CN115079214B - Pseudo-satellite pseudo-range multipath correction method, device, platform and receiver - Google Patents
Pseudo-satellite pseudo-range multipath correction method, device, platform and receiver Download PDFInfo
- Publication number
- CN115079214B CN115079214B CN202210989675.8A CN202210989675A CN115079214B CN 115079214 B CN115079214 B CN 115079214B CN 202210989675 A CN202210989675 A CN 202210989675A CN 115079214 B CN115079214 B CN 115079214B
- Authority
- CN
- China
- Prior art keywords
- pseudo
- satellite
- range
- reference station
- pseudolite
- 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.)
- Active
Links
- 238000012937 correction Methods 0.000 title claims abstract description 174
- 238000000034 method Methods 0.000 title claims abstract description 71
- 238000012545 processing Methods 0.000 claims abstract description 40
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000005433 ionosphere Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 239000005436 troposphere Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- G01S19/22—Multipath-related issues
Abstract
The invention provides a pseudo-satellite pseudo-range multipath correction method, a pseudo-satellite pseudo-range multipath correction device, a pseudo-satellite pseudo-range multipath correction platform and a receiver, wherein the pseudo-satellite pseudo-range multipath correction method is applied to the pseudo-satellite pseudo-range multipath correction platform, and comprises the following steps: receiving pseudolite observation data sent by a pseudolite reference station; processing the pseudo satellite observation data to obtain pseudo satellite pseudo range multi-path errors corresponding to the pseudo satellite reference station; and sending the pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station to the receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error. According to the invention, data processing is carried out in the pseudo-satellite pseudo-range multipath correction platform to obtain the pseudo-satellite pseudo-range multipath error, the pseudo-satellite pseudo-range multipath error is prevented from being calculated by a receiver, the pseudo-satellite pseudo-range multipath error is broadcast to the receiver for use, the combined GNSS satellite data is not needed, the pseudo-range multipath correction method is suitable for pseudo-satellite pseudo-range multipath correction under dynamic conditions, and the application scenarios are multiple.
Description
Technical Field
The invention relates to the technical field of pseudolite positioning, in particular to a pseudolite pseudo-range multipath correction method, a pseudolite pseudo-range multipath correction device, a pseudolite pseudo-range multipath correction platform and a pseudolite pseudo-range multipath correction receiver.
Background
A Global Navigation Satellite System (GNSS) can provide positioning, navigation, and timing services for an outdoor user, but GNSS signals are not received indoors or in a tunnel. The pseudolite technology can realize indoor and tunnel positioning, and a pseudolite device is arranged at a fixed position to transmit a pseudolite signal to a user. The orbit height of the GNSS satellite is about 2 kilometers, and delay errors such as an ionosphere, a troposphere, multipath and the like can be generated when a signal reaches a user receiver. Multipath of GNSS satellite signals generally comes from interfering signals below the antenna, which can be suppressed by the antenna. The pseudolite is low in height, and ionosphere and troposphere delay do not exist, but reflection and diffuse reflection of the surfaces of more objects are generated indoors and in a tunnel, interference signals cannot be avoided, and the influence is large. The prior art has therefore proposed pseudolite suppression and correction methods.
In the prior art, the influence of pseudo-range multipath is basically inhibited by a terminal (receiver) side algorithm, but the algorithm for inhibiting the pseudo-range multipath at the receiver side is complex, some algorithms need static conditions or joint GNSS satellite data, pseudo-range multipath of a pseudo satellite cannot be inhibited in a scene without GNSS satellite signals, and the limitation conditions are more.
Disclosure of Invention
The embodiment of the invention provides a pseudo-satellite pseudo-range multipath correction method, a pseudo-satellite pseudo-range multipath correction device, a pseudo-satellite pseudo-range multipath correction platform and a pseudo-satellite pseudo-range multipath correction receiver, which are used for solving the problems that in the prior art, the pseudo-satellite pseudo-range multipath error needs to be calculated by the receiver side, and the scene limitation of pseudo-satellite pseudo-range multipath suppression is caused.
In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions:
in a first aspect, an embodiment of the present invention provides a pseudo-satellite pseudo-range multipath correction method, which is applied to a pseudo-satellite pseudo-range multipath correction platform, and the method includes:
receiving pseudolite observation data sent by a pseudolite reference station;
processing the pseudo satellite observation data to obtain pseudo satellite pseudo range multi-path errors corresponding to the pseudo satellite reference stations;
and sending the pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station to a receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on a satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error.
Optionally, the method further comprises:
and sending the coordinates of the pseudo-satellite reference station to the receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the coordinates of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multi-path error.
Optionally, the processing the pseudolite observation data to obtain a pseudolite pseudo-range multi-path error corresponding to the pseudolite reference station includes:
obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to a pseudo-range observation value of a pseudo-satellite corresponding to the pseudo-satellite reference station, a distance between the pseudo-satellite and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed;
and obtaining a pseudo-range observation value of the pseudo-satellite according to the pseudo-satellite observation data.
Optionally, the obtaining a pseudo-satellite pseudo-range multipath error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, and the light speed includes:
obtaining pseudo satellite reference station clock errors according to pseudo satellite pseudo range observation values of at least four pseudo satellites corresponding to the pseudo satellite reference station, distances between the pseudo satellites and the pseudo satellite reference station, the pseudo satellite clock errors and the light speed;
and obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, the pseudo-satellite reference station clock error and the light velocity.
Optionally, the obtaining a pseudolite reference station clock error according to pseudolite pseudo-range observed values of at least four pseudolites corresponding to the pseudolite reference station, a distance between a pseudolite and the pseudolite reference station, a pseudolite clock error and a speed of light includes:
determining a clock error observation value according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed;
and determining the clock error of the pseudo-satellite reference station according to the clock error observation value by using a median method.
Optionally, the distance between the pseudolite and the pseudolite reference station is derived from the coordinates of the pseudolite and the coordinates of the pseudolite reference station.
In a second aspect, an embodiment of the present invention further provides a pseudo-satellite pseudorange multipath correction method, applied to a receiver, where the method includes:
receiving a pseudo-satellite pseudo-range multi-path error corresponding to a pseudo-satellite reference station sent by a pseudo-satellite pseudo-range multi-path correction platform;
performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error;
the pseudo-satellite pseudo-range multi-path error is obtained by processing pseudo-satellite observation data sent by a pseudo-satellite reference station by the pseudo-satellite pseudo-range multi-path correction platform.
Optionally, the method further comprises:
receiving the coordinates of the pseudo satellite reference station sent by the pseudo satellite pseudo range multipath correction platform;
and performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error and the coordinate of the pseudo-satellite reference station.
Optionally, performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error and the coordinate of the pseudo-satellite reference station, including:
obtaining a current estimated position of the receiver;
determining a target pseudolite reference station closest to the receiver according to the current estimated position and the coordinates of the pseudolite reference station;
performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the target pseudo-satellite pseudo-range multi-path error;
and the target pseudolite pseudorange multipath error is a pseudolite pseudo range multipath error corresponding to the target pseudolite reference station.
Optionally, the method further comprises:
and performing pseudolite positioning according to the satellite observation value of the receiver after the pseudolite pseudo-range multipath is corrected.
In a third aspect, an embodiment of the present invention further provides a pseudo-satellite pseudorange multipath correction apparatus, which is applied to a pseudorange multipath correction platform, where the apparatus includes:
the first receiving module is used for receiving the pseudolite observation data sent by the pseudolite reference station;
the processing module is used for processing the pseudolite observation data to obtain pseudolite pseudo-range multi-path errors corresponding to the pseudolite reference station;
and the first sending module is used for sending the pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station to a receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on a satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error.
Optionally, the apparatus further comprises:
and the second sending module is used for sending the coordinates of the pseudo-satellite reference station to the receiver so that the receiver performs pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the coordinates of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multipath error.
Optionally, the processing module includes:
the first processing unit is used for obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to a pseudo-range observation value of a pseudo-satellite corresponding to the pseudo-satellite reference station, a distance between the pseudo-satellite and the pseudo-satellite reference station, a pseudo-satellite clock error and a light speed;
wherein the pseudo-range observations of the pseudolites are obtained from the pseudolite observations.
Optionally, the first processing unit is specifically configured to:
obtaining pseudo satellite reference station clock errors according to pseudo satellite pseudo range observation values of at least four pseudo satellites corresponding to the pseudo satellite reference station, distances between the pseudo satellites and the pseudo satellite reference station, the pseudo satellite clock errors and the light speed;
and obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, the pseudo-satellite reference station clock error and the light velocity.
Optionally, the first processing unit is specifically configured to:
determining a clock error observation value according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed;
and determining the clock error of the pseudo satellite reference station by using a median method according to the clock error observation value.
Optionally, the distance between the pseudolite and the pseudolite reference station is derived from the coordinates of the pseudolite and the coordinates of the pseudolite reference station.
In a fourth aspect, an embodiment of the present invention further provides a pseudo-satellite pseudorange multipath correction apparatus, which is applied to a receiver, where the apparatus includes:
the second receiving module is used for receiving the pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station sent by the pseudo-satellite pseudo-range multi-path correction platform;
the first correction module is used for performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error;
the pseudo-satellite pseudo-range multi-path error is obtained by processing pseudo-satellite observation data sent by a pseudo-satellite reference station by the pseudo-satellite pseudo-range multi-path correction platform.
Optionally, the apparatus further comprises:
the third receiving module is used for receiving the coordinates of the pseudo-satellite reference station sent by the pseudo-satellite pseudo-range multipath correction platform;
and the second correction module is used for performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error and the coordinate of the pseudo-satellite reference station.
Optionally, the second modification module includes:
an acquisition unit configured to acquire a current estimated position of the receiver;
a fourth processing unit, configured to determine a target pseudolite reference station closest to the receiver according to the current estimated position and the coordinates of the pseudolite reference station;
the correction unit is used for performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the target pseudo-range multi-path error;
and the target pseudolite pseudorange multipath error is a pseudolite pseudo range multipath error corresponding to the target pseudolite reference station.
Optionally, the apparatus further comprises:
and the positioning module is used for positioning the pseudo satellite according to the satellite observation value of the receiver after the pseudo range multipath of the pseudo satellite is corrected.
In a fifth aspect, an embodiment of the present invention further provides a pseudo-satellite pseudorange multipath correction platform, including: a processor, a memory and a program stored on and executable on said memory, said program when executed by said processor implementing the steps of the pseudolite pseudorange multipath correction method according to any one of the first aspects.
In a sixth aspect, an embodiment of the present invention further provides a receiver, including: a processor, a memory and a program stored on and executable on said memory, said program when executed by said processor implementing the steps of the pseudolite pseudorange multipath correction method according to the second aspect.
In a seventh aspect, the present invention further provides a readable storage medium, where the readable storage medium stores a program, and the program, when executed by a processor, implements the steps in the pseudolite pseudo-range multipath correction method according to any one of the first aspect, or implements the steps in the pseudolite pseudo-range multipath correction method according to the second aspect.
The invention has the beneficial effects that:
according to the scheme, a pseudo satellite pseudo range multipath correction platform receives pseudo satellite observation data sent by a pseudo satellite reference station, processes the pseudo satellite observation data to obtain pseudo satellite pseudo range multipath errors corresponding to the pseudo satellite reference station, and sends the pseudo satellite pseudo range multipath errors corresponding to the pseudo satellite reference station to a receiver, so that the receiver performs pseudo satellite pseudo range multipath correction on a satellite observation value of the receiver according to the pseudo satellite pseudo range multipath errors, the pseudo satellite pseudo range multipath errors are obtained by performing data processing in the pseudo satellite pseudo range multipath correction platform, the problem that pseudo satellite pseudo range multipath errors are calculated by the receiver side in the prior art can be solved, the pseudo satellite pseudo range multipath errors calculated by the pseudo satellite pseudo range multipath correction platform are sent to a broadcast receiver for use, pseudo range multipath influences can be corrected and weakened, the pseudo range multipath correction is not needed by combining with GNSS satellite data, the pseudo satellite pseudo range multipath correction is suitable for pseudo satellite pseudo range multipath correction under dynamic conditions, and multiple application scenes are available.
Drawings
Fig. 1 is a schematic flow diagram illustrating a pseudolite pseudorange multipath correction method applied to a pseudolite pseudorange multipath correction platform according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a pseudo-satellite pseudo-range multi-path correction method applied to a receiver according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pseudo-satellite pseudo-range multipath correction device applied to a pseudo-satellite pseudo-range multipath correction platform according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a pseudo-satellite pseudo-range multipath correction apparatus applied to a receiver according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a pseudo-satellite pseudorange multipath correction platform according to an embodiment of the invention;
fig. 6 is a schematic structural diagram of a receiver according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides a pseudo-satellite pseudo-range multipath correction method, a pseudo-satellite pseudo-range multipath correction device, a pseudo-satellite pseudo-range multipath correction platform and a pseudo-satellite receiver, aiming at the problems that in the prior art, the receiver side is required to calculate pseudo-satellite pseudo-range multipath errors and the scene of restraining pseudo-satellite pseudo-range multipath is limited.
As shown in fig. 1, an embodiment of the present invention provides a pseudo-satellite pseudo-range multipath correction method, which is applied to a pseudo-satellite pseudo-range multipath correction platform, and the method includes:
step 101: and receiving pseudolite observation data sent by the pseudolite reference station.
It should be noted that the pseudolite pseudorange multipath correction method provided by the embodiment of the invention is suitable for indoor or tunnel environments.
The pseudo-satellite pseudo-range multipath correction method provided by the embodiment of the invention selects points indoors or in a tunnel on the premise of completing the arrangement of a pseudo-satellite system, constructs a certain number of pseudo-satellite reference stations and calibrates the coordinates of the pseudo-satellite reference stations. The number of the pseudolite reference stations can be set as required, and is not limited in the embodiment.
The pseudo satellite reference station receives pseudo satellite observation data of a pseudo satellite in real time and sends the pseudo satellite observation data to the pseudo satellite pseudo range multipath correction platform in real time through a communication link.
Step 102: and processing the pseudo satellite observation data to obtain pseudo satellite pseudo range multi-path errors corresponding to the pseudo satellite reference station.
In the step, a pseudo-satellite pseudo-range multipath correction platform receives pseudo-satellite observation data sent by a pseudo-satellite reference station, and performs real-time data processing to obtain a pseudo-satellite pseudo-range multipath error corresponding to the pseudo-satellite reference station.
In the step, data processing can be performed on the pseudo-satellite pseudo-range multipath correction platform to obtain the pseudo-satellite pseudo-range multipath error, and the pseudo-satellite pseudo-range multipath error does not need to be calculated on the receiver side.
Step 103: and sending the pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station to a receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on a satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error.
The pseudo-satellite pseudo-range multipath error is broadcasted to a receiver after the pseudo-satellite pseudo-range multipath error is obtained by a pseudo-satellite pseudo-range multipath correction platform, so that the receiver performs pseudo-satellite pseudo-range multipath correction on a satellite observation value, pseudo-range multipath influence of a pseudo-satellite is weakened, and pseudo-satellite positioning accuracy is improved.
Optionally, the method further comprises:
and sending the coordinates of the pseudo-satellite reference station to the receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the coordinates of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multi-path error.
Further, the pseudo-satellite pseudo-range multipath correction platform also sends the coordinates of the pseudo-satellite reference station to the receiver, so that the receiver performs pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the coordinates of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multipath error, specifically, the receiver obtains the approximate position (current estimated position) of the receiver, selects a target pseudo-satellite reference station closest to the receiver according to the current estimated position and the coordinates of the pseudo-satellite reference station, corrects according to the pseudo-satellite pseudo-range multipath error corresponding to the target pseudo-satellite reference station, and weakens the influence of the pseudo-satellite pseudo-range multipath error.
Optionally, the processing the pseudolite observation data to obtain a pseudolite pseudo-range multi-path error corresponding to the pseudolite reference station includes:
obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to a pseudo-range observation value of a pseudo-satellite corresponding to the pseudo-satellite reference station, a distance between the pseudo-satellite and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed;
wherein the pseudo-range observations of the pseudolites are obtained from the pseudolite observations.
In the embodiment of the invention, a pseudo-satellite pseudo-range correction platform calculates according to the following data to obtain the pseudo-satellite pseudo-range multi-path error:
pseudo range observation values of pseudo satellites corresponding to the pseudo satellite reference stations, distances between the pseudo satellites and the pseudo satellite reference stations, pseudo satellite clock errors and light speeds;
wherein the pseudolite observation data comprises a pseudo range observation value of the pseudolite.
Optionally, the obtaining a pseudo-satellite pseudo-range multipath error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, and the light speed includes:
obtaining pseudo satellite reference station clock errors according to pseudo satellite pseudo range observation values of at least four pseudo satellites corresponding to the pseudo satellite reference station, distances between the pseudo satellites and the pseudo satellite reference station, the pseudo satellite clock errors and the light speed;
and obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, the pseudo-satellite reference station clock error and the light velocity.
It should be noted that the embodiment of the present invention provides a computation model of pseudo-satellite pseudo-range multipath errors, and according to the computation model, pseudo-satellite pseudo-range multipath errors near a pseudo-satellite reference station can be rapidly computed.
The calculation model of the pseudo-satellite pseudo-range multipath error is specifically described below, and comprises the following equation of a model algorithm:
the observation equation for a pseudolite at a pseudolite reference station is:
wherein, the upper label
Denotes pseudolites, subscripts
Which represents a base station, is a base station,
representing pseudo-range observations of the pseudolites, which are derived from pseudolite observations,
representing the geometric distance between the pseudolite and the pseudolite reference station,
the speed of light is indicated and is,
representing the clock difference of the reference station of the pseudolite,
the pseudolite clock error is represented, and because the pseudolite can adopt an optical fiber mode for time synchronization, the pseudolite clock error can be controlled within 1ns,
represents the pseudo-satellite pseudorange multipath error,
is a pseudorange measurement error which obeys a normal distribution and is negligible.
The pseudolite pseudo range multi-path error of the pseudolite reference station can be calculated according to the observation equation.
Wherein the pseudolite reference station clock error
The pseudo-satellite clock correction method is obtained by calculating pseudo-satellite pseudo-range observed values of at least four pseudo-satellites corresponding to a pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, pseudo-satellite clock errors and light speed.
Optionally, the obtaining a pseudolite reference station clock offset according to pseudolite pseudo range observation values of at least four pseudolites corresponding to the pseudolite reference station, distances between the pseudolites and the pseudolite reference station, a pseudolite clock offset, and an optical speed includes:
determining a clock error observation value according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed;
and determining the clock error of the pseudo-satellite reference station according to the clock error observation value by using a median method.
It should also be noted that in the above pseudolite observation equation for a pseudolite at a pseudolite reference station, the pseudolite reference station clock offset
And pseudolite pseudorange multipath error
Is an unknown quantity.
There is an observation equation for each pseudolite:
wherein the content of the first and second substances,
the speed of light is indicated and is,
representing the pseudo-satellite reference station clock difference,
pseudorange observations representing pseudolites (at least four in number),
representing the geometric distance between the pseudolite and the pseudolite reference station,
which represents the clock error of the pseudolite,
representing pseudolite pseudorange multipath error.
Hypothesized pseudolite pseudorange multipath error
Is normally distributed, so the following equation:
wherein, the first and the second end of the pipe are connected with each other,
the speed of light is indicated and is,
representing the clock difference of the reference station of the pseudolite,
a pseudorange observation representing a pseudolite,
representing the geometric distance between the pseudolite and the pseudolite reference station,
representing the pseudolite clock error.
By using the formula, the clock error observed value can be calculated, and then the clock error of the pseudo-satellite reference station is determined according to the clock error observed value by using a median method
Large gross errors can be avoided.
Calculating clock error of pseudo satellite reference station
Then, the pseudo satellite reference station clock difference is calculated
Iterating back to the above observation equation to obtain the following formula:
wherein the content of the first and second substances,
represents the pseudo-satellite pseudorange multipath error,
a pseudorange observation representing a pseudolite,
representing the geometric distance between the pseudolite and the pseudolite reference station,
the speed of light is indicated and is,
representing the pseudo-satellite reference station clock difference,
representing the pseudolite clock error.
The pseudo-range multi-path error of each pseudolite can be calculated according to the formula.
Optionally, the distance between the pseudolite and the pseudolite reference station is derived from the coordinates of the pseudolite and the coordinates of the pseudolite reference station.
The above-mentioned geometric distance between the pseudolite and the pseudolite reference station
Is calculated according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,
the coordinates of the pseudolite are represented,
representing the coordinates of the pseudolite reference station. The coordinates of the pseudolite and the coordinates of the pseudolite reference station are calibrated in advance.
According to the pseudo-satellite pseudo-range multipath correction method provided by the embodiment of the invention, data processing is carried out on a pseudo-satellite pseudo-range multipath correction platform to obtain the pseudo-satellite pseudo-range multipath error, the pseudo-satellite pseudo-range multipath error is sent to a receiver for use, and the receiver corrects the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error. Specifically, a certain number of pseudo-satellite reference stations with known coordinates are arranged in a tunnel or indoors, the pseudo-satellite reference stations receive pseudo-satellite signals and send the pseudo-satellite signals to a pseudo-satellite pseudo-range multipath correction platform, the pseudo-satellite pseudo-range multipath correction platform performs real-time data processing to obtain pseudo-satellite pseudo-range multipath errors, the pseudo-satellite pseudo-range multipath errors are sent to a receiver to correct pseudo-satellite pseudo-range multipath on satellite observation values of the receiver, pseudo-range multipath influence of pseudo-satellites is weakened, and therefore pseudo-satellite positioning accuracy is improved, and the pseudo-satellite positioning method is suitable for various scenes.
The calculation model of the pseudo-satellite pseudo-range multi-path error provided by the embodiment of the invention can quickly calculate the pseudo-satellite pseudo-range multi-path error near the pseudo-satellite reference station according to the calculation model of the pseudo-satellite pseudo-range multi-path error, and the algorithm is simple.
The embodiment of the invention provides an error model utilizing spatial correlation, namely a pseudo-satellite reference station is built, the coordinate of the pseudo-satellite reference station is sent to a receiver, the receiver selects a target pseudo-satellite reference station closest to the receiver according to the current estimated position and the coordinate of the pseudo-satellite reference station, pseudo-satellite pseudo-range multi-path correction is carried out on a satellite observation value of the receiver according to pseudo-satellite pseudo-range multi-path errors corresponding to the target pseudo-satellite reference station, positioning is carried out according to the satellite observation value of the receiver for correcting pseudo-satellite pseudo-range multi-path, and errors in pseudo-satellite positioning are reduced.
The embodiment of the invention is suitable for a scene only with pseudo-satellite observation data, the pseudo-satellite observation data is processed in a pseudo-satellite pseudo-range multipath correction platform, and the calculated pseudo-satellite pseudo-range multipath error is broadcast to a receiver for correction.
As shown in fig. 2, an embodiment of the present invention provides a pseudo-satellite pseudorange multipath correction method, applied to a receiver, where the method includes:
step 201: receiving a pseudo-satellite pseudo-range multi-path error corresponding to a pseudo-satellite reference station sent by a pseudo-satellite pseudo-range multi-path correction platform;
the pseudo-satellite pseudo-range multi-path error is obtained by processing pseudo-satellite observation data sent by a pseudo-satellite reference station by the pseudo-satellite pseudo-range multi-path correction platform.
The pseudolite pseudo-range multipath correction platform can calculate the pseudolite pseudo-range multipath error according to the pseudolite observation data sent by each pseudolite reference station and send the calculated pseudolite pseudo-range multipath error corresponding to each pseudolite reference station to the receiver.
Step 202: and performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error.
And the receiver performs pseudo-satellite pseudo-range multipath correction on the satellite observation value according to the pseudo-satellite pseudo-range multipath error, so that the influence of the pseudo-satellite pseudo-range multipath error is weakened. The receiver directly receives the pseudo-satellite pseudo-range multipath error for use, the pseudo-satellite pseudo-range multipath error does not need to be calculated by the receiver, the pseudo-satellite pseudo-range multipath correction of the satellite pseudo-range is not needed by the receiver in combination with GNSS satellite data, the pseudo-satellite pseudo-range multipath correction is suitable for the pseudo-satellite pseudo-range multipath correction under the dynamic condition, and the application scenarios are multiple.
Optionally, the method further comprises:
receiving the coordinates of the pseudo satellite reference station sent by the pseudo satellite pseudo range multipath correction platform;
and performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error and the coordinates of the pseudo-satellite reference station.
In this embodiment, the pseudo-satellite pseudo-range multipath correction platform further sends the coordinates of the pseudo-satellite reference station to the receiver, so that the receiver performs pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the coordinates of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multipath error.
Optionally, performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error and the coordinate of the pseudo-satellite reference station, including:
acquiring a current estimated position of the receiver;
determining a target pseudolite reference station closest to the receiver according to the current estimated position and the coordinates of the pseudolite reference station;
performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the target pseudo-satellite pseudo-range multipath error;
and the target pseudolite pseudorange multipath error is a pseudolite pseudo range multipath error corresponding to the target pseudolite reference station.
Specifically, the process that the receiver corrects according to the coordinate of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multi-path error is described, the receiver obtains the approximate position (current estimated position) of the receiver, selects a target pseudo-satellite reference station closest to the receiver according to the current estimated position and the coordinate of the pseudo-satellite reference station, corrects according to the pseudo-satellite pseudo-range multi-path error corresponding to the target pseudo-satellite reference station, and weakens the influence of the pseudo-satellite pseudo-range multi-path error.
Optionally, the method further comprises:
and performing pseudo-satellite positioning according to the satellite observation value of the receiver after the pseudo-range and the multipath of the pseudo-satellite are corrected.
After the pseudo-satellite pseudo-range multipath is corrected by the receiver, the pseudo-satellite positioning is carried out according to the receiver satellite observation value after the pseudo-satellite pseudo-range multipath is corrected, so that the positioning precision can be improved, and the positioning error can be reduced.
As shown in fig. 3, an embodiment of the present invention further provides a pseudo-satellite pseudo-range multipath correction apparatus, applied to a pseudo-satellite pseudo-range multipath correction platform, where the apparatus includes:
a first receiving module 301, configured to receive pseudolite observation data sent by a pseudolite reference station;
a processing module 302, configured to process the pseudolite observation data to obtain a pseudolite pseudo-range multi-path error corresponding to the pseudolite reference station;
a first sending module 303, configured to send the pseudolite pseudo-range multipath error corresponding to the pseudolite reference station to a receiver, so that the receiver performs pseudolite pseudo-range multipath correction on a satellite observation value of the receiver according to the pseudolite pseudo-range multipath error.
According to the embodiment of the invention, pseudolite observation data sent by a pseudolite reference station is received, the pseudolite observation data is processed to obtain pseudolite pseudo-range multi-path errors corresponding to the pseudolite reference station, the pseudolite pseudo-range multi-path errors are sent to a receiver, so that the receiver carries out pseudolite pseudo-range multi-path correction according to the pseudolite pseudo-range multi-path errors, the pseudolite pseudo-range multi-path errors of the pseudolite reference station are obtained by carrying out data processing in a pseudolite pseudo-range multi-path correction platform, the problem that the pseudolite pseudo-range multi-path errors are calculated by the receiver side in the prior art can be solved, the calculated pseudolite pseudo-range multi-path errors are broadcast to the receiver for use, the influence of the multi-path pseudo-range is corrected and weakened, the receiver does not need to combine with the pseudolite pseudo-range multi-path correction of the GNSS satellite data, the pseudolite multi-path correction under the dynamic condition is suitable, and the application scenarios are multiple.
Optionally, the apparatus further comprises:
and the second sending module is used for sending the coordinates of the pseudo-satellite reference station to the receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the current estimated position of the receiver, the coordinates of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multi-path error.
Optionally, the processing module 302 includes:
the first processing unit is used for obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to a pseudo-range observation value of a pseudo-satellite corresponding to the pseudo-satellite reference station, a distance between the pseudo-satellite and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed;
wherein the pseudo-range observations of the pseudolites are obtained from the pseudolite observations.
Optionally, the first processing unit is specifically configured to:
obtaining pseudo satellite reference station clock errors according to pseudo satellite pseudo range observation values of at least four pseudo satellites corresponding to the pseudo satellite reference station, distances between the pseudo satellites and the pseudo satellite reference station, the pseudo satellite clock errors and the light speed;
and obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, the pseudo-satellite reference station clock error and the light velocity.
Optionally, the first processing unit is specifically configured to:
determining clock error observation values according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, pseudo-satellite clock errors and light speeds;
and determining the clock error of the pseudo-satellite reference station according to the clock error observation value by using a median method.
Optionally, the distance between the pseudolite and the pseudolite reference station is derived from the coordinates of the pseudolite and the coordinates of the pseudolite reference station.
It should be noted that the pseudo-satellite pseudo-range multipath correction device provided in the embodiment of the present invention is a device capable of executing the pseudo-satellite multipath correction method applied to the pseudo-range multipath correction platform, and all embodiments of the pseudo-range multipath correction method applied to the pseudo-range multipath correction platform are applicable to the device and can achieve the same or similar technical effects.
As shown in fig. 4, an embodiment of the present invention further provides a pseudo-satellite pseudorange multipath correction apparatus, applied to a receiver, where the apparatus includes:
a second receiving module 401, configured to receive a pseudolite pseudo-range multipath error corresponding to a pseudolite reference station sent by a pseudolite pseudo-range multipath correction platform;
a first correction module 402, configured to perform pseudo-satellite pseudo-range multipath correction on a satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error;
the pseudo-satellite pseudo-range multi-path error is obtained by processing pseudo-satellite observation data sent by a pseudo-satellite reference station by the pseudo-satellite pseudo-range multi-path correction platform.
According to the embodiment of the invention, the pseudo-satellite pseudo-range multi-path error sent by the pseudo-range multi-path correction platform is received, and the pseudo-satellite pseudo-range multi-path correction is carried out on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error, so that the influence of the pseudo-satellite pseudo-range multi-path error is weakened.
Optionally, the second modification module includes:
an obtaining unit, configured to obtain a current estimated position of the receiver;
a fourth processing unit, configured to determine a target pseudolite reference station closest to the receiver according to the current estimated position and the coordinates of the pseudolite reference station;
the correction unit is used for performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the target pseudo-range multi-path error;
and the target pseudolite pseudorange multipath error is a pseudolite pseudo range multipath error corresponding to the target pseudolite reference station.
Optionally, the apparatus further comprises:
and the positioning module is used for positioning the pseudo satellite according to the satellite observation value of the receiver after the pseudo range multipath of the pseudo satellite is corrected.
It should be noted that the pseudolite pseudorange multipath correction apparatus provided in the embodiment of the present invention is an apparatus capable of executing the pseudolite pseudorange multipath correction method applied to the receiver, and all embodiments of the pseudolite pseudorange multipath correction method applied to the receiver are applicable to the apparatus and can achieve the same or similar technical effects.
As shown in fig. 5, an embodiment of the present invention further provides a pseudo-satellite pseudorange multipath correction platform, including: a processor 501, a memory 502, and a program stored on the memory 502 and executable on the processor 501, the program when executed by the processor 501 implementing the pseudolite pseudorange multipath correction method described above.
Optionally, the method further comprises: a transceiver 503, the transceiver 503 for receiving and transmitting data under the control of the processor 501.
Specifically, the transceiver 503 is configured to: receiving pseudolite observation data sent by a pseudolite reference station;
the processor 501 is configured to: processing the pseudo satellite observation data to obtain pseudo satellite pseudo range multi-path errors corresponding to the pseudo satellite reference stations;
the transceiver 503 is configured to: and sending the pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station to a receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on a satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error.
Optionally, the transceiver 503 is further configured to: and sending the coordinates of the pseudo-satellite reference station to the receiver so that the receiver performs pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the current estimated position of the receiver, the coordinates of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multipath error.
Optionally, the processor 501 is specifically configured to: obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to a pseudo-range observation value of a pseudo-satellite corresponding to the pseudo-satellite reference station, a distance between the pseudo-satellite and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed;
wherein the pseudo-range observations of the pseudolites are obtained from the pseudolite observations.
Optionally, the processor 501 is specifically configured to: obtaining pseudo satellite reference station clock errors according to pseudo satellite pseudo range observation values of at least four pseudo satellites corresponding to the pseudo satellite reference station, distances between the pseudo satellites and the pseudo satellite reference station, the pseudo satellite clock errors and the light speed;
and obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, the pseudo-satellite reference station clock error and the light speed.
Optionally, the processor 501 is specifically configured to: determining clock error observation values according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, pseudo-satellite clock errors and light speeds;
and determining the clock error of the pseudo-satellite reference station according to the clock error observation value by using a median method.
Optionally, the distance between the pseudolite and the pseudolite reference station is derived from the pseudolite coordinates and the pseudolite reference station coordinates.
Where in fig. 5 the bus architecture may include any number of interconnected buses and bridges, in particular one or more processors represented by processor 501 and various circuits of memory represented by memory 502, linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides a user interface 504. The transceiver 503 may be a number of elements, including a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 501 is responsible for managing the bus architecture and general processing, and the memory 502 may store data used by the processor 501 in performing operations.
As shown in fig. 6, an embodiment of the present invention further provides a receiver, including: a processor 601, a memory 602, and a program stored on the memory 602 and executable on the processor 601, the program implementing the above pseudolite pseudorange multipath correction method when executed by the processor 601.
Optionally, the method further comprises: a transceiver 603, the transceiver 603 being configured to receive and transmit data under control of the processor 601.
Specifically, the transceiver 603 is configured to: receiving a pseudo-satellite pseudo-range multi-path error corresponding to a pseudo-satellite reference station sent by a pseudo-satellite pseudo-range multi-path correction platform;
the processor 601 is configured to: performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error;
the pseudo-satellite pseudo-range multi-path error is obtained by processing pseudo-satellite observation data sent by a pseudo-satellite reference station by the pseudo-satellite pseudo-range multi-path correction platform.
Optionally, the transceiver 603 is further configured to: receiving the coordinates of the pseudo satellite reference station sent by the pseudo satellite pseudo range multipath correction platform;
the processor 601 is further configured to: and performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error and the coordinate of the pseudo-satellite reference station.
Optionally, the processor 601 is specifically configured to: obtaining a current estimated position of the receiver;
determining a target pseudolite reference station closest to the receiver according to the current estimated position and the coordinates of the pseudolite reference station;
performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the target pseudo-satellite pseudo-range multipath error;
and the target pseudolite pseudorange multipath error is a pseudolite pseudo range multipath error corresponding to the target pseudolite reference station.
Optionally, the processor 601 is further configured to: and performing pseudolite positioning according to the satellite observation value of the receiver after the pseudolite pseudo-range multipath is corrected.
Where in fig. 6 the bus architecture may include any number of interconnected buses and bridges, in particular one or more processors represented by the processor 601 and various circuits of the memory represented by the memory 602, linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides a user interface 604. The transceiver 603 may be a number of elements including a transmitter and a receiver providing a means for communicating with various other apparatus over a transmission medium. The processor 601 is responsible for managing the bus architecture and general processing, and the memory 602 may store data used by the processor 601 in performing operations.
In addition, the embodiment of the present invention further provides a readable storage medium, which stores a program, and the program, when executed by a processor, implements the steps of the pseudo-satellite pseudo-range multipath correction method applied to the pseudo-satellite pseudo-range multipath correction platform as described above, or implements the steps of the pseudo-satellite pseudo-range multipath correction method applied to the receiver as described above.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (12)
1. A pseudo-satellite pseudo-range multipath correction method is applied to a pseudo-satellite pseudo-range multipath correction platform, and comprises the following steps:
receiving pseudolite observation data sent by a pseudolite reference station;
processing the pseudo satellite observation data to obtain pseudo satellite pseudo range multi-path errors corresponding to the pseudo satellite reference stations;
sending the pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station to a receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on a satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error;
wherein, processing the pseudolite observation data to obtain a pseudolite pseudo-range multi-path error corresponding to the pseudolite reference station comprises:
determining a clock error observation value according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed; wherein the pseudolite pseudo-range multi-path error obeys normal distribution; the pseudo-range observation value of the pseudo-satellite is obtained according to the pseudo-satellite observation data;
determining the clock error of the pseudo satellite reference station according to the clock error observation value by using a median method;
and obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, the pseudo-satellite reference station clock error and the light speed.
2. A pseudolite pseudorange multipath correction method according to claim 1, further comprising:
and sending the coordinates of the pseudo-satellite reference station to the receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the coordinates of the pseudo-satellite reference station and the pseudo-satellite pseudo-range multi-path error.
3. A pseudolite pseudorange multipath correction method according to claim 1, wherein the distance between the pseudolite and the pseudolite reference station is derived from the coordinates of the pseudolite and the coordinates of the pseudolite reference station.
4. A pseudolite pseudorange multipath correction method for use at a receiver, the method comprising:
receiving a pseudo-satellite pseudo-range multi-path error corresponding to a pseudo-satellite reference station sent by a pseudo-satellite pseudo-range multi-path correction platform;
performing pseudo-satellite pseudo-range multipath correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multipath error;
the pseudo-satellite pseudo-range multi-path error is obtained by the pseudo-satellite pseudo-range multi-path correction platform according to a pseudo-range observation value of a pseudo-satellite corresponding to a pseudo-satellite reference station, a distance between the pseudo-satellite and the pseudo-satellite reference station, a pseudo-satellite clock error, a pseudo-satellite reference station clock error and a light velocity; the clock error of the pseudo satellite reference station is determined according to the clock error observation value by using a median method; the clock error observation value is determined according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, pseudo-satellite clock errors and light speeds; wherein the pseudolite pseudo-range multi-path error obeys normal distribution; the pseudo-range observation value of the pseudo-satellite is obtained according to pseudo-satellite observation data sent by the pseudo-satellite reference station.
5. A pseudorange multipath correction method according to claim 4, the method further comprising:
receiving the coordinates of the pseudo satellite reference station sent by the pseudo satellite pseudo range multipath correction platform;
and performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error and the coordinates of the pseudo-satellite reference station.
6. A pseudo-range multipath correction method as recited in claim 5, wherein performing pseudo-satellite pseudo-range multipath correction on the satellite observations of the receiver based on the pseudo-satellite pseudo-range multipath error and the coordinates of the pseudo-satellite reference station comprises:
acquiring a current estimated position of the receiver;
determining a target pseudolite reference station closest to the receiver according to the current estimated position and the coordinates of the pseudolite reference station;
performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the target pseudo-satellite pseudo-range multi-path error;
and the target pseudolite pseudorange multipath error is a pseudolite pseudo range multipath error corresponding to the target pseudolite reference station.
7. The pseudorange multipath correction method of claim 4, the method further comprising:
and performing pseudolite positioning according to the satellite observation value of the receiver after the pseudolite pseudo-range multipath is corrected.
8. A pseudo-satellite pseudo-range multipath correction device is applied to a pseudo-satellite pseudo-range multipath correction platform, and the device comprises:
the first receiving module is used for receiving the pseudolite observation data sent by the pseudolite reference station;
the processing module is used for processing the pseudolite observation data to obtain a pseudolite pseudo-range multi-path error corresponding to the pseudolite reference station;
the transmission module is used for transmitting the pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station to a receiver so that the receiver performs pseudo-satellite pseudo-range multi-path correction on a satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error;
the processing module comprises a first processing unit;
the first processing unit is specifically configured to:
determining a clock error observation value according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, a pseudo-satellite clock error and an optical speed; wherein the pseudolite pseudo-range multi-path error obeys normal distribution; the pseudo-range observation value of the pseudo-satellite is obtained according to the pseudo-satellite observation data;
determining the clock error of the pseudo satellite reference station according to the clock error observation value by using a median method;
and obtaining a pseudo-satellite pseudo-range multi-path error corresponding to the pseudo-satellite reference station according to the pseudo-range observation value of the pseudo-satellite corresponding to the pseudo-satellite reference station, the distance between the pseudo-satellite and the pseudo-satellite reference station, the pseudo-satellite clock error, the pseudo-satellite reference station clock error and the light velocity.
9. A pseudolite pseudorange multipath correction apparatus for use at a receiver, the apparatus comprising:
the second receiving module is used for receiving a pseudo-satellite pseudo-range multi-path error corresponding to a pseudo-satellite reference station sent by the pseudo-satellite pseudo-range multi-path correction platform;
the first correction module is used for performing pseudo-satellite pseudo-range multi-path correction on the satellite observation value of the receiver according to the pseudo-satellite pseudo-range multi-path error;
the pseudo-satellite pseudo-range multi-path error is obtained by the pseudo-satellite pseudo-range multi-path correction platform according to a pseudo-range observation value of a pseudo-satellite corresponding to a pseudo-satellite reference station, a distance between the pseudo-satellite and the pseudo-satellite reference station, a pseudo-satellite clock error, a pseudo-satellite reference station clock error and a light velocity; the clock error of the pseudo satellite reference station is determined according to the clock error observation value by using a median method; the clock difference observation value is determined according to pseudo-satellite pseudo-range observation values of at least four pseudo-satellites corresponding to the pseudo-satellite reference station, distances between the pseudo-satellites and the pseudo-satellite reference station, pseudo-satellite clock differences and light speeds; wherein the pseudo-satellite pseudo-range multi-path error obeys normal distribution; the pseudo-range observation value of the pseudo-satellite is obtained according to pseudo-satellite observation data sent by the pseudo-satellite reference station.
10. A pseudolite pseudorange multipath correction platform, comprising: a processor, a memory and a program stored on and executable on said memory, said program when executed by said processor implementing the steps of the pseudolite pseudorange multipath correction method of any one of claims 1-3.
11. A receiver, comprising: a processor, a memory and a program stored on and executable on the processor, the program when executed by the processor implementing the steps of the pseudolite pseudorange multipath correction method according to any one of claims 4 to 7.
12. A readable storage medium having stored thereon a program which, when executed by a processor, carries out the steps of the pseudolite pseudo-range multipath correction method of any one of claims 1 to 3 or the steps of the pseudolite pseudo-range multipath correction method of any one of claims 4 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210989675.8A CN115079214B (en) | 2022-08-18 | 2022-08-18 | Pseudo-satellite pseudo-range multipath correction method, device, platform and receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210989675.8A CN115079214B (en) | 2022-08-18 | 2022-08-18 | Pseudo-satellite pseudo-range multipath correction method, device, platform and receiver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115079214A CN115079214A (en) | 2022-09-20 |
| CN115079214B true CN115079214B (en) | 2022-11-29 |
Family
ID=83244384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210989675.8A Active CN115079214B (en) | 2022-08-18 | 2022-08-18 | Pseudo-satellite pseudo-range multipath correction method, device, platform and receiver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115079214B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6252863B1 (en) * | 1996-04-09 | 2001-06-26 | Trimble Navigation Limited | Multipath compensation for pseudorange signals |
| CN1584626A (en) * | 2004-06-08 | 2005-02-23 | 河海大学 | GPS and pseudo-satellite combined positioning method |
| JP2011007683A (en) * | 2009-06-26 | 2011-01-13 | Seiko Epson Corp | Multipath signal evaluation method, position calculation method, and multipath signal evaluation device |
| CN104765046A (en) * | 2015-04-27 | 2015-07-08 | 成都振芯科技股份有限公司 | Beidou foundation navigation network ground monitoring station receiver and pseudolite multipath inhibition method |
| CN106873001A (en) * | 2016-12-22 | 2017-06-20 | 北京航空航天大学 | GBAS ground system distribution methods |
| CN110045407A (en) * | 2019-05-14 | 2019-07-23 | 中国电子科技集团公司第五十四研究所 | A kind of distribution pseudo satellite, pseudolite/GNSS optimum position method |
| CN111596323A (en) * | 2020-06-17 | 2020-08-28 | 中国电子科技集团公司第三十六研究所 | Pseudo satellite constellation calibration method and system |
| CN111913197A (en) * | 2020-07-17 | 2020-11-10 | 燕山大学 | Application method of GPS _ BDS dual-mode time service technology in power distribution network automation |
| CN112068161A (en) * | 2020-09-17 | 2020-12-11 | 国网浙江省电力有限公司检修分公司 | Multipath error reduction method and device |
| CN112363182A (en) * | 2020-11-06 | 2021-02-12 | 江苏集萃未来城市应用技术研究所有限公司 | Multi-beam pseudo satellite signal generation method and transmitting device |
-
2022
- 2022-08-18 CN CN202210989675.8A patent/CN115079214B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6252863B1 (en) * | 1996-04-09 | 2001-06-26 | Trimble Navigation Limited | Multipath compensation for pseudorange signals |
| CN1584626A (en) * | 2004-06-08 | 2005-02-23 | 河海大学 | GPS and pseudo-satellite combined positioning method |
| JP2011007683A (en) * | 2009-06-26 | 2011-01-13 | Seiko Epson Corp | Multipath signal evaluation method, position calculation method, and multipath signal evaluation device |
| CN104765046A (en) * | 2015-04-27 | 2015-07-08 | 成都振芯科技股份有限公司 | Beidou foundation navigation network ground monitoring station receiver and pseudolite multipath inhibition method |
| CN106873001A (en) * | 2016-12-22 | 2017-06-20 | 北京航空航天大学 | GBAS ground system distribution methods |
| CN110045407A (en) * | 2019-05-14 | 2019-07-23 | 中国电子科技集团公司第五十四研究所 | A kind of distribution pseudo satellite, pseudolite/GNSS optimum position method |
| CN111596323A (en) * | 2020-06-17 | 2020-08-28 | 中国电子科技集团公司第三十六研究所 | Pseudo satellite constellation calibration method and system |
| CN111913197A (en) * | 2020-07-17 | 2020-11-10 | 燕山大学 | Application method of GPS _ BDS dual-mode time service technology in power distribution network automation |
| CN112068161A (en) * | 2020-09-17 | 2020-12-11 | 国网浙江省电力有限公司检修分公司 | Multipath error reduction method and device |
| CN112363182A (en) * | 2020-11-06 | 2021-02-12 | 江苏集萃未来城市应用技术研究所有限公司 | Multi-beam pseudo satellite signal generation method and transmitting device |
Non-Patent Citations (2)
| Title |
|---|
| Multipath error detection and correction for GEO/IGSO satellites;WU XiaoLi;《SCIENCE CHINA Physics, Mechanics & Astronomy》;20121231;第1297-1306页 * |
| 伪卫星室内定位结构化多径误差建模研究;赵越;《中国优秀硕士学位论文全文数据库 基础科学辑》;20220615;第7-11页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115079214A (en) | 2022-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108931915B (en) | Time service method and device using navigation satellite and computer readable storage medium | |
| US20100090889A1 (en) | Precise orbit determination system and method using gps data and galileo data | |
| EP2221641B1 (en) | Method and apparatus for determining location using a coarse position estimate | |
| US20180113219A1 (en) | Method and system for ascertaining a position of a mobile apparatus | |
| US20090109090A1 (en) | Position determination with reference data outage | |
| US20120177027A1 (en) | System and method for time synchronizing wireless network access points | |
| 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 | |
| CN109839650B (en) | Unmanned aerial vehicle compatible RTK positioning method, system, equipment and storage medium | |
| CN111913201B (en) | GNSS differential positioning method and device and computer readable storage medium | |
| CN108008426B (en) | Pseudolite based positioning system and method | |
| KR101874974B1 (en) | Apparatus and method for generating differential global navigation satellite system pseudo range correction information | |
| KR20200063704A (en) | Terminal, base station and location positioning method | |
| CN111290004A (en) | Pseudo-range differential positioning method, pseudo-range differential positioning device, electronic equipment and storage medium | |
| CN108513623B (en) | Pseudo-range calculation method and terminal | |
| WO2009130305A1 (en) | Method of positioning using satellites | |
| KR102031838B1 (en) | Method and apparatus for processing differential information of global navigation satellite system | |
| US20210116577A1 (en) | Positioning system, positioning device, and center device | |
| KR20080065040A (en) | Apparatus and method for satellite navigation signal correction | |
| CN115079214B (en) | Pseudo-satellite pseudo-range multipath correction method, device, platform and receiver | |
| KR101184043B1 (en) | Differential GPS using Range Correction Mapping | |
| CN114047527A (en) | Pseudo-range signal transmission method, pseudo-range signal transmission device, storage medium, and electronic device | |
| JP2010060421A (en) | Positioning system for moving body and gnss receiving apparatus | |
| JP2022132191A (en) | Method for gnss-based positioning of vehicle | |
| CN115102611B (en) | Method for shortening hot start time of satellite receiver by utilizing GEO satellite | |
| CN112649828B (en) | Orbital determination method, system and equipment for inclined high circular orbit communication satellite |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |