CN116466379A - Ground-air high-precision differential positioning method suitable for large-elevation difference condition of regional environment - Google Patents

Ground-air high-precision differential positioning method suitable for large-elevation difference condition of regional environment Download PDF

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Publication number
CN116466379A
CN116466379A CN202211333350.0A CN202211333350A CN116466379A CN 116466379 A CN116466379 A CN 116466379A CN 202211333350 A CN202211333350 A CN 202211333350A CN 116466379 A CN116466379 A CN 116466379A
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China
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ground
airspace
aircraft
airspace aircraft
sides
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CN202211333350.0A
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Chinese (zh)
Inventor
齐巍
李奇奋
吴正容
孔龙涛
梁友星
吴兆军
赵迪
梁志勇
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63921 Troops of PLA
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63921 Troops of PLA
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Priority to CN202211333350.0A priority Critical patent/CN116466379A/en
Publication of CN116466379A publication Critical patent/CN116466379A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

The application discloses a ground-air high-precision differential positioning method suitable for a large-elevation difference condition of an area environment. The method comprises the following steps: the troposphere delay amounts on two sides of the ground projection of the flight track and the ionosphere delay amounts on two sides of the ground projection of the flight track are determined through an atmospheric delay inversion technology; acquiring GNSS original observables of an airspace aircraft and GNSS original observables of a plurality of reference stations, and determining the original observables of an air-ground common-view navigation satellite and an air-ground common-view navigation satellite; the troposphere delay amounts of a plurality of reference stations are determined according to the troposphere delay amounts on the two sides of the ground projection of the flight track; determining the ionospheric delay amount of the position of the airspace aircraft according to the ionospheric delay amounts on two sides of the ground projection of the flight track; and determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity, the tropospheric delay quantity and the original observed quantity of the navigation satellite of the air-ground common view. The method and the device can improve the positioning accuracy of the airspace aircraft under the condition of large altitude difference.

Description

Ground-air high-precision differential positioning method suitable for large-elevation difference condition of regional environment
Technical Field
The application relates to the technical field of navigation positioning, in particular to a ground-air high-precision differential positioning method suitable for a large-elevation difference condition of an area environment.
Background
The high-precision satellite navigation receiver is widely applied to the high-tech fields such as aerospace and the like. The satellite navigation receiver consists of an antenna and a navigation processor, wherein the antenna is placed at a position with good observation condition on the surface of a user carrier, a navigation signal from the zenith direction is received, the navigation processor receives a radio frequency signal from the antenna, after the radio frequency signal is amplified, filtered and down-converted, the signal processing and navigation resolving are completed by a baseband processing part, the original observed quantity is obtained, the position speed is calculated through single-point positioning, a reference station can be deployed when the position service with higher precision is required to be obtained, and the high-precision position coordinate of the user is obtained between the reference station and the user carrier by using an RTK technology.
In an airspace aircraft test, an airspace aircraft can pass through a troposphere and an ionosphere, and the troposphere and the ionosphere delay of a GNSS device on the airspace aircraft are obviously different from those of a reference station located on the ground surface, so that the premise of eliminating common errors by adopting an RTK technology is not existed. The airspace aircraft has high flying speed and large dynamic state, so that the original observed quantity of the GNSS equipment, particularly the carrier phase continuity is poor, and the precision requirement of the RTK technology on the GNSS original observed quantity is difficult to meet.
Disclosure of Invention
The embodiment of the application aims to provide a ground-air high-precision differential positioning method suitable for a large-altitude-difference condition of an area environment, which is used for solving the problem that in the prior art, the positioning precision of an airspace aircraft is not high under the large-altitude-difference condition.
In order to achieve the above object, a first aspect of the present application provides a ground-air high-precision differential positioning method applicable to a large-altitude-difference condition of an area environment, which is applied to an airspace aircraft positioning system, wherein the airspace aircraft positioning system comprises an airspace aircraft and a plurality of reference stations, and the two sides of a ground projection of a flight track of the airspace aircraft are provided with the plurality of reference stations which are deployed in a staggered manner, and the method comprises:
the troposphere delay amounts on two sides of the ground projection of the flight track and the ionosphere delay amounts on two sides of the ground projection of the flight track are determined through an atmospheric delay inversion technology;
acquiring GNSS original observed quantity of an airspace aircraft and GNSS original observed quantity of a plurality of reference stations;
determining an air-ground common view navigation satellite according to the GNSS original observed quantity of the airspace aircraft and the GNSS original observed quantity of the plurality of reference stations, and extracting the original observed quantity of the air-ground common view navigation satellite;
the troposphere delay amounts of a plurality of reference stations are determined according to the troposphere delay amounts on the two sides of the ground projection of the flight track;
Determining the ionospheric delay amount of the position of the airspace aircraft according to the ionospheric delay amounts on two sides of the ground projection of the flight track;
and determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity of the airspace aircraft, the tropospheric delay quantities of the plurality of reference stations and the original observed quantity of the space-ground co-view navigation satellite.
In the embodiment of the application, the original observables of the navigation satellite of the space-ground common view comprise:
GNSS original observables of airspace aircraft;
the raw observations of the GNSS for a plurality of reference stations.
In an embodiment of the present application, determining tropospheric delay amounts for a plurality of reference stations according to tropospheric delay amounts on both sides of a ground projection of a flight trajectory includes:
and assigning the tropospheric delay amounts on both sides of the ground projection of the flight track to the tropospheric delay amounts of the plurality of reference stations to obtain the tropospheric delay amounts of the plurality of reference stations.
In this embodiment of the present application, determining the ionospheric delay amount of the position of the airspace aircraft according to the ionospheric delay amounts on both sides of the ground projection of the flight trajectory includes:
determining intersection points of connecting lines of the space-ground common-view navigation satellites and the airspace aircrafts and the reference station area to obtain a plurality of intersection points;
Determining the ionospheric delay amount at each intersection point according to the ionospheric delay amounts at the two sides of the ground projection of the flight trajectory;
and assigning the ionospheric delay quantity at each intersection point to the ionospheric delay quantity at the position of the airspace aircraft to obtain the ionospheric delay quantity at the position of the airspace aircraft.
In the embodiment of the application, the ionospheric delay quantity at two sides of the ground projection of the flight path of the airspace aircraft satisfies the formula (1):
where p is longitude or latitude or altitude, trop is ionosphere, lat is latitude, lon is longitude, and h is altitude.
In the embodiment of the application, the tropospheric delay amount on both sides of the ground projection of the flight trajectory of the airspace aircraft satisfies the formula (2):
where p refers to longitude or latitude or altitude, ion refers to troposphere, lat refers to latitude, lon refers to longitude, and h refers to altitude.
In the embodiment of the application, the ionospheric delay amount of the position of the airspace aircraft satisfies the formula (3):
where v denotes the aircraft, k denotes the location information, p denotes longitude or latitude or altitude, trop denotes the ionosphere, and d denotes the ionosphere delay amount.
A second aspect of the present application provides an airspace aircraft, comprising:
a memory configured to store instructions; and
The processor is configured to call the instruction from the memory and when executing the instruction can realize the ground-air high-precision differential positioning method applicable to the regional environment large-elevation difference condition.
A third aspect of the present application provides a airspace aircraft positioning system, comprising:
the airspace aircraft;
a plurality of reference stations in communication with the airspace aircraft, staggered on both sides of the ground projection of the airspace aircraft's flight trajectory, configured to construct an atmospheric delay model to determine ionospheric delay amounts and tropospheric delay amounts, and transmit the ionospheric delay amounts and the tropospheric delay amounts to the airspace aircraft.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described earth-space high-precision differential positioning method applicable to large elevation difference conditions of an area environment.
According to the technical scheme, the troposphere delay amounts on the two sides of the ground projection of the flight track and the ionosphere delay amounts on the two sides of the ground projection of the flight track are determined through the atmospheric delay inversion technology; acquiring GNSS original observables of an airspace aircraft and GNSS original observables of a plurality of reference stations, determining space-ground common-view navigation satellites, and extracting the original observables of the space-ground common-view navigation satellites; and determining tropospheric delay amounts of a plurality of reference stations and ionospheric delay amounts of positions of airspace aircrafts. And finally, determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity of the airspace aircraft, the tropospheric delay quantities of a plurality of reference stations and the original observed quantity of the space-ground co-view navigation satellite. According to the method, the plurality of reference stations are arranged on the two sides of the ground projection of the flight track of the airspace aircraft in a staggered mode, and the number of the reference stations is reduced to the greatest extent on the premise that the observation of a construction area is met. According to the ionospheric delay characteristics, the ionospheric delay of the airspace aircraft is converted into the ionospheric delay quantity at the specific position of the ground surface so as to obtain the accurate ionospheric delay quantity of the airspace aircraft, and the high-precision differential application under the condition of large ground-air altitude difference is realized by correcting the tropospheric delay quantity and the ionospheric delay quantity between the ground surface reference station and the airspace aircraft, so that the positioning precision of the airspace aircraft is improved under the condition of large ground-air altitude difference.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 schematically illustrates an application environment diagram of a ground-air high-precision differential positioning method suitable for large elevation difference conditions of regional environments according to an embodiment of the application;
FIG. 2 schematically illustrates a flow chart of a method of differential positioning of ground and air with high accuracy suitable for use in large elevation difference conditions of an area environment in accordance with an embodiment of the present application;
FIG. 3 schematically illustrates a deployment configuration diagram of a ground reference station in accordance with an embodiment of the present application;
FIG. 4 schematically illustrates a GNSS raw observables of a plurality of reference stations according to an embodiment of the present application;
FIG. 5 schematically illustrates a GNSS raw observational map of an airspace aircraft according to an embodiment of the present application;
FIG. 6 schematically illustrates an ionosphere equivalent conversion schematic of an airspace aircraft according to an embodiment of the present application;
FIG. 7 schematically illustrates a space-to-ground high-precision differential schematic in accordance with an embodiment of the present application;
FIG. 8 schematically illustrates a block diagram of a airspace aircraft according to an embodiment of the present application;
fig. 9 schematically illustrates a block diagram of a airspace aircraft positioning system according to an embodiment of the application.
Description of the reference numerals
101. Space-ground common-view navigation satellite 102 airspace aircraft
103. Multiple reference stations
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
Fig. 1 schematically illustrates an application environment diagram of a ground-air high-precision differential positioning method suitable for a large elevation difference condition of an area environment according to an embodiment of the application. The ground-air high-precision differential positioning method suitable for the large-elevation difference condition of the regional environment can be applied to the application environment shown in fig. 1. In the embodiment of the application, the ground-air high-precision differential positioning method suitable for the condition of large elevation difference of regional environment is applied to an airspace aircraft positioning system. The airspace aircraft positioning system may include a navigation satellite 101, an airspace aircraft 102, and a plurality of reference stations 103 that are co-located with the air-ground. A plurality of reference stations 103 are disposed on either side of the earth's surface trajectory. A plurality of reference stations 103 and a space-ground common view navigation satellite 101 communicate with a space vehicle 102, respectively. The plurality of reference stations 103 are used to construct an atmospheric delay model to determine ionospheric delay amounts and tropospheric delay amounts. The method utilizes the projection principle, and obtains the position information of the airspace aircraft 102 according to the fact that the intersection point of the connection line between the airspace aircraft 102 and the navigation satellite 101 with the airspace aircraft is prolonged to be intersected with the ground surface and the ionosphere delay of the airspace aircraft is equal. And eliminates errors through a differential algorithm, thereby improving the positioning accuracy of the airspace aircraft 102.
Fig. 2 schematically illustrates a flowchart of a ground-air high-precision differential positioning method suitable for a large elevation difference condition of an area environment according to an embodiment of the present application. As shown in fig. 2, an embodiment of the present application provides a ground-air high-precision differential positioning method applicable to a large-elevation difference condition of an area environment, which is applied to an airspace aircraft positioning system, and a plurality of reference stations disposed in a staggered manner are disposed on two sides of a ground surface track of an airspace aircraft.
Step 201, determining troposphere delay amounts on two sides of the ground projection of the flight path and ionosphere delay amounts on two sides of the ground projection of the flight path through an atmospheric delay inversion technology.
In the embodiments of the present application,the troposphere is an atmosphere with a height of 40Km or less, and has high atmospheric density, complex components and atmospheric conditions which change with the climate change of the ground. The propagation speed of the electromagnetic wave will change when passing through the troposphere, and the path will also bend, so that the measurement result will be error, i.e. troposphere delay will be generated. Ionospheric delay is a high-level atmosphere in which, due to the intense radiation of the sun, some of the gas molecules in the ionosphere will be ionized to form a large number of free electrons and positive ions. When an electromagnetic wave signal passes through the ionosphere, the path of the signal bends, i.e., ionosphere errors occur. The ground projection two sides of the flight trajectory may refer to the ground area environment corresponding to the airspace aircraft. A plurality of reference stations are alternately arranged on two sides of the surface track. The ground projection two sides of the flight trajectory may refer to the straight line distance of the reference stations of the two sides from the airspace aircraft trajectory along the ground trajectory. Fig. 3 schematically illustrates a deployment configuration diagram of a ground reference station according to an embodiment of the present application. As shown in fig. 3, dist represents the straight-line distance R1 of each reference station to the ground track of the airspace aircraft; len denotes the distance R2 of two adjacent reference stations in the track direction. Taking r2=100 Km as an example, when a plurality of reference stations are deployed, the ground track starts For the starting position, a point is marked every 100Km along the projected trajectory of the aircraft ground, recorded in succession +.>Etc. According to->(lat (t2) ,lon (t2) ,g (t2) ) And the reference stations are staggered on two sides of the ground surface projection track at equal coordinate points. The exact coordinates of the first reference station are +.>The exact coordinates of the second reference station are +.>Wherein (1)>And->Is perpendicular to the tangent of the ground projection trajectory. />And->At a distance R1./>And (3) withIs perpendicular to the tangent of the ground projection trajectory, < >>And (3) withAbout R1 apart. />And->Respectively positioned at two sides of the ground projection track. According to each coordinate, the ionospheric delay amount and the tropospheric delay amount of the surface area of the aircraft can be fitted by combining with a GNSS wave environment measurement technology. And determining the tropospheric delay amount at the two sides of the ground projection of the flight track and the ionospheric delay amount at the two sides of the ground projection of the flight track so as to subsequently determine the tropospheric delay amounts of a plurality of reference stations and the ionospheric delay amount at the position of the airspace aircraft.
Step 202, acquiring a GNSS original observed quantity of an airspace aircraft and GNSS original observed quantities of a plurality of reference stations.
In embodiments of the present application, the observed quantity may include a pseudo-range ρ and a carrier phaseFIG. 4 schematically illustrates a GNSS raw observables of a plurality of reference stations according to an embodiment of the present application. As shown in fig. 4, the trajectory is projected along the ground of the aircraft, with the ground trajectory starting point as the starting position, with one point marked every 100 Km. The coordinates of each reference station may be determined from each coordinate point. And obtaining the GNSS pseudo-range and carrier phase measured by each reference station, namely the GNSS original observed quantity of each reference station. The GNSS is a global navigation satellite system. The raw observations of the GNSS for the plurality of reference stations may refer to the pseudoranges and carrier phases for the plurality of reference stations. FIG. 5 schematically illustrates a GNSS raw observational map of an airspace aircraft according to an embodiment of the present application. As shown in FIG. 5, the GNSS raw observables of the airspace aircraft may be obtained by reading the data of the airspace aircraft GNSS raw terminal, and the GNSS raw observables of the airspace aircraft may include the pseudoranges of the airspace aircraft GNSS terminal And carrier phase of airspace aircraft GNSS terminal +.>Where v refers to the aircraft and m refers to the location information. And acquiring GNSS original observables of a plurality of reference stations and GNSS original observables of an airspace aircraft so as to select the navigation satellites for air-ground common view.
Step 203, determining the navigation satellite of the space-ground common view according to the GNSS original observed quantity of the airspace aircraft and the GNSS original observed quantity of the plurality of reference stations, and extracting the original observed quantity of the navigation satellite of the space-ground common view.
In the embodiment of the application, the space-ground common-view navigation satellite refers to a satellite which can observe an airspace aircraft and a plurality of reference stations in a ground surface area. Selecting an air-ground commonThe visual navigation satellite can synchronously observe the states of the space and the land. The raw observations of the space-to-ground common view navigation satellite may include the raw observations of the airspace aircraft and the raw observations of the plurality of reference stations. The observed quantity may include a pseudorange and a carrier phase. The raw observations of an airspace aircraft GNSS include airspace aircraft pseudorangesAnd carrier phase->The GNSS raw observations of the plurality of reference stations may include pseudo-ranges +.>And carrier phase->Where v refers to the aircraft, k refers to the positional information, i.e., the specific ground location, and g refers to the reference station. The space-to-ground common view navigation satellite may be determined by selecting overlapping portions of the airspace aircraft and the observation satellites of the plurality of reference stations. The error is eliminated by determining the navigation satellite of the space-earth common view and extracting the original observed quantity of the navigation satellite of the space-earth common view so as to carry out the differential operation subsequently, and the positioning precision is improved.
And 204, determining tropospheric delay amounts of a plurality of reference stations according to the tropospheric delay amounts on two sides of the ground projection of the flight track.
In the embodiment of the application, the troposphere is an atmosphere with the height of less than 40Km, the atmosphere has high density and complex composition, and the condition of the atmosphere changes along with the climate change of the ground. The propagation speed of the electromagnetic wave will change when passing through the troposphere, and the path will also bend, so that the measurement result will be error, i.e. troposphere delay will be generated. The tropospheric delay amount can be divided into a wet component and a dry component. The tropospheric delay wet component of the airspace aircraft is zero; the accuracy of the troposphere delay dry component of the airspace aircraft is in the millimeter order. The troposphere delay amounts on both sides of the ground projection of the flight trajectory can be determined by the regional atmospheric delay inversion technique. The tropospheric delay amounts of the plurality of reference stations may be directly employed as the tropospheric delay amounts in the regional atmospheric delay model. The positioning accuracy of the airspace aircraft can be improved by firstly determining the tropospheric delay amount and then eliminating the tropospheric delay.
And 205, determining the ionospheric delay amount of the position of the airspace aircraft according to the ionospheric delay amounts on two sides of the ground projection of the flight path.
In the present embodiment, the ionospheric delay is the high-level atmosphere, and due to the intense radiation of the sun, some of the gas molecules in the ionosphere will be ionized to form a large number of free electrons and positive ions. When an electromagnetic wave signal passes through the ionosphere, the path of the signal bends, i.e., ionosphere errors occur. Fig. 6 schematically illustrates an ionosphere equivalent conversion schematic of an airspace aircraft according to an embodiment of the present application. As shown in fig. 6, P1, P2, P3 represent three reference stations, respectively; sat1, sat2, sat3 represent three space-ground co-view navigation satellites, respectively. And respectively and prolonged intersecting of the space-ground common-view navigation satellite and the airspace aircraft connecting line to the ground surface, wherein the intersecting point at the ground surface is equal to the airspace aircraft ionosphere delay. The ionospheric delay at each intersection may be determined from the ionospheric delay on both sides of the ground projection of the flight trajectory. And assigning the ionospheric delay of the position of the airspace aircraft by using the ionospheric delay corresponding to each intersection point so as to obtain the ionospheric delay quantity of the position of the airspace aircraft. Step 204 and step 205 may be performed synchronously or sequentially. The positioning accuracy of the airspace aircraft can be improved by determining the ionospheric delay amount and then eliminating the ionospheric delay.
And 206, determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity of the airspace aircraft, the tropospheric delay quantities of the plurality of reference stations and the original observed quantity of the space-ground co-view navigation satellite.
In the present embodiment, the result of the difference reflects a change between discrete quantities. Errors can be eliminated through a differential algorithm, and the positioning accuracy of the airspace aircraft is improved. Fig. 7 schematically illustrates a space-to-ground high-precision differential schematic according to an embodiment of the present application. As shown in fig. 7, after the tropospheric delay in both sides of the ground projection of the flight trajectory and the intersection point of the extended line of the line passing through the space-to-ground common view navigation satellite and the airspace aircraft with the ground surface are determined, the ionospheric delay amount at the location of the airspace aircraft and the tropospheric delay amounts at the plurality of reference stations can be determined. And after the original observed quantity of the air-ground common-view navigation satellite is combined, executing an air-ground high-precision difference algorithm, so that GNSS constellation orbit errors, clock errors, ionosphere model residual errors and troposphere model residual errors between the GNSS original observed quantity of the airspace aircraft and the GNSS original observed quantity of the ground surface reference station can be eliminated, and high-precision position information of the airspace aircraft can be obtained. Orbit error generally refers to the disparity between the satellite orbit and the true orbit found from the broadcast ephemeris or post-processing ephemeris. Clock difference, i.e., clock difference, refers to the clock difference between the target device and a standard satellite. The ionospheric model residual is the ionospheric delay, and the tropospheric model residual is the tropospheric delay. After the errors are eliminated through a difference algorithm, the positioning precision can be improved, and the high-precision position information of the airspace aircraft can be obtained.
According to the technical scheme, the troposphere delay amounts on the two sides of the ground projection of the flight track and the ionosphere delay amounts on the two sides of the ground projection of the flight track are determined through the atmospheric delay inversion technology; acquiring GNSS original observables of an airspace aircraft and GNSS original observables of a plurality of reference stations, and determining space-ground common-view navigation satellites and the original observables of the space-ground common-view navigation satellites; and determining tropospheric delay amounts of a plurality of reference stations and ionospheric delay amounts of positions of airspace aircrafts. And finally, determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity of the airspace aircraft, the tropospheric delay quantities of a plurality of reference stations and the original observed quantity of the space-ground co-view navigation satellite. According to the method, the plurality of reference stations are arranged on the two sides of the ground projection of the flight track of the airspace aircraft in a staggered mode, and the number of the reference stations is reduced to the greatest extent on the premise that the observation of a construction area is met. According to the ionospheric delay characteristics, the ionospheric delay of the airspace aircraft is converted into the ionospheric delay quantity at the specific position of the ground surface so as to obtain the accurate ionospheric delay quantity of the airspace aircraft, and the high-precision differential application under the condition of large ground-air altitude difference is realized by correcting the tropospheric delay quantity and the ionospheric delay quantity between the ground surface reference station and the airspace aircraft, so that the positioning precision of the airspace aircraft is improved under the condition of large ground-air altitude difference.
In an embodiment of the present application, the original observables of the space-ground common view navigation satellite may include:
GNSS original observables of airspace aircraft;
the raw observations of the GNSS for a plurality of reference stations.
In particular, a space-to-ground common view navigation satellite refers to a satellite that can observe both an airspace aircraft and a plurality of reference stations in the earth's surface area. The observed quantity may include a pseudorange and a carrier phase. The raw observations of an airspace aircraft GNSS include raw pseudoranges of the airspace aircraftAnd carrier phase->The GNSS raw observations of the plurality of reference stations may include pseudo-ranges +.>And carrier phase->Where v refers to the aircraft, k refers to the positional information, i.e., the specific ground location, and g refers to the reference station. The original observed quantity of the space-ground common-view navigation satellite is extracted so as to eliminate errors by carrying out differential operation subsequently, and the positioning accuracy is improved.
In an embodiment of the present application, determining the tropospheric delay amounts of the plurality of reference stations according to the tropospheric delay amounts on both sides of the ground projection of the flight trajectory may include:
and assigning the tropospheric delay amounts on both sides of the ground projection of the flight track to the tropospheric delay amounts of the plurality of reference stations to obtain the tropospheric delay amounts of the plurality of reference stations.
Specifically, the troposphere is an atmosphere with a height of 40Km or less, and has a high atmospheric density and a complex composition, and the atmospheric condition changes with the climate change of the ground. The propagation speed of the electromagnetic wave will change when passing through the troposphere, and the path will also bend, so that the measurement result will be error, i.e. troposphere delay will be generated. The tropospheric delay amount can be divided into a wet component and a dry component. The tropospheric delay wet component of the airspace aircraft is zero; the accuracy of the troposphere delay dry component of the airspace aircraft is in the millimeter order. The troposphere delay amounts on both sides of the ground projection of the flight trajectory can be determined by the regional atmospheric delay inversion technique. The tropospheric delay amounts of the plurality of reference stations may be directly employed as the tropospheric delay amounts in the regional atmospheric delay model. The positioning accuracy of the airspace aircraft can be improved by firstly determining the tropospheric delay amount and then eliminating the tropospheric delay.
In an embodiment of the present application, determining the ionospheric delay amount of the position of the airspace aircraft according to the ionospheric delay amounts on two sides of the ground projection of the flight trajectory may include:
determining intersection points of connecting lines of the space-ground common-view navigation satellites and the airspace aircrafts and the reference station area to obtain a plurality of intersection points;
Determining the ionospheric delay amount at each intersection point according to the ionospheric delay amounts at the two sides of the ground projection of the flight trajectory;
and assigning the ionospheric delay quantity at each intersection point to the ionospheric delay quantity at the position of the airspace aircraft to obtain the ionospheric delay quantity at the position of the airspace aircraft.
In particular, the ionospheric delay is a high-level atmosphere, and due to the intense radiation of the sun, some of the gas molecules in the ionosphere will be ionized to form a large number of free electrons and positive ions. When an electromagnetic wave signal passes through the ionosphere, the path of the signal bends, i.e., ionosphere errors occur. As shown in fig. 6, the space-to-ground common view navigation satellite and airspace aircraft link is extended to intersect to the surface where the intersection is equal to the airspace aircraft ionospheric delay. The ionospheric delay at each intersection may be determined from the ionospheric delay on both sides of the ground projection of the flight trajectory. And then, assigning the ionospheric delay of the position of the airspace aircraft by using the ionospheric delay corresponding to each intersection point so as to obtain the ionospheric delay quantity. The positioning accuracy of the airspace aircraft can be improved by determining the ionospheric delay amount and then eliminating the ionospheric delay.
In the embodiment of the application, the ionospheric delay quantity at two sides of the ground projection of the flight path of the airspace aircraft satisfies the formula (1):
where p is longitude or latitude or altitude, trop is ionosphere, lat is latitude, lon is longitude, and h is altitude.
Specifically, the ionospheric delay amount refers to an error generated due to bending of the path of an electromagnetic wave signal when the signal passes through the ionosphere. Ionospheric delay amounts on both sides of a ground projection of a flight trajectory of an airspace aircraft can be obtained by fitting through a GNSS electric wave environment measurement technology. Ionospheric delay amount satisfies the formulaWhere p is longitude or latitude or altitude, trop is ionosphere, lat is latitude, lon is longitude, and h is altitude. The positioning accuracy of the airspace aircraft can be improved by determining the ionospheric delay amount and then eliminating the ionospheric delay.
In the embodiment of the application, the tropospheric delay amount on both sides of the ground projection of the flight trajectory of the airspace aircraft satisfies the formula (2):
where p refers to longitude or latitude or altitude, ion refers to troposphere, lat refers to latitude, lon refers to longitude, and h refers to altitude.
In particular, the tropospheric delay amount means that when an electromagnetic wave passes through the tropospheric, the electromagnetic wave is delayed by a propagation velocityThe path is changed, and the path is bent to generate an error. Tropospheric delay amounts on both sides of a ground projection of a flight trajectory of an airspace aircraft can be obtained by fitting through a GNSS electric wave environment measurement technique. The tropospheric delay amount satisfies the formula: Where p refers to longitude or latitude or altitude, ion refers to troposphere, lat refers to latitude, lon refers to longitude, and h refers to altitude. The positioning accuracy of the airspace aircraft can be improved by firstly determining the tropospheric delay amount and then eliminating the tropospheric delay.
In the embodiment of the application, the ionospheric delay amount of the position of the airspace aircraft satisfies the formula (3):
where v denotes the aircraft, k denotes the location information, p denotes longitude or latitude or altitude, trop denotes the ionosphere, and d denotes the ionosphere delay amount.
Specifically, the ionospheric delay of the position of the airspace aircraft extends and intersects the connection line of the navigation satellite and the airspace aircraft, which are commonly seen by the airspace aircraft, to the ground surface, and the intersection point at the ground surface is equal to the ionospheric delay of the airspace aircraft. The ionospheric delay at each intersection may be determined from the ionospheric delay on both sides of the ground projection of the flight trajectory. And assigning the ionospheric delay of the position of the airspace aircraft by using the ionospheric delay corresponding to each intersection point so as to obtain the ionospheric delay quantity of the position of the airspace aircraft. The ionospheric delay quantity of the position of the airspace aircraft meets the formula:where v denotes the aircraft, k denotes the location information, p denotes longitude or latitude or altitude, trop denotes the ionosphere, and d denotes the ionosphere delay amount. The positioning accuracy of the airspace aircraft can be improved by determining the ionosphere delay amount of the position of the airspace aircraft to perform a differential algorithm so as to obtain high-accuracy positioning information of the airspace aircraft.
Fig. 8 schematically illustrates a block diagram of a airspace aircraft according to an embodiment of the present application. As shown in fig. 8, an embodiment of the present application provides an airspace aircraft, which may include:
a memory 810 configured to store instructions; and
processor 820 is configured to invoke instructions from memory 810 and when executing instructions can implement a ground-air high-precision differential positioning method in accordance with the above-described high-elevation difference conditions applicable to regional environments.
Specifically, in embodiments of the present application, processor 820 may be configured to:
the troposphere delay amounts on two sides of the ground projection of the flight track and the ionosphere delay amounts on two sides of the ground projection of the flight track are determined through an atmospheric delay inversion technology;
acquiring GNSS original observed quantity of an airspace aircraft and GNSS original observed quantity of a plurality of reference stations;
determining an air-ground common view navigation satellite according to the GNSS original observed quantity of the airspace aircraft and the GNSS original observed quantity of the plurality of reference stations, and extracting the original observed quantity of the air-ground common view navigation satellite;
the troposphere delay amounts of a plurality of reference stations are determined according to the troposphere delay amounts on the two sides of the ground projection of the flight track;
determining the ionospheric delay amount of the position of the airspace aircraft according to the ionospheric delay amounts on two sides of the ground projection of the flight track;
And determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity of the airspace aircraft, the tropospheric delay quantities of the plurality of reference stations and the original observed quantity of the space-ground co-view navigation satellite.
In an embodiment of the present application, the original observables of the space-ground common view navigation satellite may include:
GNSS original observables of airspace aircraft;
the raw observations of the GNSS for a plurality of reference stations.
Further, processor 820 may also be configured to:
determining the tropospheric delay amount for the plurality of reference stations from the tropospheric delay amounts on both sides of the ground projection of the flight trajectory may include:
and assigning the tropospheric delay amounts on both sides of the ground projection of the flight track to the tropospheric delay amounts of the plurality of reference stations to obtain the tropospheric delay amounts of the plurality of reference stations.
Further, processor 820 may also be configured to:
determining the ionospheric delay amount for the location of the airspace aircraft based on the ionospheric delay amounts on both sides of the ground projection of the flight trajectory may include:
determining intersection points of connecting lines of the space-ground common-view navigation satellites and the airspace aircrafts and the reference station area to obtain a plurality of intersection points;
determining the ionospheric delay amount at each intersection point according to the ionospheric delay amounts at the two sides of the ground projection of the flight trajectory;
And assigning the ionospheric delay quantity at each intersection point to the ionospheric delay quantity at the position of the airspace aircraft to obtain the ionospheric delay quantity at the position of the airspace aircraft.
In the embodiment of the application, the ionospheric delay quantity at two sides of the ground projection of the flight path of the airspace aircraft satisfies the formula (1):
where p is longitude or latitude or altitude, trop is ionosphere, lat is latitude, lon is longitude, and h is altitude.
In the embodiment of the application, the tropospheric delay amount on both sides of the ground projection of the flight trajectory of the airspace aircraft satisfies the formula (2):
where p refers to longitude or latitude or altitude, ion refers to troposphere, lat refers to latitude, lon refers to longitude, and h refers to altitude.
In the embodiment of the application, the ionospheric delay amount of the position of the airspace aircraft satisfies the formula (3):
where v denotes the aircraft, k denotes the location information, p denotes longitude or latitude or altitude, trop denotes the ionosphere, and d denotes the ionosphere delay amount.
According to the technical scheme, the troposphere delay amounts on the two sides of the ground projection of the flight track and the ionosphere delay amounts on the two sides of the ground projection of the flight track are determined through the atmospheric delay inversion technology; acquiring GNSS original observables of an airspace aircraft and GNSS original observables of a plurality of reference stations, and determining space-ground common-view navigation satellites and the original observables of the space-ground common-view navigation satellites; and determining tropospheric delay amounts of a plurality of reference stations and ionospheric delay amounts of positions of airspace aircrafts. And finally, determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity of the airspace aircraft, the tropospheric delay quantities of a plurality of reference stations and the original observed quantity of the space-ground co-view navigation satellite. According to the method, the plurality of reference stations are arranged on the two sides of the ground projection of the flight track of the airspace aircraft in a staggered mode, and the number of the reference stations is reduced to the greatest extent on the premise that the observation of a construction area is met. According to the ionospheric delay characteristics, the ionospheric delay of the airspace aircraft is converted into the ionospheric delay quantity at the specific position of the ground surface so as to obtain the accurate ionospheric delay quantity of the airspace aircraft, and the high-precision differential application under the condition of large ground-air altitude difference is realized by correcting the tropospheric delay quantity and the ionospheric delay quantity between the ground surface reference station and the airspace aircraft, so that the positioning precision of the airspace aircraft is improved under the condition of large ground-air altitude difference.
Fig. 9 schematically illustrates a block diagram of a airspace aircraft positioning system according to an embodiment of the application. As shown in fig. 9, an embodiment of the present application further provides a airspace aircraft positioning system, which may include:
airspace vehicle 102 according to the above;
a plurality of reference stations 103, disposed interleaved on either side of the ground projection of the airspace aircraft's flight trajectory, in communication with airspace aircraft 102, are configured to construct an atmospheric delay model to determine ionospheric and tropospheric delay amounts, and to transmit the ionospheric and tropospheric delay amounts to airspace aircraft 102.
Specifically, a plurality of reference stations 103 are disposed interleaved on both sides of the ground projection of the flight trajectory of the airspace aircraft. Each reference station is separated from the ground surface track of the airspace aircraft by R1, and two adjacent reference stations are separated from each other by R2 along the track direction. The plurality of reference stations 103 are in communication with the airspace aircraft 102 and are configured to construct an atmospheric delay model to determine ionospheric delay amounts and tropospheric delay amounts and to transmit the ionospheric delay amounts and the tropospheric delay amounts to the airspace aircraft 102. Firstly, determining troposphere delay amounts on two sides of a ground projection of a flight track and ionosphere delay amounts on two sides of the ground projection of the flight track through an atmospheric delay inversion technology; acquiring GNSS original observables of an airspace aircraft and GNSS original observables of a plurality of reference stations 103; determining an air-ground common view navigation satellite according to the GNSS original observed quantity of the airspace aircraft and the GNSS original observed quantity of the plurality of reference stations 103, and determining the original observed quantity of the air-ground common view navigation satellite; the troposphere delay amounts of a plurality of reference stations are determined according to the troposphere delay amounts on the two sides of the ground projection of the flight track; and determining the ionospheric delay amount of the position of the airspace aircraft according to the ionospheric delay amounts on two sides of the ground projection of the flight track. The plurality of reference stations 103 transmit tropospheric delay amounts of the plurality of reference stations 103 to the airspace aircraft 102. Finally, the position information of the airspace aircraft is determined by a difference algorithm according to the ionospheric delay quantity of the position of the airspace aircraft, the tropospheric delay quantities of the plurality of reference stations 103 and the original observed quantity of the navigation satellite of the air-ground common view.
According to the technical scheme, the troposphere delay amounts on the two sides of the ground projection of the flight track and the ionosphere delay amounts on the two sides of the ground projection of the flight track are determined through the atmospheric delay inversion technology; acquiring GNSS original observables of an airspace aircraft and GNSS original observables of a plurality of reference stations, and determining space-ground common-view navigation satellites and the original observables of the space-ground common-view navigation satellites; and determining tropospheric delay amounts of a plurality of reference stations and ionospheric delay amounts of positions of airspace aircrafts. And finally, determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity of the airspace aircraft, the tropospheric delay quantities of a plurality of reference stations and the original observed quantity of the space-ground co-view navigation satellite. According to the method, the plurality of reference stations are arranged on the two sides of the ground projection of the flight track of the airspace aircraft in a staggered mode, and the number of the reference stations is reduced to the greatest extent on the premise that the observation of a construction area is met. According to the ionospheric delay characteristics, the ionospheric delay of the airspace aircraft is converted into the ionospheric delay quantity at the specific position of the ground surface so as to obtain the accurate ionospheric delay quantity of the airspace aircraft, and the high-precision differential application under the condition of large ground-air altitude difference is realized by correcting the tropospheric delay quantity and the ionospheric delay quantity between the ground surface reference station and the airspace aircraft, so that the positioning precision of the airspace aircraft is improved under the condition of large ground-air altitude difference. The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions for enabling a machine to execute the above-mentioned ground-air high-precision differential positioning method suitable for the large-altitude-difference condition of the regional environment.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. The utility model provides a high accuracy difference positioning method of ground and air suitable for regional environment big difference in elevation condition which characterized in that is applied to airspace aircraft positioning system, airspace aircraft positioning system includes airspace aircraft and a plurality of reference station, the ground projection both sides of the flight orbit of airspace aircraft are provided with a plurality of reference stations of crisscross deployment, the method includes:
determining troposphere delay amounts on two sides of the ground projection of the flight track and ionosphere delay amounts on two sides of the ground projection of the flight track through an atmospheric delay inversion technology;
acquiring GNSS original observables of the airspace aircraft and GNSS original observables of the plurality of reference stations;
determining an air-ground common view navigation satellite according to the GNSS original observed quantity of the airspace aircraft and the GNSS original observed quantity of the plurality of reference stations, and extracting the original observed quantity of the air-ground common view navigation satellite;
Determining tropospheric delay amounts of the plurality of reference stations according to the tropospheric delay amounts on both sides of the ground projection of the flight trajectory;
determining the ionospheric delay amount of the position of the airspace aircraft according to the ionospheric delay amounts on two sides of the ground projection of the flight track;
and determining the position information of the airspace aircraft through a difference algorithm according to the ionospheric delay quantity of the airspace aircraft, the tropospheric delay quantity of the plurality of reference stations and the original observed quantity of the air-ground co-view navigation satellite.
2. The method of claim 1, wherein the raw observables of the space-to-ground common view navigation satellite comprise:
GNSS original observables of airspace aircraft;
the GNSS raw observations of the plurality of reference stations.
3. The method according to claim 1, wherein determining the tropospheric delay amounts of the plurality of reference stations from the tropospheric delay amounts on both sides of the ground projection of the flight trajectory comprises:
and assigning the tropospheric delay amounts on both sides of the ground projection of the flight track to the tropospheric delay amounts of the plurality of reference stations to obtain the tropospheric delay amounts of the plurality of reference stations.
4. The method of claim 1, wherein determining the ionospheric delay amount for the airspace aircraft based on the ionospheric delay amounts on both sides of the ground projection of the flight path comprises:
determining intersection points of the connecting lines of the space-ground common-view navigation satellites and the airspace aircrafts and the reference station area to obtain a plurality of intersection points;
determining the ionospheric delay amount at each intersection point according to the ionospheric delay amounts at the two sides of the ground projection of the flight trajectory;
and assigning the ionospheric delay quantity at each intersection point to the ionospheric delay quantity at the position of the airspace aircraft so as to obtain the ionospheric delay quantity at the position of the airspace aircraft.
5. The ground-air high-precision differential positioning method according to claim 1, wherein ionospheric delay amounts on both sides of a ground projection of a flight trajectory of the airspace aircraft satisfy formula (1):
where p is longitude or latitude or altitude, trop is ionosphere, lat is latitude, lon is longitude, and h is altitude.
6. The ground-air high-precision differential positioning method according to claim 1, wherein tropospheric delay amounts on both sides of a ground projection of a flight trajectory of the airspace aircraft satisfy formula (2):
Where p refers to longitude or latitude or altitude, ion refers to troposphere, lat refers to latitude, lon refers to longitude, and h refers to altitude.
7. The differential positioning method of ground and air according to claim 1, wherein the ionospheric delay amount of the position of the airspace aircraft satisfies formula (3):
where v denotes the aircraft, k denotes the location information, p denotes longitude or latitude or altitude, trop denotes the ionosphere, and d denotes the ionosphere delay amount.
8. An airspace aircraft, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and when executing the instructions enable a ground-air high precision differential positioning method applicable to regional environmental high elevation difference conditions according to any one of claims 1 to 7.
9. A airspace aircraft positioning system, comprising:
the airspace aircraft of claim 8;
a plurality of reference stations in communication with the airspace aircraft, staggered on both sides of a ground projection of a flight trajectory of the airspace aircraft, configured to construct an atmospheric delay model to determine ionospheric and tropospheric delay amounts, and transmit the ionospheric and tropospheric delay amounts to the airspace aircraft.
10. A machine-readable storage medium having instructions stored thereon for causing a machine to perform the earth-space high-precision differential positioning method according to any one of claims 1 to 7 adapted to regional environmental high-elevation difference conditions.
CN202211333350.0A 2022-10-28 2022-10-28 Ground-air high-precision differential positioning method suitable for large-elevation difference condition of regional environment Pending CN116466379A (en)

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