CN115113239B - Star selecting method in satellite navigation real-time positioning - Google Patents
Star selecting method in satellite navigation real-time positioning Download PDFInfo
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- CN115113239B CN115113239B CN202210743992.1A CN202210743992A CN115113239B CN 115113239 B CN115113239 B CN 115113239B CN 202210743992 A CN202210743992 A CN 202210743992A CN 115113239 B CN115113239 B CN 115113239B
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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
- G01S19/01—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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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Abstract
The invention discloses a satellite selecting method in real-time positioning of satellite navigation, which comprises the following steps: combining the three-dimensional data for selecting satellites, and locking the satellites which are not shielded in advance according to the three-dimensional data of the periphery received by the satellite receiver; step two: accessing satellite health state monitoring data for selecting satellites, and removing satellites with poor health states according to real-time information of the satellite health states acquired by a satellite receiver; step three: and carrying out constellation combination on the filtered residual satellites according to the altitude angle and the azimuth angle, and dynamically and adaptively adjusting the weight factors by using the GDOP value and the signal-to-noise ratio of the filtered residual satellites to realize quick optimization satellite selection. The rapid satellite selection method can reduce the influence of shielding and multipath effects, improves the satellite navigation positioning precision, improves the positioning usability and enhances the positioning safety in a real-time positioning scene.
Description
Technical Field
The invention relates to a satellite navigation technology, in particular to a satellite selection method in satellite navigation real-time positioning.
Background
Satellite navigation is widely applied to the fields of automatic driving, robots and the like due to all-weather, all-day and high-precision positioning capability, but satellite navigation is easily influenced by shielding objects such as surrounding buildings, forests, tunnels and the like, and can bring the problems of multipath effect, poor constellation configuration and the like, so that the high-precision positioning performance of the satellite navigation is restricted, and certain potential safety hazards are brought in the automatic driving process.
With the construction of each large satellite navigation system, the number of satellites is gradually increased. Selecting all visible satellites to resolve the position in most scenarios increases the computational burden and fails to meet the real-time positioning requirements. To achieve better positioning, multiple factors are combined to select satellites for inclusion in the solution. How to select satellites that incorporate positioning calculation from a large number of satellites is an important issue in engineering practice. The existing star selection method mainly adopts an optimal geometric error factor method, a maximum vector end tetrahedron method and the like, but still cannot perform high-precision positioning when the problems of shielding, multipath effect and the like are met.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a satellite selection method in satellite navigation real-time positioning, which can reduce the influence of shielding and multipath effects.
In order to solve the technical problems, the technical scheme of the invention is as follows: a satellite selection method in satellite navigation real-time positioning comprises the following steps:
step one: combining the three-dimensional data for selecting satellites, and according to the three-dimensional data received by a satellite receiver, locking the satellites which are not shielded in advance, and eliminating the shielded satellites;
step two: accessing satellite health state monitoring data for selecting satellites, and removing satellites with poor health states according to real-time information of the satellite health states acquired by a satellite receiver;
step three: and (3) carrying out quick satellite selection by using the self-adaptive weight factors, carrying out constellation combination on the residual satellites after screening according to the altitude angle and the azimuth angle after the step (I) and the step (II), and adopting the satellite GDOP value for satellite selection, so as to dynamically and adaptively adjust the weight factors by using the GDOP value and the signal-to-noise ratio SNR of the residual satellites after screening, thereby realizing quick optimization satellite selection.
In the third step, satellite GDOP value is adopted to select satellites, GDOP value and SNR are used as weights, the weight factors are dynamically and adaptively adjusted according to the GDOP value of the residual satellite after screening, the weight factors are set by taking SNR as a measurement standard, and satellites with larger errors are eliminated by SNR, wherein
The calculation formula of the GDOP value is as follows:
wherein H is a satellite observation matrix, H T Is the transposed matrix of the H,
wherein a is xn 、a yn 、a zn The directional cosine of the unit offset vector from the user to the nth satellite can be expressed as follows:
wherein x is n 、y n 、z n Respectively representing x, y and z coordinates of an nth satellite;
coordinates representing the approximate location of the satellite receiver,
the SNR is calculated as:
SNR＝CN 0 -BW
in CN 0 The carrier noise density is given by satellite navigation message; BW is the front-end filter bandwidth of the satellite receiver; and when the signal-to-noise ratio SNR is lower than a set threshold, the weight factor is set to 0;
normalizing the GDOP value and the signal-to-noise ratio SNR to obtain the GDOP nor ∈(0，1)、SNR nor ∈(0，1)；
Setting an R value as an indicated value for measuring star selecting effect, and solving the R value according to different GDOP constellation combinations:
wherein n is the number of satellites in the constellation combination, C G 、C S Constant coefficient factors, respectively, and satisfy the following relationship: c (C) G >C S ，C G +C S ＝1；
The bigger R is, the better the satellite selecting effect is, and on the contrary, the smaller R is, the worse the satellite selecting effect is; and sorting all constellation combinations according to the calculated R, and selecting the constellation combination with the largest R value.
As a preferable technical scheme, in a three-dimensional environment, the range of the GDOP value is:
wherein n is the number of satellites in the constellation combination;
when the number n of satellites is 4, the minimum GDOP value is 1.5811; when GDOP is more than or equal to 8, discarding the constellation combination, and setting the weight factor to 0.
In the third step, the remaining satellites after satellite selection and screening of the health status monitoring data of the second access satellite adopt a six-satellite selection mode, wherein among the remaining satellites after screening, the satellite with the largest altitude angle is selected as a first satellite, the satellite with the second largest altitude angle is selected as a second satellite, the satellite with the smallest altitude angle is selected as a third satellite along the longitudinal direction of travel, the azimuth angle of the third satellite is increased by 90 degrees, 180 degrees and 270 degrees respectively, and the satellites which are close to the azimuth angle of the third satellite and have the smallest altitude angle are selected as a fourth satellite, a fifth satellite and a sixth satellite near the axis of the three azimuth angles; and when the number of the remaining satellites after satellite selection and screening of the health state monitoring data of the access satellites in the second step is smaller than 6, all satellites are taken for constellation combination.
In the first step, the altitude and azimuth information can be dynamically adjusted according to the three-dimensional data around the satellite receiver, the planned route and the building shielding situation around the route are included, the shielded clearance area is eliminated in advance or in real time, and the multipath effect caused by the reflection of the surrounding environment is eliminated.
As a preferred technical solution, the data format of the three-dimensional data in the first step includes the following: a building feature point set and a face set, wherein each point in the point set holds three-dimensional coordinates and each face in the face set is made up of points.
As a preferred technical solution, the step of determining whether the satellite is blocked or comes from the multipath effect in the step one is as follows:
1) According to the three-dimensional coordinates of the satellite receiver three-dimensional data positioning, obtaining an initial sketch position at the current moment;
2) Calculating satellite coordinates through ephemeris data, and making connection lines between the initial sketch position and each satellite;
3) Traversing the surface sets in all the sight distance ranges, and judging whether each surface has an intersection point with the connecting line;
4) If the intersection point exists, the satellite is rejected.
In the first step, map matching and inertial navigation are adopted, the initial approximate position at the current moment is calculated through filtering without satellite navigation, the coordinates of the satellites are solved in advance according to the predicted ephemeris, the satellites which are not blocked by the building are locked in advance according to the three-dimensional coordinates of each point on the planned route, the blocked satellites are removed, and the satellites with multipath effect are eliminated.
As a preferable technical scheme, the method further comprises a step of determining that the number of satellites before satellite selection is more than or equal to 4 before the step of satellite selection combined with the three-dimensional data; before the step three of self-adaptive weight factor quick satellite selection, the method further comprises a step of determining that the number of the residual satellites after satellite selection and screening of the health state monitoring data of the access satellites in the step two is more than or equal to 4.
As a preferable technical scheme, the method further comprises the step four: and when the number of satellites before satellite selection is less than 4 by combining the three-dimensional data in the first step and the number of the remaining satellites after satellite selection and screening by accessing the satellite health state monitoring data in the second step is less than 4, a tightly combined filtering mode can be adopted, and high-precision positioning can be realized by means of an inertial navigation auxiliary mode.
Due to the adoption of the technical scheme, the satellite selecting method in the real-time positioning of satellite navigation comprises the following steps: combining the three-dimensional data for selecting satellites, and according to the three-dimensional data received by a satellite receiver, locking the satellites which are not shielded in advance, and eliminating the shielded satellites; step two: accessing satellite health state monitoring data for selecting satellites, and removing satellites with poor health states according to real-time information of the satellite health states acquired by a satellite receiver; step three: and (3) carrying out quick satellite selection by using the self-adaptive weight factors, carrying out constellation combination on the residual satellites after screening according to the altitude angle and the azimuth angle after the step (I) and the step (II), and adopting the satellite GDOP value for satellite selection, so as to dynamically and adaptively adjust the weight factors by using the GDOP value and the signal-to-noise ratio SNR of the residual satellites after screening, thereby realizing quick optimization satellite selection. According to the method, the shielding and multipath effect influence can be reduced by combining the three-dimensional data, the access satellite health state monitoring data and the self-adaptive weight factor, so that the satellite navigation positioning accuracy is improved, the positioning usability is improved, and the positioning safety is enhanced in a real-time positioning scene.
Drawings
The following drawings are only for purposes of illustration and explanation of the present invention and are not intended to limit the scope of the invention. Wherein:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic illustration of the present invention in combination with three-dimensional data selection;
fig. 3 is a schematic diagram of access satellite health status monitoring data selection according to the present invention.
In the figure: 1-shielding satellites; 2-a visible satellite; 3-satellite direct signal; 4-satellite reflection signals; 5-vehicle; 6-shielding.
Detailed Description
Exemplary embodiments according to the present invention are described in detail below with reference to the accompanying drawings. Here, it is to be noted that in the drawings, the same reference numerals are given to constituent parts having substantially the same structure and function, and redundant description about the substantially same constituent parts is omitted for the sake of conciseness of the specification.
As shown in fig. 1, a satellite selecting method in real-time positioning of satellite navigation includes the following steps:
step one: combining three-dimensional data for selecting satellites, locking the satellites which are not shielded in advance according to the three-dimensional data received by a satellite receiver, acquiring a visible satellite 2, and eliminating a shielded satellite 1;
step two: accessing satellite health state monitoring data for selecting satellites, and removing satellites with poor health states according to real-time information of the satellite health states acquired by a satellite receiver;
step three: after the first step and the second step of satellite selection, constellation combination is carried out on the residual satellites after screening according to the altitude angle and the azimuth angle, satellite GDOP values are adopted for satellite selection, and the weight factors are dynamically and adaptively adjusted according to the GDOP values and the SNR of the residual satellites after screening, so that the rapid optimization satellite selection is realized;
before the step one of selecting the satellites by combining the three-dimensional data, the method further comprises the step of determining that the number of satellites before the satellite selection is more than or equal to 4; before the step three of self-adaptive weight factor quick satellite selection, the method further comprises a step of determining that the number of the residual satellites after satellite selection and screening of the health state monitoring data of the access satellites in the step two is more than or equal to 4.
The invention also comprises a step four and a tightly combined navigation step, so that the tightly combined navigation can adopt a tightly combined filtering mode to realize high-precision positioning by means of an inertial navigation auxiliary mode when the number of satellites before satellite selection by combining the three-dimensional data in the step one and the number of the remaining satellites after satellite selection and screening by accessing the satellite health state monitoring data in the step two are less than 4, and the problem that the traditional satellite positioning algorithm is difficult to reach higher positioning precision when the number of satellites is less than 4 is solved, so that the high-precision positioning can still be maintained in urban canyon areas.
As shown in fig. 1 and fig. 2, in the first step, when the satellite receiver receives the three-dimensional data of the periphery, the altitude and azimuth information is dynamically adjusted, the planned route and the building shielding situation around the route are included, the shielded headroom area is eliminated in advance or in real time, and the multipath effect caused by the reflection of the surrounding environment is eliminated. The three-dimensional data includes information of the dimensions, coordinates, orientations, etc. of the obstruction 6 such as a building; the three-dimensional data sources include three-dimensional point clouds acquired in real time, a high-precision three-dimensional map or a three-dimensional model established in advance, and the like, and the data format of the three-dimensional data specifically comprises the following contents: a building feature point set and a face set, wherein each point in the point set holds three-dimensional coordinates and each face in the face set is made up of points.
As shown in fig. 2, the step of determining whether the satellite is blocked or from the multipath effect in the first step is as follows:
1) According to the three-dimensional coordinates of the three-dimensional data positioning of the satellite receiver of the vehicle 5, obtaining an initial sketch position at the current moment;
2) Calculating satellite coordinates through ephemeris data, and making a connection line between an initial sketch position and each satellite as a satellite direct signal 3;
3) Traversing the surface sets in all the sight distance ranges, and judging whether each surface of the shielding object 6 has an intersection point with the connecting line;
4) If the intersection point exists, the multipath effect caused by the satellite reflection signal 4 exists between the satellite direct signal 3 and the shielding object 6 surface set, and the satellite is eliminated.
In addition, in the first step, the shielding satellite 1 is removed after the planned route is set, the coordinates of the satellite can be solved in advance according to the forecast ephemeris, at this time, under the condition of the planned route, the visible satellite 2 which is not shielded by the shielding object 6 can be locked in advance according to the coordinates of each point on the planned route, and the satellite which is possibly generating multipath effect is removed. In the method, the approximate position of the current moment needs to be obtained under the condition of not considering multipath errors, map matching and inertial navigation can be adopted, the initial approximate position of the current moment can be calculated through filtering without satellite navigation according to the positioning coordinates of the previous point, the accuracy of the approximate position of the current moment is improved as much as possible, and satellites which can be blocked in the next step can be eliminated in advance.
In the second step, as shown in fig. 3, the satellite receiver may acquire real-time satellite health status information of the data center of the ground satellite monitoring station through a mobile network and a local wireless network connected to the cloud. At present, the international 4 large satellite navigation systems BDS, GPS, GLONASS and GALILEO are both provided with ground monitoring stations, all-weather monitoring of the running state of constellations is carried out all day time and the running state is stored in a data center, and meanwhile, the ground reference stations of all foundation augmentation systems or satellite monitoring stations built by all mechanisms can also process the health state monitoring data of satellites; the real-time health state of the satellite can be monitored in real time through the above institutions, third-party institutions or self-built satellite monitoring stations. The satellite receiver on the vehicle 5 at the user can acquire real-time information of the health state of the satellite through a mobile network and a local wireless network connected with the cloud; if the satellite has health problems affecting the positioning quality, the satellite with poor health state can be removed in time.
As shown in fig. 1, after the first step of selecting satellites by combining the three-dimensional data and the second step of selecting satellites by accessing the health state monitoring data, invalid satellites are removed, and the selected residual visible satellites 2 enter a satellite selecting process of the third step. And preferably, after screening by combining three-dimensional data satellite selection and access satellite health state monitoring data satellite selection, removing ineffective satellites, and adopting a self-adaptive weight factor to rapidly select satellites when the number of the residual satellites after screening is more than or equal to 4.
In the step three, the adaptive weight factor is adopted to select satellite GDOP value, and the satellite is selected based on GDOP value according to altitude angle and azimuth angle, and the delay error generated by the satellite with lower altitude angle penetrating the atmosphere is larger, which is contradictory with the aim of improving the positioning precision finally; the signal-to-noise ratio SNR of the satellite signal is determined by satellite end error and can be regarded as Gaussian distribution, so that the GDOP value and the signal-to-noise ratio SNR are taken as weights, the weight factors are dynamically and adaptively adjusted according to the GDOP value of the residual satellite after screening, the rapid optimal satellite selection effect is achieved, meanwhile, the weight factors are set by taking the signal-to-noise ratio SNR as a measurement standard, and the satellite with larger error is eliminated through the signal-to-noise ratio SNR, wherein
The calculation formula of the GDOP value is as follows:
wherein H is a satellite observation matrix, H T Is the transposition of H;
wherein a is xn 、a yn 、a zn Is the directional cosine of the unit offset vector from the user to the nth satellite; the method can be expressed as follows:
wherein x is n 、y n 、z n Respectively representing x, y and z coordinates of an nth satellite;
sitting respectively representing approximate positions of satellite receiverMarking;
the SNR is calculated as:
SNR＝CN 0 -BW
in CN 0 The carrier noise density is given by satellite navigation message; BW is the front-end filter bandwidth of the satellite receiver; and when the signal-to-noise ratio SNR exceeds or is lower than a set threshold, the weight factor is set to 0;
normalizing the GDOP value and the SNR to obtain the GDOP nor ∈(0，1)、SNR nor ∈(0，1)；
Setting an R value as an indicated value for measuring star selecting effect, and solving the R value according to different GDOP constellation combinations:
wherein n is the number of satellites in the constellation combination, C G 、C S Constant coefficient factors, respectively, and satisfy the following relationship: c (C) G >C S ，C G +C S ＝1；
The bigger R is, the better the satellite selecting effect is, and on the contrary, the smaller R is, the worse the satellite selecting effect is; and sorting all constellation combinations according to the calculated R, and selecting the constellation combination with the largest R value as the final calculated constellation combination. And will be calculated according to GDOP nor The change adaptively adjusts its weight in calculating R.
In practical applications, as the GDOP value decreases, the constellation combining geometry is more ideal. Assuming that the number of satellites in the constellation combination is n, under the three-dimensional environment, the calculated GDOP value is taken as
Wherein n is the number of satellites in the constellation combination;
when the number n of satellites is 4, the minimum GDOP value is 1.5811; in addition, when GDOP is not less than 8, the group combination is not available, the constellation combination is discarded, and the weight factor is set to 0.
Selecting a satellite with the largest altitude angle as a first satellite, selecting a satellite with the second largest altitude angle as a second satellite in the selected residual satellites, selecting a satellite with the smallest altitude angle as a third satellite along the advancing longitudinal direction, increasing the azimuth angle of the third satellite by 90 degrees, 180 degrees and 270 degrees respectively, and selecting a satellite which is close to the azimuth angle of the third satellite and has the smallest altitude angle as a fourth satellite, a fifth satellite and a sixth satellite near the axis of the three azimuth angles, namely selecting a satellite combination with the smallest satellite with the base satellite deviating from the suboptimal geometric configuration constellation; when the altitude angle of the third satellite to the sixth satellite is low, the GDOP value is small, and the satellite selection rule is met; and when the number of the remaining satellites after satellite selection and screening of the health state monitoring data of the access satellites in the second step is smaller than 6, all satellites are taken for constellation combination.
The foregoing has shown and described the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The satellite selecting method in the real-time positioning of satellite navigation is characterized by comprising the following steps:
step one: combining the three-dimensional data for selecting satellites, and according to the three-dimensional data received by a satellite receiver, locking the satellites which are not shielded in advance, and eliminating the shielded satellites;
step two: accessing satellite health state monitoring data for selecting satellites, and removing satellites with poor health states according to real-time information of the satellite health states acquired by a satellite receiver;
step three: after the first step and the second step of satellite selection, constellation combination is carried out on the residual satellites after screening according to the altitude angle and the azimuth angle, and the satellite GDOP value is adopted for satellite selection, so that the weight factors are dynamically and adaptively adjusted according to the GDOP value and the signal-to-noise ratio SNR of the residual satellites after screening, and the rapid optimization satellite selection is realized;
in the third step, satellite GDOP value is adopted for satellite selection, GDOP value and SNR are used as weights, the weight factors are dynamically and adaptively adjusted according to the GDOP value of the residual satellite after screening, the weight factors are set by taking SNR as a measurement standard, and the satellite with larger error is eliminated by SNR, wherein
The calculation formula of the GDOP value is as follows:
wherein H is a satellite observation matrix, H T Is the transposed matrix of the H,
wherein a is xn 、a yn 、a zn The directional cosine of the unit offset vector from the user to the nth satellite can be expressed as follows:
wherein x is n 、y n 、z n Respectively representing x, y and z coordinates of an nth satellite;
coordinates representing the approximate location of the satellite receiver,
the SNR is calculated as:
SNR＝CN 0 -BW
in CN 0 The carrier noise density is given by satellite navigation message; BW is the front-end filter bandwidth of the satellite receiver; and when the signal-to-noise ratio SNR is lower than a set threshold, the weight factor is set to 0;
normalizing the GDOP value and the signal-to-noise ratio SNR to obtain the GDOP nor ∈(0，1)、SNR nor ∈(0，1)；
Setting an R value as an indicated value for measuring star selecting effect, and solving the R value according to different GDOP constellation combinations:
wherein n is the number of satellites in the constellation combination, C G 、C S Constant coefficient factors, respectively, and satisfy the following relationship: c (C) G >C S ，C G +C S ＝1；
The bigger R is, the better the satellite selecting effect is, and on the contrary, the smaller R is, the worse the satellite selecting effect is; and sorting all constellation combinations according to the calculated R, and selecting the constellation combination with the largest R value.
2. A method for selecting satellites in a real-time positioning for satellite navigation as claimed in claim 1, wherein: in a three-dimensional environment, the range of values of the GDOP value is:
wherein n is the number of satellites in the constellation combination;
when the number n of satellites is 4, the minimum GDOP value is 1.5811; when GDOP is more than or equal to 8, discarding the constellation combination, and setting the weight factor to 0.
3. A method for selecting satellites in a real-time positioning for satellite navigation as claimed in claim 1, wherein: selecting the satellite with the largest altitude angle as a first satellite, selecting the satellite with the second largest altitude angle as a second satellite, selecting the satellite with the smallest altitude angle as a third satellite along the longitudinal direction of travel, increasing the azimuth angle of the third satellite by 90 degrees, 180 degrees and 270 degrees respectively, and selecting the satellite with the azimuth angle close to the azimuth angle of the third satellite and the smallest altitude angle as a fourth satellite, a fifth satellite and a sixth satellite near the axis of the three azimuth angles; and when the number of the remaining satellites after satellite selection and screening of the health state monitoring data of the access satellites in the second step is smaller than 6, all satellites are taken for constellation combination.
4. A method for selecting satellites in a real-time positioning for satellite navigation as claimed in claim 1, wherein: in the first step, the altitude and azimuth information can be dynamically adjusted according to the three-dimensional data around the satellite receiver, the planned route and the building shielding condition around the route are included, the shielded clearance area is eliminated in advance or in real time, and the multipath effect caused by the reflection of the surrounding environment is eliminated.
5. A method for selecting satellites in a real-time positioning for satellite navigation as claimed in claim 1, wherein: the data format of the three-dimensional data in the first step comprises the following contents: a building feature point set and a face set, wherein each point in the point set holds three-dimensional coordinates and each face in the face set is made up of points.
6. The method for selecting satellites in real-time positioning for satellite navigation according to claim 5 wherein the step of determining whether the satellites are blocked or from multipath effects in the step one is as follows:
1) According to the three-dimensional coordinates of the satellite receiver three-dimensional data positioning, obtaining an initial sketch position at the current moment;
2) Calculating satellite coordinates through ephemeris data, and making connection lines between the initial sketch position and each satellite;
3) Traversing the surface sets in all the sight distance ranges, and judging whether each surface has an intersection point with the connecting line;
4) If the intersection point exists, the satellite is rejected.
7. The method for selecting satellites in real-time positioning for satellite navigation according to claim 5 wherein: in the first step, map matching and inertial navigation are adopted, the initial outline position at the current moment is calculated through filtering without satellite navigation, the coordinates of the satellites are solved in advance according to the forecast ephemeris, the satellites which are not blocked by a building are locked in advance according to the three-dimensional coordinates of each point on a planned route, the blocked satellites are removed, and the satellites which generate multipath effects are removed.
8. A method for satellite selection in real-time positioning by satellite navigation according to any of claims 1-7, wherein: before the step one is combined with the three-dimensional data for satellite selection, the method further comprises a step of determining that the number of satellites before satellite selection is more than or equal to 4; before the step three of self-adaptive weight factor quick satellite selection, the method further comprises a step of determining that the number of the residual satellites after satellite selection and screening of the health state monitoring data of the access satellites in the step two is more than or equal to 4.
9. A method for selecting satellites in a real-time positioning for satellite navigation according to claim 1 further comprising the step four of: tightly combined navigation, and combining three-dimensional data to select satellite number before satellite selection in step one
The order is less than 4, when the number of the remained satellites is less than 4 after satellite selection and screening of the satellite health status monitoring data is accessed in the second step,
the method can adopt a tightly combined filtering mode and realize high-precision positioning by means of an inertial navigation auxiliary mode.
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