CN116736358B - Long baseline carrier phase differential positioning method suitable for satellite navigation - Google Patents
Long baseline carrier phase differential positioning method suitable for satellite navigation Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 43
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 3
- 238000003908 quality control method Methods 0.000 abstract description 5
- 238000012216 screening Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 4
- 238000007476 Maximum Likelihood Methods 0.000 description 2
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Abstract
The invention provides a method for differential positioning of carrier phase of a long baseline suitable for satellite navigation, which comprises the steps of screening out the observed quantity of navigation carrier phase which can pass through three-difference detection, then adopting a residual error card method detection method and a GARCH model to perform fault detection on the observed quantity of satellites, screening out satellites without faults and performing satellite joint positioning on a receiver; therefore, the three-level quality control mode of three-difference detection, residual chi-square detection and GARCH model is adopted, so that the quality of navigation carrier phase observance and code pseudo-range observance of satellites participating in combined positioning can be improved, the differential positioning precision of a receiver is further improved, and the problem of poor precision of long-baseline carrier phase observance is solved.
Description
Technical Field
The invention relates to the field of communication satellite navigation positioning, in particular to a long baseline carrier phase differential positioning method suitable for satellite navigation.
Background
Satellite navigation differential positioning, which may also be referred to as GNSS relative positioning. The basic working principle is mainly based on spatial correlation and time correlation of satellite clock error, satellite ephemeris error, ionospheric delay, tropospheric delay and the like for receivers which are not far apart. One or more GNSS reference receivers are installed at known locations, real-time measurement errors are obtained using the true satellite-to-receiver distances, and the reference station broadcasts the errors to the user receivers. The user receiver can correct its own measured value by using the broadcast error, thereby improving the measurement and positioning accuracy of the user.
In satellite navigation relative positioning, when the length of a base line is short, the influence of atmospheric delay (mainly ionospheric delay and tropospheric delay) on a positioning result can be basically eliminated through a double-difference mode of an observation equation, and the residual error of the atmospheric delay is small and can be ignored; as the baseline length increases, the atmospheric delay correlation at the zenith of the reference and rover stations gradually decreases. Meanwhile, as the long baseline dynamic measurement environment is complex, aiming at the influence of carrier dynamic and complex electromagnetic environment and other factors on the carrier phase observation quality, the influence of cycle slip and gross error needs to be studied how to be effectively detected and controlled, so that the carrier phase measurement precision is improved.
The Canadian university of New Dolen provides a higher order difference method, wherein a non-difference carrier phase time sequence or residual error is formed into a higher order difference, and Zhou Tiaojin rows are detected by a method of amplifying carrier phase change, which is generally used for detecting large cycle slips. The national engineering institute Wei Ziqing proposes a polynomial fitting method, and the cycle slip is detected and repaired by using the polynomial fitting of the carrier phase and the change rate of the carrier phase, so that the polynomial fitting method is insensitive to small cycle slips. The method for preprocessing the TurboEdit data is improved by the university of Harbin industry, and a weighting coefficient is introduced according to the quality of the observed data in cycle slip judgment conditions, so that the cycle slip detection capability is still kept stronger under the conditions of lower observation height angle and larger measurement noise. But aiming at the influence of the complex electromagnetic environment which cannot be offset and is caused by the high dynamic state of a positioning carrier and a long baseline, the quality control of the high-precision carrier phase observation of the long baseline needs to be improved.
Disclosure of Invention
In order to solve the problem of poor precision of the long baseline carrier phase observance, the invention provides a long baseline carrier phase differential positioning method suitable for satellite navigation, and the quality of satellite observance can be effectively improved by adopting a multi-stage quality control method, so that the differential positioning precision is improved.
A long baseline carrier phase differential positioning method suitable for satellite navigation comprises the following steps:
s1: collecting navigation carrier phase observables and code pseudo-range observables of all satellites in a satellite cluster;
s2: performing three-difference detection on the navigation carrier phase observed quantity of all satellites respectively, and recording the navigation carrier phase observed quantity and the code pseudo-range observed quantity which are detected by the three-difference detection as the observed quantity of the satellites;
s3: performing fault detection on observed quantity of each satellite by adopting a residual error card method, judging whether the observed quantity of each satellite has faults, isolating the satellite with the judging result of yes, and entering the satellite with the judging result of no into a step S4;
s4: performing fault detection again on the observed quantity of the residual satellite by adopting a GARCH model, judging whether the observed quantity of the residual satellite has faults, isolating the satellite with the judging result of yes, and entering the step S5 into the satellite with the judging result of no;
s5: evaluating the fault tolerance performance of the current residual observed quantity without faults to obtain fault tolerance factors corresponding to the observed quantities, and taking the fault tolerance factors as participation weights when satellite joint positioning is carried out on the satellites without faults respectively;
s6: and after information fusion filtering processing is carried out on the observed quantity of the residual fault-free satellite, satellite joint positioning is carried out on the receiver based on the observed quantity after the filtering processing, and the relative navigation positioning estimated value of the receiver is obtained.
Further, the method for performing fault detection again on the observed quantity of the residual satellite by adopting the GARCH model specifically comprises the following steps:
for the observed quantity of each residual satellite, respectively adopting a GARCH model to predict the variance of the pseudo-range residual error at the current t moment to obtain a predicted valueThe pseudo-range residual error is the difference between the code pseudo-range observed value and the code pseudo-range actual measured value;
will predict the valueComparing with the fault judgment threshold to obtain a fault judgment variable +.>Wherein, if->＜/>Then->A value true indicating that there is no fault in the observed quantity of the current remaining satellites, if +.>≥/>Then->The value false indicates that the observed quantity of the current remaining satellites is faulty.
Further, the variance of the pseudo-range residual error at the current t moment is predicted by adopting a GARCH model to obtain a predicted valueThe method comprises the following steps:
wherein K is a conditional variance constant,Gin the form of a matrix of GARCH coefficients,G i is an element in the GARCH coefficient matrix, P is the GARCH model variance order,Ain the form of a matrix of ARCH coefficients,A j q is the error order of the GARCH model for the elements in the ARCH coefficient matrix,is thatt-variance prediction value of pseudo-range residual at time-1, -/->Is the noise error at time t-1.
Further, the fault determination threshold is defined byAnd (5) determining a criterion.
Further, the three-difference detection for the navigation carrier phase observables of all satellites is specifically:
s21: acquiring a carrier phase three-difference value of each satellite at the current moment according to the navigation carrier phase observed quantity of all satellites at the previous moment and the navigation carrier phase observed quantity of all satellites at the current moment;
s22: judging whether the absolute value of the carrier phase three difference value of each satellite is larger than 360 degrees, if the absolute value of the carrier phase three difference value of any one satellite is larger than 360 degrees, indicating that a satellite cluster formed by all satellites has cycle slip, wherein if the absolute value of the carrier phase three difference value of only one satellite is larger than 360 degrees, indicating that the satellite has cycle slip, isolating the satellite, the navigation carrier phase observed quantity of the rest satellites passes the three-difference detection, and if the absolute value of the carrier phase three difference value of more than one satellite is larger than 360 degrees, indicating that the reference satellite in the satellite cluster has cycle slip, isolating the reference satellite, and the navigation carrier phase observed quantity of the rest satellites passes the three-difference detection; if the absolute value of the carrier phase three-difference value of no satellite is larger than 360 degrees, the navigation carrier phase observed quantity of all satellites is proved to pass the three-difference detection.
The beneficial effects are that:
1. the invention provides a method for differential positioning of carrier phase of a long baseline suitable for satellite navigation, which comprises the steps of screening out the observed quantity of navigation carrier phase which can pass through three-difference detection, then adopting a residual error card method detection method and a GARCH model to perform fault detection on the observed quantity of satellites, screening out satellites without faults and performing satellite joint positioning on a receiver; therefore, the three-level quality control mode of three-difference detection, residual chi-square detection and GARCH model is adopted, so that the quality of navigation carrier phase observance and code pseudo-range observance of satellites participating in combined positioning can be improved, the differential positioning precision of a receiver is further improved, and the problem of poor precision of long-baseline carrier phase observance is solved.
2. The invention provides a long baseline carrier phase differential positioning method suitable for satellite navigation, which adopts a GARCH model with better sensitivity and prediction capability on small faults to further detect faults of observed quantity which is detected by residual chi-square faults, can reduce the omission ratio of the fault satellites, and further improves the differential positioning precision when the fault-free satellites are subjected to combined positioning.
3. The invention provides a long baseline carrier phase differential positioning method suitable for satellite navigation, which adopts a three-difference detection method to remove the satellite observed quantity of large cycle slip, can effectively improve the carrier phase observed quantity quality of satellites participating in combined positioning, and further improves the differential positioning precision.
Drawings
FIG. 1 is a general flow chart of the present invention;
FIG. 2 is a flow chart illustrating the three-difference detection according to the present invention.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention designs a long baseline carrier phase differential positioning method suitable for satellite navigation, and the general execution flow chart is shown in figure 1, and comprises the following steps:
s1: collecting navigation carrier phase observables and code pseudo-range observables of all satellites in a satellite cluster;
s2: performing three-difference detection on the navigation carrier phase observed quantity of all satellites respectively, and recording the navigation carrier phase observed quantity and the code pseudo-range observed quantity which are detected by the three-difference detection as the observed quantity of the satellites; as shown in fig. 2, the flow of the three-difference detection is specifically as follows:
s21: acquiring a carrier phase three-difference value of each satellite at the current moment according to the navigation carrier phase observed quantity of all satellites at the previous moment and the navigation carrier phase observed quantity of all satellites at the current moment;
s22: judging whether the absolute value of the carrier phase three difference value of each satellite is larger than 360 degrees, if the absolute value of the carrier phase three difference value of any one satellite is larger than 360 degrees, indicating that a satellite cluster formed by all satellites has cycle slip, wherein if the absolute value of the carrier phase three difference value of only one satellite is larger than 360 degrees, indicating that the satellite has cycle slip, isolating the satellite, the navigation carrier phase observed quantity of the rest satellites passes the three-difference detection, and if the absolute value of the carrier phase three difference value of more than one satellite is larger than 360 degrees, indicating that the reference satellite in the satellite cluster has cycle slip, isolating the reference satellite, and the navigation carrier phase observed quantity of the rest satellites passes the three-difference detection; if the absolute value of the carrier phase three-difference value of no satellite is larger than 360 degrees, the navigation carrier phase observed quantity of all satellites is proved to pass the three-difference detection.
S3: performing fault detection on observed quantity of each satellite by adopting a residual error card method, judging whether the observed quantity of each satellite has faults, isolating the satellite with the judging result of yes, and entering the satellite with the judging result of no into a step S4;
s4: performing fault detection again on the observed quantity of the residual satellite by adopting a GARCH model, judging whether the observed quantity of the residual satellite has faults, isolating the satellite with the judging result of yes, and entering the step S5 into the satellite with the judging result of no;
s5: evaluating the fault tolerance performance of the current residual observed quantity without faults to obtain fault tolerance factors corresponding to the observed quantities, and taking the fault tolerance factors as participation weights when satellite joint positioning is carried out on the satellites without faults respectively;
s6: and after information fusion filtering processing is carried out on the observed quantity of the residual fault-free satellite, satellite joint positioning is carried out on the receiver based on the observed quantity after the filtering processing, and the relative navigation positioning estimated value of the receiver is obtained.
The following describes in detail how to use the GARCH model to perform fault detection again on the observed quantity of the remaining satellites, specifically as follows:
s31: for the observed quantity of each residual satellite, respectively adopting a GARCH model to predict the variance of the pseudo-range residual error at the current t moment to obtain a predicted valueThe pseudo-range residual error is the difference between the code pseudo-range observed value and the code pseudo-range actual measured value; predictive value->The predictive formula of (2) is as follows:
wherein K is a conditional variance constant,Gin the form of a matrix of GARCH coefficients,G i is an element in the GARCH coefficient matrix, P is the GARCH model variance order,Ain the form of a matrix of ARCH coefficients,A j q is the error order of the GARCH model for the elements in the ARCH coefficient matrix,is thatt-variance prediction value of pseudo-range residual at time-1, -/->Is the noise error at time t-1.
S32: will predict the valueComparing with the fault judgment threshold to obtain a fault judgment variable +.>Wherein, if->＜Then->A value true indicating that there is no fault in the observed quantity of the current remaining satellites, if +.>≥/>Then->The value isfalse, representing that the observed quantity of the current remaining satellites has a fault, said fault determination threshold is defined by +.>And (5) determining a criterion. That is, the present invention can be based on +.>And the value of the (c) can be used for predicting the fault of the navigation system at the next moment, so that corresponding measures can be taken at the next moment.
The predicted value isThe prediction formula of (2) is derived from a GARCH model, and the derivation process is as follows:
the GARCH model includes two parts, a mean equation and a variance equation:
mean value equation:
in the equation of the mean value of the equation,the observed quantity of the satellite at the time t comprises a navigation carrier phase observed quantity detected by three differences and the code pseudo-range observed quantity; />Is thatt-iTime-of-day satellite observations; />Is a conditional mean constant; />Is an autoregressive order; />Is an autoregressive coefficient (AR); />Is the moving average order; />Is a moving average coefficient (MA); />Is an interpretation variable coefficient;X(t,k)is an explanatory variable;Nxis a width parameter of normal distribution, +.>Is the noise error at time t,/->Is t-jNoise error at time.
Variance equation:
in the present invention, GARCH (M,Nx) The =garch (1, 1) model, and the autoregressive order r=0 in the mean equation, the parameters to be estimated in the model include、/>、/>、/>、/>、/>And->And estimating model parameters by adopting a maximum likelihood estimation method. Approximating the equation setThe following equation to be solved is obtained:
wherein, the liquid crystal display device comprises a liquid crystal display device,namely, the mean equation is that:
wherein, the liquid crystal display device comprises a liquid crystal display device,for logarithmic gain, an iterative algorithm is used to solve the above equation, with the initial value of the iteration typically taking zero. The parameters to be estimated of the model can be estimated by using the maximum likelihood estimation method, so that the GARCH (1, 1) prediction model +.>。
In summary, the invention aims at the problem of poor precision of long baseline carrier phase observance, adopts a three-difference detection method to remove large cycle slip, then obtains carrier and pseudo-range observance at the current moment based on the relative navigation filter, adopts a quality control technology based on combination of residual chi-square detection and GARCH model (generalized autoregressive conditional covariance model) detection to further detect the data after removing the large cycle slip error, and can effectively improve the quality of carrier phase observance.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The long baseline carrier phase differential positioning method suitable for satellite navigation is characterized by comprising the following steps:
s1: collecting navigation carrier phase observables and code pseudo-range observables of all satellites in a satellite cluster;
s2: performing three-difference detection on the navigation carrier phase observed quantity of all satellites respectively, and recording the navigation carrier phase observed quantity and the code pseudo-range observed quantity which are detected by the three-difference detection as the observed quantity of the satellites;
s3: performing fault detection on observed quantity of each satellite by adopting a residual error card method, judging whether the observed quantity of each satellite has faults, isolating the satellite with the judging result of yes, and entering the satellite with the judging result of no into a step S4;
s4: performing fault detection again on the observed quantity of the residual satellite by adopting a GARCH model, judging whether the observed quantity of the residual satellite has faults, isolating the satellite with the judging result of yes, and entering the step S5 into the satellite with the judging result of no;
s5: evaluating the fault tolerance performance of the current residual observed quantity without faults to obtain fault tolerance factors corresponding to the observed quantities, and taking the fault tolerance factors as participation weights when satellite joint positioning is carried out on the satellites without faults respectively;
s6: and after information fusion filtering processing is carried out on the observed quantity of the residual fault-free satellite, satellite joint positioning is carried out on the receiver based on the observed quantity after the filtering processing, and the relative navigation positioning estimated value of the receiver is obtained.
2. The method for performing fault detection again on observed quantity of the residual satellite by using a GARCH model according to the long baseline carrier phase differential positioning method of claim 1 is specifically as follows:
for the observed quantity of each residual satellite, respectively adopting a GARCH model to predict the variance of the pseudo-range residual error at the current t moment to obtain a predicted valueThe pseudo-range residual error is the difference between the code pseudo-range observed value and the code pseudo-range actual measured value;
will be pre-madeMeasuring valueComparing with the fault judgment threshold to obtain a fault judgment variable +.>Wherein, if->＜/>Then->A value true indicating that there is no fault in the observed quantity of the current remaining satellites, if +.>≥/>Then->The value false indicates that the observed quantity of the current remaining satellites is faulty.
3. The method for differential positioning of long baseline carrier phase for satellite navigation according to claim 2, wherein the variance of the pseudo-range residual error at the current time t is predicted by using a GARCH model to obtain a predicted valueThe method comprises the following steps:
wherein K is a conditional variance constant,Gin the form of a matrix of GARCH coefficients,G i is an element in the GARCH coefficient matrix, P is the GARCH model variance order,Ain the form of a matrix of ARCH coefficients,A j q is the error order of the GARCH model for the elements in the ARCH coefficient matrix,is thatt-variance prediction value of pseudo-range residual at time-1, -/->Is the noise error at time t-1.
4. A method for differential positioning of long baseline carrier phase for satellite navigation according to claim 2, wherein said failure determination threshold is defined byAnd (5) determining a criterion.
5. The method for differential positioning of long baseline carrier phases for satellite navigation according to any one of claims 1 to 4, wherein the three-difference detection of the observed amounts of the navigation carrier phases of all satellites is specifically:
s21: acquiring a carrier phase three-difference value of each satellite at the current moment according to the navigation carrier phase observed quantity of all satellites at the previous moment and the navigation carrier phase observed quantity of all satellites at the current moment;
s22: judging whether the absolute value of the carrier phase three difference value of each satellite is larger than 360 degrees, if the absolute value of the carrier phase three difference value of any one satellite is larger than 360 degrees, indicating that a satellite cluster formed by all satellites has cycle slip, wherein if the absolute value of the carrier phase three difference value of only one satellite is larger than 360 degrees, indicating that the satellite has cycle slip, isolating the satellite, the navigation carrier phase observed quantity of the rest satellites passes the three-difference detection, and if the absolute value of the carrier phase three difference value of more than one satellite is larger than 360 degrees, indicating that the reference satellite in the satellite cluster has cycle slip, isolating the reference satellite, and the navigation carrier phase observed quantity of the rest satellites passes the three-difference detection; if the absolute value of the carrier phase three-difference value of no satellite is larger than 360 degrees, the navigation carrier phase observed quantity of all satellites is proved to pass the three-difference detection.
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