CN115856960A - Multi-frequency multi-component GNSS high-precision navigation positioning method - Google Patents
Multi-frequency multi-component GNSS high-precision navigation positioning method Download PDFInfo
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Abstract
The invention discloses a method for multi-frequency multi-component GNSS high-precision navigation positioning, which belongs to the field of multi-frequency multi-component GNSS signal constant envelope multiplexing, and comprises the following steps of S1, establishing a random model of observation data of each receiver and each system changing along with an altitude angle based on single difference residual results of each system, and analyzing and processing data quality and data fusion of each system of the GNSS; s2, fusing different frequency observation values between the GPS system and the BDS system by a tightly combined fusion model of the difference observation values between different frequency systems; and S3, the signal transmission time delay is used for providing high-precision positioning through a constant envelope multiplexing technology, so that the corresponding positioning mode can be selected according to whether the received satellite signal is normal or not through providing various positioning modes, and the high-precision positioning is provided through the signal transmission time delay, so that the positioning precision reaches a sub-meter level, and the navigation positioning precision is effectively improved.
Description
Technical Field
The invention relates to the field of multi-frequency multi-component GNSS signal constant envelope multiplexing, in particular to a multi-frequency multi-component GNSS high-precision navigation positioning method.
Background
With the construction and continuous development of Global Navigation Satellite Systems (GNSS), currently, the number of on-orbit satellites approaches 100, the signal frequency is also expanded from dual frequency to triple frequency or even multiple frequency, and the number of ground reference stations is also rapidly increased; GNSS network solution processing based on global distributed tracking station network joint solution is used as a basic theoretical method for GNSS real-time high-precision positioning data processing and is widely applied to data processing such as satellite precision orbit determination, satellite clock error processing, large network coordinate estimation and the like; however, the increasing number of navigation satellites, signal types, and reference stations places higher demands on the processing accuracy and efficiency of GNSS network solutions.
On the basis of the existing results, a new generation satellite navigation positioning system with emphasis on GPS, beidou, GLONASS and Galileo is used for developing large-scale GNSS ground enhanced positioning theory and technical research and overcoming the key technology of tightly combining a multi-frequency multi-mode GNSS real-time software receiver and a GNSS/SINS.
At present, the demands of urban intelligent traffic, automatic driving and the like on high-precision dynamic positioning are in the decimeter level or even the centimeter level, but signal shielding, attenuation and multipath frequently occur in the urban complex environment, the usability and precision of GNSS positioning are seriously reduced, and the positioning precision cannot be accurately in the sub-meter level.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a method for multi-frequency multi-component GNSS high-precision navigation positioning, which can realize that a corresponding positioning mode can be selected according to whether a received satellite signal is normal or not by providing a plurality of positioning modes, and high-precision positioning is provided by signal transmission time delay, wherein the positioning precision reaches a sub-meter level, so that the navigation positioning precision is effectively improved.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
A multi-frequency multi-component GNSS high-precision navigation positioning method comprises the following steps:
s1, establishing a random model of observation data of each receiver and each system changing along with a height angle based on single difference residual results of each system, and analyzing and processing data quality and data fusion of each system of the GNSS;
s2, fusing different frequency observation values between the GPS system and the BDS system by a tightly combined fusion model of the difference observation values between different frequency systems;
s3, enabling the signal transmission to be delayed through a constant envelope multiplexing technology so as to provide high-precision positioning;
through providing multiple positioning mode, can select corresponding positioning mode according to whether normal satellite signal received to through signal transmission time delay in order to provide high accuracy location, positioning accuracy reaches the sub-meter level, thereby effectual precision that improves navigation positioning.
Further, the constant envelope multiplexing technique in step S3 includes:
the constant-envelope optimal phase transmitting method comprises the following steps: the method is used for optimizing the numerical value and solving the maximum multiplexing efficiency transmitting phase;
an inter-multiplexing modulation technique: the technology for synthesizing multi-path signals into a phase modulation technology adds extra intermodulation subcarriers to ensure that the multiplexed signals have the characteristics of equal amplitude and orthogonal phase;
majority voting multiplexing method: used for sending the multipath spread spectrum code to the majority voting unit;
the mutual voting method comprises the following steps: mutual voting is a method combining an Interplex method and a majority voting multiplexing method, and also has a constant envelope characteristic.
Further, the constant envelope multiplexing technology further comprises a single-frequency constant envelope multiplexing method and a double-frequency constant envelope multiplexing method, the single-frequency constant envelope multiplexing method comprises a POCET method and a CQEM method, and the POCET method is used for N binary PRN code signals { s } 1 (t)s 2 (t)...s n (t) }, constructing a signal vector v = [ s ] 1 (t)s 2 (t)...s N (t)]V is only 2 N Different values are satisfied by optimizing the phase values.
Further, v in the POCET method corresponds to one emission phase θ (k =1, 2,.. Times.2) N ) And obtaining an average correlation output of the constant envelope signal and the nth signal component, expressed as:
in the formula s POCET (t) is the combined signal after constant envelope, A is the envelope value of the constant envelope multiplexing signal; b n (k) Is v = [ s ] 1 (t)，s 2 (t)，...，s N (t)]The value of the nth signal component at the kth value is taken.
The power and phase constraints of the design are met by optimizing these phase values.
Furthermore, the CQEM method fixes the phase-to-power ratio of the 4 signal components, so that the complex coefficients of the signal items under different multiplexing efficiencies can be obtained, and when the multiplexing efficiency is greater than 85.36%, the envelope is quasi-constant.
Further, the dual-frequency constant envelope multiplexing method comprises a Galileo E5 signal and a B2 signal of BDS, the Galileo E5 signal and the B2 signal of BDS are composed of B2a (1176.45 MHz) and B2B (1207.14 MHz), and each frequency band in the dual-frequency constant envelope multiplexing method comprises 2 signal components.
Further, the receiver in step S1 is a GNSS multi-frequency receiver, and is used for eliminating the influence of the first-order ionospheric delay by using the ionospheric-free combined observation value method.
Further, in step S1, the GNSS systems respectively adopt observations on L1 and L2 frequencies for GPS, adopt observations on B1 and B2 frequencies for BDS, adopt observations on E1 and E5a frequencies for Galileo, adopt observations on L1 and L2 frequencies for GLOANSS, and the observation equations are:
P IF ＝(f 1 2 ·P 1 -f 2 2 ·P 2 )/(f 1 2 -f 2 2 )
L IF ＝(f 1 2 ·L 1 -f 2 2 ·L 2 )/(f 1 2 -f 2 2 )
in the formula: p 1 And P 2 Respectively are code measurement pseudo-range observed values on two frequency bands; l is 1 And L 2 Respectively as observed values of carrier phase over two frequency bands, f 1 And f 2 Are respectively as2 carrier phase frequencies, P IF Is a pseudo-range without an ionized layer, L IF Is an observation of the carrier phase.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) According to the scheme, the multiple positioning modes can be provided, the corresponding positioning mode can be selected according to whether the received satellite signal is normal or not, high-precision positioning is provided through signal transmission time delay, the positioning precision reaches a sub-meter level, and the navigation positioning precision is effectively improved.
(2) The novel multi-frequency differential GNSS combined model is constructed, the advantages of redundant frequency point observation quantity and three-frequency ambiguity resolution speed can be fully utilized, and the model structure, the observation quantity use and the resolution efficiency are remarkably optimized.
(3) According to the scheme, a large network rapid processing method based on square root information filtering is established for the problems of pseudo range deviation correction of a Beidou satellite, clock deviation modeling between carrier frequencies of GNSS tri-band carriers, ambiguity fixing of the GNSS tri-band carriers, rapid processing of a GNSS large network and the like, a multi-frequency multi-system real-time high-precision large network rapid processing software module is developed, and real-time filtering orbit determination and satellite clock error synchronous processing are realized.
Drawings
FIG. 1 is a flow chart of the method steps of the present invention;
FIG. 2 is a table of coefficients of signal entries for different multiplexing efficiencies in accordance with the present invention;
FIG. 3 is a table of RMS statistics for various time periods for different single and combined systems of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1-3, a method for high-precision navigation and positioning of a multi-frequency multi-component GNSS includes the following steps:
s1, establishing a random model of observation data of each receiver and each system changing along with a height angle based on single difference residual results of each system, and analyzing and processing data quality and data fusion of each system of the GNSS;
s2, fusing different frequency observation values between the GPS system and the BDS system by a tightly combined fusion model of the difference observation values between different frequency systems;
s3, enabling the signal transmission to be delayed through a constant envelope multiplexing technology so as to provide high-precision positioning;
through providing multiple positioning mode, can select corresponding positioning mode according to whether normal the satellite signal that receives to through signal transmission time delay in order to provide high accuracy location, positioning accuracy reaches the sub-meter level, thereby the effectual precision that improves navigation positioning.
The constant envelope multiplexing technique in step S3 includes:
the constant-envelope optimal phase transmitting method comprises the following steps: the method is used for optimizing the numerical value and solving the maximum multiplexing efficiency transmitting phase;
an inter-multiplexing modulation technique: the technology for synthesizing multi-path signals into a phase modulation technology adds extra intermodulation subcarriers to ensure that the multiplexed signals have the characteristics of equal amplitude and orthogonal phase;
the majority voting multiplexing method comprises the following steps: used for sending the multipath spread spectrum code to the majority voting unit;
the mutual voting method comprises the following steps: mutual voting is a method combining an Interplex method and a majority voting multiplexing method, and also has a constant envelope characteristic.
The constant envelope multiplexing technology also comprises a single-frequency constant envelope multiplexing method and a double-frequency constant envelope multiplexing method, the single-frequency constant envelope multiplexing method comprises a POCET method and a CQEM method, and the POCET method is used for N binary PRN code signals { s 1 (t)s 2 (t)...s n (t) }, constructing a signal vector v = [ s ] 1 (t)s 2 (t)...s N (t)]V is only 2 N Different values are satisfied by optimizing the phase values.
V corresponds to one transmit phase θ (k =1, 2, ·, 2) in the POCET method N ) And obtaining an average correlation output of the constant envelope signal and the nth signal component, which is expressed as:
in the formula s POCET (t) is the combined signal after constant envelope, A is the envelope value of the constant envelope multiplexing signal; b n (k) Is v = [ s ] 1 (t)，s 2 (t)，...，s N (t)]The value of the nth signal component at the kth value is taken.
The power and phase constraints of the design are met by optimizing these phase values.
The CQEM method fixes the phase and power ratio of 4 signal components, the complex coefficient of each signal item under different multiplexing efficiencies can be obtained, and when the multiplexing efficiency is more than 85.36%, the envelope is quasi-constant.
The dual-frequency constant envelope multiplexing method comprises a Galileo E5 signal and a B2 signal of BDS, wherein the Galileo E5 signal and the B2 signal of BDS consist of B2a (1176.45 MHz) and B2B (1207.14 MHz), and each frequency band in the dual-frequency constant envelope multiplexing method comprises 2 signal components.
The receiver in the step S1 is a GNSS multi-frequency receiver, and is used for eliminating the influence of first-order ionospheric delay by using a method without ionospheric combination observations.
In the step S1, the GNSS systems respectively adopt observations on L1 and L2 frequencies for GPS, the BDS adopts observations on B1 and B2 frequencies, galileo adopts observations on E1 and E5a frequencies, the GLOANSS adopts observations on L1 and L2 frequencies, and the observation equation is:
P IF ＝(f 1 2 ·P 1 -f 2 2 ·P 2 )/(f 1 2 -f 2 2 )
L IF ＝(f 1 2 ·L 1 -f 2 2 ·L 2 )/(f 1 2 -f 2 2 )
in the formula: p 1 And P 2 Respectively are code measurement pseudo-range observed values on two frequency bands; l is 1 And L 2 Respectively as observed values of carrier phase over two frequency bands, f 1 And f 2 Respectively 2 carrier phase frequencies, P IF Is a pseudo-range without an ionized layer, L IF Is an observation of the carrier phase.
According to the scheme, multiple positioning modes can be provided, the corresponding positioning mode can be selected according to whether the received satellite signal is normal, high-precision positioning is provided through signal transmission time delay, the positioning precision reaches a sub-meter level, and the navigation positioning precision is effectively improved; meanwhile, a new multi-frequency differential GNSS combined model is constructed, the advantages of redundant frequency point observation quantity and fast resolving of three-frequency ambiguity can be fully utilized, and the model structure, the observation quantity use and the resolving efficiency are obviously optimized; the method is characterized in that a square root information filtering-based large network rapid processing method is established for the problems of Beidou satellite pseudo-range deviation correction, GNSS tri-band carrier frequency clock deviation modeling, GNSS tri-band ambiguity fixing, GNSS large network rapid processing and the like, a multi-frequency multi-system real-time high-precision large network rapid processing software module is developed, and real-time filtering orbit determination and satellite clock deviation synchronous processing are realized.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.
Claims (8)
1. A multi-frequency multi-component GNSS high-precision navigation positioning method is characterized by comprising the following steps:
s1, establishing a random model of observation data of each receiver and each system changing along with a height angle based on single difference residual results of each system, and analyzing and processing data quality and data fusion of each system of the GNSS;
s2, fusing the different frequency observed values between the GPS system and the BDS system by a tightly combined fusion model of the difference observed values between the different frequency systems;
and S3, delaying signal transmission through a constant envelope multiplexing technology to provide high-precision positioning.
2. The method of claim 1, wherein the method comprises: the constant envelope multiplexing technique in step S3 includes:
the constant-envelope optimal phase transmitting method comprises the following steps: the method is used for optimizing the numerical value and solving the maximum multiplexing efficiency transmitting phase;
an inter-multiplexing modulation technique: the technology for synthesizing multi-path signals into a phase modulation technology adds extra intermodulation subcarriers to ensure that the multiplexed signals have the characteristics of equal amplitude and orthogonal phase;
the majority voting multiplexing method comprises the following steps: used for sending the multipath spread spectrum code to the majority voting unit;
the mutual voting method comprises the following steps: mutual voting is a method combining an Interplex method and a majority voting multiplexing method, and also has a constant envelope characteristic.
3. The method of claim 1, wherein the method comprises: the constant envelope multiplexing technology further comprises a single-frequency constant envelope multiplexing method and a double-frequency constant envelope multiplexing method, the single-frequency constant envelope multiplexing method comprises a POCET method and a CQEM method, and the POCET method is used for N binary PRN code signals { s 1 (t)s 2 (t)...s n (t) }, constructing a signal vector v = [ s ] 1 (t)s 2 (t)...s N (t)]V is only 2 N A different value.
4. The method of claim 3, wherein the method comprises: v corresponds to one emission phase θ (k =1, 2, 1.., 2.) in the POCET method N ) And obtaining an average correlation output of the constant envelope signal and the nth signal component, expressed as:
in the formula s POCET (t) is the combined signal after constant envelope, A is the envelope value of the constant envelope multiplexing signal; b n (k) Is v = [ s ] 1 (t)，s 2 (t)，...，s N (t)]The value of the nth signal component at the kth value is taken.
The power and phase constraints of the design are met by optimizing these phase values.
5. The method of claim 4, wherein the method comprises: the CQEM method fixes the phase-to-power ratio of 4 signal components, the complex coefficients of all signal items under different multiplexing efficiencies can be obtained, and when the multiplexing efficiency is more than 85.36%, the envelope is quasi-constant.
6. The method of claim 3, wherein the method comprises: the dual-frequency constant envelope multiplexing method comprises a Galileo E5 signal and a B2 signal of BDS, wherein the Galileo E5 signal and the B2 signal of BDS consist of B2a (1176.45 MHz) and B2B (1207.14 MHz), and each frequency band in the dual-frequency constant envelope multiplexing method comprises 2 signal components.
7. The method of claim 3, wherein the method comprises: the receiver in the step S1 is a GNSS multi-frequency receiver, and is used for eliminating the influence of first-order ionospheric delay by using a method of combining observations without an ionosphere.
8. The method of claim 1, wherein the method comprises: in the step S1, the GNSS systems respectively adopt observations on L1 and L2 frequencies for GPS, the BDS adopts observations on B1 and B2 frequencies, galileo adopts observations on E1 and E5a frequencies, the GLOANSS adopts observations on L1 and L2 frequencies, and the observation equation is as follows:
P IF ＝(f 1 2 ·P 1 -f 2 2 ·P 2 )/(f 1 2 -f 2 2 )
L IF ＝(f 1 2 ·L 1 -f 2 2 ·L 2 )/(f 1 2 -f 2 2 )
in the formula: p 1 And P 2 Respectively are code measurement pseudo-range observed values on two frequency bands; l is 1 And L 2 Respectively as observed values of carrier phase over two frequency bands, f 1 And f 2 Respectively 2 carrier phase frequencies, P IF Is a pseudo-range without an ionized layer, L IF Is an observation of the carrier phase.
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