizes the prior reference station network to carry out precise single-point positioning settlement station by station, thereby obtaining the specific atmospheric delay parameter. And the extracted parameters are used as original data for modeling of a troposphere and an ionosphere, so that the positioning accuracy can be further improved, and the atmospheric delay error can be further reduced. Extracting data by adopting a non-differential point positioning (PPP) model in the process, and constructing a troposphere model and an ionosphere model by using the extracted data as original data;
the integrity of the GNSS positioning performance evaluation field is improved, the user station receiver utilizes the high-precision real-time atmospheric inversion parameters of the service station to improve the positioning precision of pseudo-range differential positioning, and a new thought is provided for improving the performance of the pseudo-range differential positioning field of a GNSS user side.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic diagram of an overall ionospheric tropospheric parameter extraction structure for a non-differential non-combination ppp inversion, according to an embodiment of the invention.
Detailed Description
The invention is further defined in the following, but not limited to, the figures and examples in the description.
Example 1
As shown in fig. 1, a method for evaluating a differential positioning performance of a GNSS pseudorange is applied to a pseudorange differential positioning performance evaluation system of a GNSS global navigation positioning system, where the system includes a service terminal receiver, a signal broadcast system and a user station receiver, and the method includes:
the server side obtains parameter information of positioning required data such as a precise track, clock error, continuous observation data and the like;
acquiring a server non-differential non-combined ppp calculation coefficient according to parameter information of data required by server positioning, wherein the parameter information of the data required by the server positioning is basic calculation information of the server non-differential non-combined ppp calculation coefficient, and the parameter information comprises a precise track, clock error, continuous observation data and the like;
correcting the non-differential non-combination ppp calculation coefficient of the server, the precise orbit and clock error of the server, continuous observation data and the like in real time by short-time modeling processing of the atmosphere of the server to obtain the atmosphere deviation of each epoch of the server;
the atmospheric deviation of each epoch after the server-side coding is obtained by carrying out real-time RTCM3 coding on the atmospheric deviation of each epoch of the server-side;
broadcasting the atmospheric deviation of each epoch after the encoding of the server side in a network or satellite mode to enable a user side receiver to capture the atmospheric deviation;
the method specifically comprises the following steps:
s1, acquiring parameter information of data required for positioning, wherein the parameter information comprises parameter information of data required for positioning at a server side and parameter information of data required for positioning at a user side;
the method comprises the following steps: resolving a precise ephemeris to obtain a satellite earth center coordinate and a satellite end precise clock error; resolving the broadcast ephemeris to obtain the earth-center coordinates of the satellite and the clock error of the satellite terminal.
S2, respectively obtaining a server non-differential non-combination ppp resolving coefficient and a client pseudo-range differential positioning RTD resolving coefficient according to the obtained parameter information;
the nondifferential and non-combinative PPP model is specifically as follows:
Figure BDA0003680430540000061
γ i denotes an ionospheric delay parameter coefficient, γ when i is 1 i When i is 2, the ratio of 1 to 2,
Figure BDA0003680430540000062
wherein f is frequency; i is s (t) represents ionospheric delay values in the satellite and receiver line-of-sight directions; rho r (t) a pseudorange observation at time t; subscript i represents the frequency number of the satellite; superscript s to denote satellite number; subscript r denotes the receiver; r is r (t) represents the geometric distance between the earth and the satellite at time t; c represents the speed of light; m is s Representing a projection function of the troposphere from the direction of the zenith of the observation station to the direction of the inclined path of the satellite; t is s (t) represents the tropospheric delay in the direction of the zenith of the survey station at time t; b is r,i The pseudo range hardware delay at the receiver is represented; b s Representing the hardware delay of the pseudo range of the satellite terminal; ε represents the pseudorange observation noise.
In the non-differential non-combination PPP model, the error of satellite clock difference is eliminated, and the error is obtained by the combination of ionization layers. The corrected clock error is as follows:
Figure BDA0003680430540000063
if the correction of the satellite clock difference is taken into account, the receiver clock difference also needs to be corrected, and the receiver clock difference can absorb the receiving hardware delay. The corrected receiver clock difference is therefore as follows:
Figure BDA0003680430540000064
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003680430540000065
the above formulas (2) and (3) are introduced into (1) and simplified to obtain:
Figure BDA0003680430540000071
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003680430540000072
DCB r and DCB s The ionosphere parameters and the phase ambiguity parameters are closely related and are in a linear relationship. Further rewriting (4) can be made:
ρ i (t)＝r r (t)+c·(dt r -dt s )+γ i ·I s (t)+m s ·T s (t)+ε (5)
the equivalent ionization parameter I can be expressed by carrying out phase-shifting simplification on the formula (5) s (t) of (d). The following were used:
I s (t)＝I s (t)+β·(DCB r -DCB s ) (6)
the parameters to be solved in equation (5) can be expressed in vector form according to the model:
X＝[x,dt r ,I s (t),T s (t)] (7)
based on the above formula (5), the coordinates of the tracking station of the server can be accurately known.
The non-differential non-combination model is used for PPP resolution of a service end, wherein I s (t)、T s (t)、m s And obtaining the model through a corresponding ionosphere correction model and a troposphere correction model.
S3, correcting the non-differential non-combination ppp calculation coefficient of the server and the parameter information of the data required by the server positioning in real time to obtain the atmospheric deviation of each epoch of the server;
the method specifically comprises the following steps:
obtaining I as described in S1 s (t) the ionosphere correction model adopts a single difference method between the stars, and the method can fully utilize the ionosphere characteristics of the inclined path to construct a modelAnd the functional expression comprises a longitude and latitude difference value of the test point and a longitude and latitude difference value of the puncture point, and the expression is a delay function of the ionosphere. The ionospheric delay model for each satellite is as follows:
I s ＝a 0 +a 1 ·(LA s -LA 0 )+a 2 ·(LO s -LO 0 ) (8)
in the above formula, I s Is the ionospheric delay value (ramp path); LA s Longitude and latitude of the satellite puncture point;
LA 0 、LO 0 the longitude and latitude of the test point are obtained; a is a 0 、a 1 、a 2 Is a constant coefficient.
The hardware delay part has two parts, one is the hardware delay of the satellite end, and the other is the hardware delay of the receiver end. Wherein the constant coefficient a of the satellite end can be directly used 0 、a 1 、a 2 Showing that no additional model elimination is needed. The other part of the receiver end is also taken into consideration, and it can be seen from the formula (6) that the extracted equivalent ionosphere parameters are not only related to the hardware delay of the satellite end, but also closely related to the hardware delay of the receiver end. Therefore, there is a need to further consider hardware delays at the receiver. The idea of processing the delay is to take a reference satellite to perform single difference operation between planets according to the equivalent ionospheric parameters of formula (6), and the expression is as follows:
Figure BDA0003680430540000081
the reference satellite is denoted ref in the expression.
After the inter-satellite single difference processing, the hardware delay at the receiver end is eliminated, and at the moment, the ionospheric delay parameter of the inclined path is changed into an expression of the inter-satellite single difference from the expression (8) of each satellite, which is expressed as follows:
Figure BDA0003680430540000082
the premise of this equation is that the selected satellite s must be in the same rover and satellite system as the reference satellite ref. Due to the adoption of the method, the result has certain comparability in the process of solving a specific problem. The reason is that the parameters DCB of different stations and different satellite systems r Differently, to avoid unnecessary bias in the calculations, the model must be used to solve the calculation problem of selecting the same reference satellite under the same rover and satellite system.
Obtaining T in S1 s The troposphere correction model of (t) adopts a UNB3m model, and because the zenith troposphere model is strongly related to the elevation of the measuring point, the elevation factor needs to be considered when the troposphere zenith modeling is carried out. Calculating the zenith troposphere stem component T of the server d And moisture content T w Then, the UNB3m model is adopted, and the model function is as follows:
Figure BDA0003680430540000083
Figure BDA0003680430540000084
in the formula, K 1 ＝77.60k·mbar -1 ，K 2 ＝16.6k·mbar -1 ，K 3 ＝377600k·mbar -1 H represents the height of the measuring point, R is 287.054 J.kg -1 ·K -1 ，g＝9.80665m/s 2 ，
Figure BDA0003680430540000091
To separate the tropospheric delay for fitting to the user side, the zenith tropospheric delay is now divided into a base measure and an elevation measure, respectively denoted by T fun 、T ele Is represented by the formula, wherein T fun When H is 0, calculating the basic dry component and the basic wet component of the zenith troposphere delay through a formula (11) and a formula (12)An amount; t is ele And when the value is H, calculating the high level of the dry component and the wet component of the zenith troposphere delay through a formula (11) and a formula (12).
Wherein the basic amount of dry delay T d,fun And a high amount of T d,ele Expressed as:
Figure BDA0003680430540000092
wherein the basic amount T of wet retardation w,fun And a high amount of T w,ele Expressed as:
Figure BDA0003680430540000093
basic quantity T of dry delay d,fun High T d,ele Base amount of wet retardation T w,fun And a high amount of T w,ele The basic quantity T of the zenith troposphere of each survey station can be obtained by combination fun,i And a high amount of T ele,i 。
Figure BDA0003680430540000094
When the regional modeling is carried out, the basic quantity T of the zenith troposphere of the survey station is respectively measured according to the position relation fun,i And a high amount of T ele,i And (6) modeling. In the modeling interpolation process, local coordinates centered on the user side are established, so that the planar coordinates of the user side are 0. Basic quantity T of zenith troposphere of survey station fun,u And a high amount of T ele,u Modeling, expressed as:
Figure BDA0003680430540000095
in the formula, A i (i-1, 2,3) and B i (i ═ 1, 2.. times.n) are interpolation coefficients, n is the number of reference stations, and the interpolation coefficient a is i (i ═ 1,2,3) satisfies:
Figure BDA0003680430540000101
interpolation coefficient B i (i ═ 1, 2.., n) satisfies:
Figure BDA0003680430540000102
the basic quantity T of the zenith troposphere of the survey station is calculated by the formula (17) fun,u And a high amount of T ele,u The two components are added to obtain the total zenith tropospheric delay T of the survey station u ＝T fun,u +T ele,u 。
A user side obtains parameter information of data required for positioning, such as a broadcasting track, clock error, continuous observation data and the like;
acquiring a pseudo-range differential positioning RTD (real time delay) calculation coefficient of a user terminal according to parameter information of data required by the user terminal positioning, wherein the parameter information of the data required by the user terminal positioning is basic calculation information of the pseudo-range differential positioning RTD calculation coefficient of the user terminal, and the parameter information comprises a broadcast track, clock error, continuous observation data and the like;
s4, the user side acquires parameter information of data required by the RTD atmospheric deviation positioning of the pseudo-range differential positioning of the user side by capturing the atmospheric deviation of each epoch of the server side;
the method specifically comprises the following steps:
Δ I obtained according to step S3 s And T u Fitting to the observation equation of the pseudo-range differential positioning RTD atmospheric deviation positioning of the user terminal. The observation equation is:
Figure BDA0003680430540000103
s5, fitting parameter information of data required by the pseudo-range differential positioning RTD atmospheric deviation positioning and a pseudo-range differential positioning RTD resolving coefficient of the user side by the user side to obtain real-time RTD static and dynamic resolving;
the method specifically comprises the following steps:
the observation equation for the pseudorange differential positioning RTD atmospheric bias positioning in S4 has 4 unknowns: subscriber station receiver position coordinate parameter (x) u ,y u ,z u ) Pseudorange correction value broadcast from a reference station
Figure BDA0003680430540000111
Setting:
Figure BDA0003680430540000112
wherein the content of the first and second substances,
Figure BDA0003680430540000113
representing a subscriber station location measurement; (δ x) u ,δy u ,δz u ) Representing the difference between the subscriber station position measurement and the true value.
For is to
Figure BDA0003680430540000114
To be provided with
Figure BDA0003680430540000115
Performing Taylor expansion for the center, and obtaining the following after other items are omitted and taken once:
Figure BDA0003680430540000116
wherein the content of the first and second substances,
Figure BDA0003680430540000117
an approximation of the geometric distance of the subscriber station from the satellite s at time t is given by:
Figure BDA0003680430540000118
let the coefficients in equation (22) be:
Figure BDA0003680430540000119
substituting the coefficient expression (24) into equation (22) can result in a linear error equation:
V＝A·δT+L (25)
in error equation (25):
Figure BDA00036804305400001110
Figure BDA0003680430540000121
Figure BDA0003680430540000122
firstly, when the number of satellites observed by the subscriber station and the reference station is 4, the subscriber station position at the moment is unique, and the following conditions are directly obtained:
δT＝-A -1 L (26)
in the second case, when the number of the resolved satellites is greater than 4, the positioning can be resolved by a least square method, which is expressed as:
δT＝-(A T A) -1 A T L (27)
and S6, obtaining RTD static and dynamic positioning evaluation results according to real-time RTD static and dynamic calculation.
The method specifically comprises the following steps:
and analyzing the internal coincidence precision and the external coincidence precision according to the delta T obtained in the step S5 to obtain an evaluation result.
The internal coincidence accuracy calculation formula is as follows:
Figure BDA0003680430540000123
of each symbol in the formulaThe meaning is expressed as: x is the number of 1 、x 2 、…、x n Representing an observed value;
Figure BDA0003680430540000124
Figure BDA0003680430540000125
the mean value is indicated.
The external coincidence accuracy calculation formula is as follows:
Figure BDA0003680430540000126
the meaning of each symbol in the formula is represented as: x is the number of 1 、x 2 、…、x n Representing an observed value; x is the number of 1 、x 2 、…、x n A true value is indicated.
Example 2
A GNSS pseudo-range differential positioning performance evaluation system comprises:
the first obtaining unit is used for obtaining parameter information of positioning required data such as a precise track, clock error and continuous observation data of a server;
the second obtaining unit is used for obtaining a server non-differential non-combined ppp calculation coefficient according to parameter information of data required by server positioning, wherein the parameter information of the data required by the server positioning is basic calculation information of the server non-differential non-combined ppp calculation coefficient, and comprises a precise track, a clock error and continuous observation data;
the third obtaining unit is used for correcting the non-differential non-combination ppp resolving coefficient of the server, the precise orbit and clock error of the server, continuous observation data and the like in real time according to the short-time modeling processing of the atmosphere of the server to obtain the atmospheric deviation of each epoch of the server;
a fourth obtaining unit, configured to obtain the atmospheric deviation of each epoch after the server side is encoded by performing real-time RTCM3 encoding on the atmospheric deviation of each epoch of the server side;
a fifth obtaining unit, configured to broadcast, in a network or satellite manner, the atmospheric deviation of each epoch after the server side encoding, so that a user side receiver can capture the atmospheric deviation;
a sixth obtaining unit, configured to obtain, by a user side, parameter information of data required for positioning, such as a broadcast track, a clock offset, and continuous observation data;
a seventh obtaining unit, configured to obtain a user-side pseudo-range differential positioning RTD calculation coefficient according to parameter information of data required for user-side positioning, where the parameter information of the data required for user-side positioning is basic calculation information of the user-side pseudo-range differential positioning RTD calculation coefficient, and includes a broadcast track, a clock offset, continuous observation data, and the like;
an eighth obtaining unit, configured to obtain, by the user side, parameter information of data required for positioning pseudo-range differential positioning RTD atmospheric deviation of the user side by capturing the atmospheric deviation of each epoch after encoding the atmospheric deviation broadcast by the server side;
a ninth obtaining unit, configured to fit, by the user side, parameter information of data required for atmospheric deviation positioning of the pseudo-range differential positioning RTD, so as to obtain real-time RTD static and dynamic solution;
and the seventh obtaining unit is used for solving the real-time RTD statically and dynamically to obtain the RTD static and dynamic positioning evaluation result.
Example 3
A computer-readable storage medium stores a plurality of instructions, and the instructions are adapted to be loaded by a processor of a terminal device and execute a GNSS pseudorange differential positioning performance evaluation method provided by this embodiment.
Example 4
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the GNSS pseudo-range differential positioning performance evaluation method provided by the embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

1. A GNSS pseudo-range differential positioning performance evaluation method is characterized by comprising the following steps:
acquiring parameter information of data required for positioning, wherein the parameter information comprises parameter information of data required for positioning at a server side and parameter information of data required for positioning at a user side;
respectively obtaining a server non-differential non-combination PPP resolving coefficient and a client pseudo-range differential positioning RTD resolving coefficient according to the obtained parameter information;
the atmospheric deviation of each epoch of the server is obtained by correcting the server non-differential non-combination PPP resolving coefficient and the parameter information of the data required by the server positioning in real time;
the method comprises the steps that a user side acquires parameter information of data required by RTD atmospheric deviation positioning of pseudo-range differential positioning of the user side by capturing atmospheric deviation of each epoch of a server side;
the user terminal obtains real-time RTD static and dynamic solution by fitting parameter information of data required by the pseudo-range differential positioning RTD atmospheric deviation positioning and a user terminal pseudo-range differential positioning RTD solution coefficient;
and obtaining the RTD static and dynamic positioning evaluation results according to the real-time RTD static and dynamic calculation.
2. The method for evaluating the performance of the GNSS pseudo-range differential positioning according to claim 1, wherein the parameter information of the data required for the server-side positioning is basic solution information of the server-side non-differential non-combined ppp solution coefficients, which includes precise orbit and clock error and continuous observation data.
3. The method for evaluating the differential positioning performance of the GNSS pseudorange according to claim 1, wherein the non-differential non-combined PPP solution coefficient of the server is obtained according to the obtained parameter information, and specifically, the non-differential non-combined PPP solution coefficient of the server is obtained by using a non-differential non-combined PPP model, where the non-differential non-combined PPP model is:
Figure FDA0003680430530000011
wherein, γ i Denotes an ionospheric delay parameter coefficient, γ when i is 1 i When i is 2, the ratio of 1 to 2,
Figure FDA0003680430530000012
wherein f is frequency; i is s (t) represents ionospheric delay values in the satellite and receiver line-of-sight directions; rho r (t) a pseudorange observation at time t; subscript i represents the frequency number of the satellite; superscript s to denote satellite number; the subscript r denotes the receiver; r is a radical of hydrogen r (t) represents the geometric distance between the earth and the satellite at time t; c represents the speed of light; m is s Representing a projection function of the troposphere from the direction of the zenith of the observation station to the direction of the inclined path of the satellite; t is a unit of s (t) represents the tropospheric delay in the direction of the zenith of the survey station at time t; b is r,i The pseudo range hardware delay at the receiver is represented; b is s The hardware delay of the pseudo range of the satellite is represented; ε represents the pseudorange observation noise.
4. The method for evaluating the differential positioning performance of the GNSS pseudorange, according to claim 1, wherein the real-time correction of the parameter information of the server non-differential non-combined ppp solution coefficient and the data required for the server positioning includes receiver clock error correction, and the corrected non-differential non-combined model is:
ρ i (t)＝r r (t)+c·(dt r -dt s )+γ i ·I s (t)+m s ·T s (t)+ε
therein, dt s And dt r The corrected clock difference between the satellite end and the receiver end.
5. The method for evaluating the differential positioning performance of the GNSS pseudorange, according to claim 1, wherein the parameters of the server non-differential non-combined ppp solution coefficients and the parameter information of the data required for the server positioning are corrected in real time, and further including ionospheric correction, and the ionospheric correction model of the server is:
I s ＝a 0 +a 1 ·(lat s -lat 0 )+a 2 ·(lon s -lon 0 )
wherein, I s To represent ionospheric delay values (ramp paths); lon s 、lat s Respectively representing the longitude and the latitude of the satellite puncture point; lon 0 、lat 0 A longitude and latitude representing a reference point; a is 0 、a 1 、a 2 Is a constant coefficient.
6. The GNSS pseudo-range differential positioning performance evaluation method according to claim 1, wherein the real-time correction is performed on the server non-differential non-combined ppp solution coefficient and the parameter information of the data required for the server positioning, and further comprising troposphere correction, and the troposphere correction model of the server is:
Figure FDA0003680430530000021
in the formula, the basic quantity T of the zenith troposphere of the survey station fun,u And a high amount of T ele,u ；A i (i ═ 1,2,3) and B i Each of (i ═ 1, 2., n) is an interpolation coefficient, and n is the number of reference stations.
7. The method as claimed in claim 1, wherein the fitting is performed on the parameter information of the data required for the atmospheric bias positioning of the pseudorange differential positioning RTD and the RTD solution coefficient of the pseudorange differential positioning at the user end, and the fitting model is as follows:
Figure FDA0003680430530000022
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003680430530000023
a pseudo-range observation value representing the user station u at the time t; δ t u Clock error representing the display time of the clock surface of the signal received by the receiver and the standard time; δ t s The clock difference between the clock surface display time and the standard time is used for representing the signal sent by the satellite;
Figure FDA0003680430530000024
representing the equivalent distance error caused by delay when the signal of the user station u passes through the ionosphere at the time t;
Figure FDA0003680430530000025
representing the equivalent range error due to delay when the signal of the subscriber station u passes through the troposphere at time t;
Figure FDA0003680430530000026
indicating the ephemeris error for subscriber station u to the s-th satellite at time t.
8. A GNSS pseudo-range differential positioning performance evaluation system is characterized by comprising:
the first obtaining unit is used for obtaining parameter information of positioning required data such as a precise track, clock error and continuous observation data of a server;
the second obtaining unit is used for obtaining a server non-differential non-combined ppp calculation coefficient according to parameter information of data required by server positioning, wherein the parameter information of the data required by the server positioning is basic calculation information of the server non-differential non-combined ppp calculation coefficient, and comprises a precise track, a clock error and continuous observation data;
the third obtaining unit is used for correcting the non-differential non-combination ppp resolving coefficient of the server, the precise orbit and clock error of the server, continuous observation data and the like in real time according to the short-time modeling processing of the atmosphere of the server to obtain the atmospheric deviation of each epoch of the server;
a fourth obtaining unit, configured to obtain the atmospheric deviation of each epoch after the server side is encoded by performing real-time RTCM3 encoding on the atmospheric deviation of each epoch of the server side;
a fifth obtaining unit, configured to broadcast, in a network or satellite manner, the atmospheric deviation of each epoch after the server side encoding, so that a user side receiver can capture the atmospheric deviation;
a sixth obtaining unit, configured to obtain, by a user side, parameter information of data required for positioning, such as a broadcast track, a clock offset, and continuous observation data;
a seventh obtaining unit, configured to obtain a user-side pseudo-range differential positioning RTD calculation coefficient according to parameter information of data required for user-side positioning, where the parameter information of the data required for user-side positioning is basic calculation information of the user-side pseudo-range differential positioning RTD calculation coefficient, and includes a broadcast track, a clock offset, continuous observation data, and the like;
an eighth obtaining unit, configured to obtain, by the user side, parameter information of data required for positioning pseudo-range differential positioning RTD atmospheric deviation of the user side by capturing the atmospheric deviation of each epoch after encoding the atmospheric deviation broadcast by the server side;
a ninth obtaining unit, configured to fit, by the user side, parameter information of data required for atmospheric deviation positioning of the pseudo-range differential positioning RTD, so as to obtain real-time RTD static and dynamic solution;
and the seventh obtaining unit is used for solving the real-time RTD statically and dynamically to obtain the RTD static and dynamic positioning evaluation result.
9. A computer-readable storage medium having stored thereon instructions adapted to be loaded by a processor of a terminal device and to execute a GNSS pseudorange differential positioning performance evaluation method according to any of claims 1-7.
10. A terminal device comprising a processor and a computer-readable storage medium, the processor being configured to implement instructions; a computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform a GNSS pseudorange differential positioning performance evaluation method according to any of claims 1-7.
CN202210636333.8A 2022-06-07 2022-06-07 GNSS pseudo-range differential positioning performance evaluation method and system Pending CN114994724A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117130014A (en) * 2023-10-26 2023-11-28 武汉大学 Method and system for establishing single difference model between ionosphere stars in high-precision area

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117130014A (en) * 2023-10-26 2023-11-28 武汉大学 Method and system for establishing single difference model between ionosphere stars in high-precision area
CN117130014B (en) * 2023-10-26 2024-02-06 武汉大学 Method and system for establishing single difference model between ionosphere stars in high-precision area

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