CN116755126B - Beidou real-time accurate positioning method based on three-dimensional model mapping matching - Google Patents
Beidou real-time accurate positioning method based on three-dimensional model mapping matching Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000013507 mapping Methods 0.000 title claims abstract description 21
- 239000011159 matrix material Substances 0.000 claims description 12
- 239000005436 troposphere Substances 0.000 claims description 9
- 230000001934 delay Effects 0.000 claims description 6
- 239000005433 ionosphere Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- 235000019713 millet Nutrition 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
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- 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
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
Abstract
The invention discloses a Beidou real-time accurate positioning method based on three-dimensional model mapping matching, which belongs to the technical field of satellite navigation and comprises the following steps of: collecting boundary and height information of a three-dimensional building model, and generating a coordinate database of boundary points of the three-dimensional model; calculating the outline position of the receiver and the altitude and azimuth angle of each satellite based on the pseudo-range information of the Beidou/GNSS satellites; matching the building range of each satellite in a coordinate database according to the satellite azimuth angle, and judging the shielding condition of the satellite in the view-range projection direction; eliminating all the shielded non-line-of-sight satellites, and fusing Beidou/GNSS pseudo-range and carrier phase observation information to solve the accurate position of the receiver; the invention fully utilizes the information of the urban three-dimensional building model, has high reliability, low complexity and good real-time performance, and effectively improves the positioning performance of the Beidou navigation system in urban challenging environments.
Description
Technical Field
The invention belongs to the field of satellite navigation, and particularly relates to a Beidou real-time accurate positioning method based on three-dimensional model mapping matching.
Background
GNSS is used in a wide variety of navigation and location services because of its cost effectiveness, global coverage, and simplicity of implementation. However, complex urban areas present a significant challenge to GNSS, in that the presence of a large number of buildings can cause signal reflections and attenuations, resulting in filtered estimates that are highly susceptible to observation errors. Especially for non line of sight signals (NLOS), the signal reaches the receiver by stronger multipath reflections. In dense urban areas, NLOS-induced ranging errors can reach tens of meters or even hundreds of meters. If the NLOS satellites are not separated in the positioning process, they will have a great impact on positioning performance.
With the application of digital live-action three-dimensional and high-precision maps in navigation and location services, three-dimensional building models are gradually being applied to navigation services. Building models derived based on 3D maps have proven useful for predicting signal visibility, thereby reducing many NLOS effects, significantly improving positioning accuracy. The three-dimensional model map matching algorithm predicts whether each satellite signal can be received directly within a location range centered on an approximate GNSS location solution, which enables us to predict satellite visibility very quickly using pre-built building boundary information. The satellite height angle is compared with the height of the building boundary at the corresponding azimuth angle of the outline position, so that the satellite height angle can be used for assisting in selecting or eliminating satellite signals in a positioning algorithm, and the Beidou real-time accurate positioning is assisted.
Disclosure of Invention
In order to solve the technical problems, the invention provides a Beidou real-time accurate positioning method based on three-dimensional model mapping matching, which solves the problems in the prior art, and adopts the following technical scheme:
a Beidou real-time accurate positioning method based on three-dimensional model mapping matching comprises the following steps:
s1: collecting boundary and height information of a three-dimensional building model, and generating a coordinate database of boundary points of the three-dimensional model;
s2: calculating the position of a receiver and the altitude and azimuth angle of each satellite based on the pseudo-range information of the Beidou satellite;
s3: matching the building range of each satellite in a coordinate database according to the satellite azimuth angle, and judging the shielding condition of the satellite in the view-range projection direction;
s4: and eliminating all the shielded non-line-of-sight satellites, and fusing the pseudo range and carrier phase observation information of the satellites to solve the accurate position of the receiver.
Specifically, in the step S1, the method includes:
assuming that there are n three-dimensional buildings around the receiver, each building containsAnd the total set of the coordinate databases generated by all the boundary point coordinates is as follows:
wherein j represents a j-th three-dimensional building, k is a boundary point included in the three-dimensional building,representing boundary point coordinates.
Specifically, in the step S2, it includes:
s2-1: calculating the position of a receiver based on a Beidou single-point positioning observation model of a pseudo-range observation value;
s2-2: and calculating the azimuth angle and the altitude angle of each satellite according to the satellite space coordinates provided by the broadcast ephemeris and the position of the receiver.
Specifically, the step S2-1 includes:
assuming that a receiver receives m satellites of two systems of Beidou and GPS simultaneously, each system comprises signals of two frequencies, and constructing a pseudo-range single-point positioning model as follows:
wherein,、/>、/>and->Pseudo-range observation values respectively representing Beidou B1, beidou B2, GPS L1 and GPS L2 signals; />Representing the geometrical distance of the receiver to the satellite; c is the propagation speed of the electromagnetic wave in vacuum; />And->Receiver clock differences of the Beidou and GPS systems are respectively corresponding; />And->Satellite clock differences of the Beidou and GPS systems are respectively corresponding;、/>、/>and->Pseudo-range hardware delay at the receiver ends of Beidou B1, beidou B2, GPS L1 and GPS L2 is represented respectively;、/>、/>and->The satellite end pseudo-range hardware delays of the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 are respectively represented; />And->Respectively representing zenith troposphere delay and mapping functions thereof; />And->Respectively representing total electron content and projection function of the zenith ionized layer; />、/>、/>And->Respectively representing frequencies corresponding to the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 signals; />、/>、/>And->Noise and unmodeled errors of the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 are represented respectively; the angle marks r and s respectively represent the numbers of the receiver and the satellite;
linearizing equation (2) and expressing it in matrix form is:
wherein,、/>、/>and->The method comprises the steps of respectively designing a matrix, a parameter vector to be estimated, an observation vector and an observation value weight matrix, wherein the expression of the parameter vector to be estimated is as follows:
wherein,representing the estimated three-dimensional position increment +.>And->Receiver clock difference of estimated Beidou and GPS respectively,>is estimated zenith tropospheric delay, < >>Is the estimated zenith ionospheric delay for each satellite; the initial receiver position estimated from equation (4) is noted +.>Which is used to provide initial coordinates for accurate positioning.
Specifically, the step S2-2 includes:
assume that the three-dimensional position estimated by the receiver isIts corresponding geodetic coordinates are +.>The method comprises the steps of carrying out a first treatment on the surface of the The space coordinates of the satellite in the geocentric geodetic coordinate system are +.>The satellite space coordinates are converted into a station-center coordinate system through coordinate translation and rotation:
wherein,and->Respectively representing latitude and longitude of the receiver; />Representing coordinates of the satellite in a station center coordinate system;
the altitude E and azimuth a of the satellite are obtained by an arctangent function:
。
specifically, in the step S3, it includes:
s3-1: matching the building range of each satellite in a coordinate database according to the satellite azimuth;
s3-2: and judging the shielding condition of each satellite in the projection direction of the building according to the relation between the satellite height angle and the building boundary point height angle.
Specifically, the step S3-1 includes:
assuming that the azimuth set of boundary points contained in all buildings isAll azimuth angles are ordered from small to large:
wherein,representing the ordered azimuth matrix, +.>For each azimuth angle of the boundary point, j represents the j-th three-dimensional building, k is the some boundary point included in the three-dimensional building,/o>Representing boundary point coordinates>Representing that the three-dimensional building comprises->Boundary points;
by traversing the azimuth set of all boundary points in turnFinding a building range containing the satellite azimuth interval:
in the method, in the process of the invention,is the azimuth of the current satellite, +.>And->Indicating the azimuth angles of boundary points on both sides of the building where the satellite is located.
Specifically, the step S3-2 includes:
assume thatAnd->Respectively representing the minimum value and the maximum value of the altitude angle of two boundary points of a building in the satellite vision range, wherein the expression of the minimum value and the maximum value is as follows:
wherein the function isAnd->Respectively used for returning the minimum value and the maximum value in the array;
obtaining a set of line-of-sight signal LOS and non-line-of-sight signal NLOS satellites by traversing the shielding conditions of all satellites；
If it is detected that a satellite is blocked by a building, a tag is setOtherwise, set the tag->；/>The value of (2) is judged according to the following formula:
in the method, in the process of the invention,representing every satellite->Is a height angle of (2).
Specifically, in step S4, it includes:
the Beidou observation equation containing the pseudo-range and carrier phase observations is as follows:
in the subscriptAnd->Respectively representing a receiver, a signal frequency and a satellite system; />And->Pseudo-range and carrier phase observations representing line-of-sight signal measurements, respectively; />Representing the geometrical distance of the receiver to the satellite; c is the propagation speed of the electromagnetic wave in vacuum; />And->Representing the clock difference of the receiver and the satellite end respectively; />And->A hardware delay representing a pseudorange and a carrier phase, respectively, associated with the receiver; />And->Hardware delays representing pseudoranges and carrier phases associated with satellites, respectively; />And->Mapping functions respectively representing a troposphere and an ionosphere; />And->Respectively representing zenith troposphere delay and zenith ionosphere total electron content; />And->Respectively represent frequency->Corresponding carrier phase wavelength and ambiguity; />And->Observation noise and unmodeled error terms representing pseudo-range and carrier phase, respectively;
solving the linearization equation of the formula (12) through filtering to obtain accurate parameters to be estimated:
wherein,representing the estimated three-dimensional position increment +.>Is a satellite system->Receiver clock error,/->Is estimated zenith tropospheric delay, < >>Is estimated zenith ionospheric delay for each satellite,/->Is the estimated ambiguity for each satellite carrier;
the accurate position based on the pseudorange and carrier phase observations is obtained by:
，
wherein,receiver initial coordinates estimated by equation (4), a>The Beidou real-time accurate positioning coordinate is mapped and matched based on the three-dimensional model.
The invention has the following beneficial effects:
(1) And the positioning precision is remarkably improved: the satellite signal visibility is predicted by using the three-dimensional building model, so that the receiver is prevented from being interfered by buildings and environments, and the satellite positioning precision is remarkably improved;
(2) Providing higher computational efficiency: the three-dimensional model mapping matching algorithm can help to select or reject satellite signals, so that the accuracy and efficiency of the positioning algorithm are improved;
(3) Support more application scenarios: the technology is not only suitable for the traditional Beidou/GNSS navigation system, but also can be applied to the Internet of vehicles, the Internet of things and other location service scenes.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic diagram of the principle of the invention for aided detection of non-line-of-sight signals by three-dimensional model mapping;
FIG. 3 is a schematic diagram of non-line-of-sight satellites (NLOS satellites) and line-of-sight satellites (LOS satellites) detected by three-dimensional model mapping in accordance with the present invention;
FIG. 4 is a diagram illustrating the error comparison between the present invention and the conventional positioning algorithm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments, and the technical means used in the embodiments are conventional means known to those skilled in the art unless specifically indicated.
As shown in fig. 1, the method comprises the steps of firstly collecting boundary and height information of a three-dimensional building model, and generating a coordinate database of boundary points of the three-dimensional model; calculating the outline position of the receiver and the altitude and azimuth angle of each satellite based on the pseudo-range information of the Beidou/GNSS satellites; matching the building range of each satellite in a coordinate database according to the satellite azimuth angle, and judging the shielding condition of the satellite in the view-range projection direction; and eliminating all the shielded non-line-of-sight satellites, and fusing Beidou/GNSS pseudo-range and carrier phase observation information to solve the accurate position of the receiver. The invention fully utilizes the information of the urban three-dimensional building model, has high reliability, low complexity and good real-time performance, and effectively improves the positioning performance of the Beidou navigation system in urban challenging environments.
Specifically, the positioning method of the invention comprises the following steps:
s1: collecting boundary and height information of a three-dimensional building model, and generating a coordinate database of boundary points of the three-dimensional model;
s2: calculating the outline position of the receiver and the altitude and azimuth angle of each satellite based on the pseudo-range information of the Beidou/GNSS satellites; wherein the satellite is preferably a satellite in a Beidou system.
S3: matching the building range of each satellite in a coordinate database according to the satellite azimuth angle, and judging the shielding condition of the satellite in the view-range projection direction;
s4: and eliminating all the shielded non-line-of-sight satellites, and fusing Beidou/GNSS pseudo-range and carrier phase observation information to solve the accurate position of the receiver.
Specifically, the step S1 includes:
s4: and eliminating all the shielded non-line-of-sight satellites, and fusing Beidou/GNSS pseudo-range and carrier phase observation information to solve the accurate position of the receiver.
Specifically, the step S1 includes:
where j represents the j-th three-dimensional building, k is the boundary point included in the three-dimensional building, as shown in fig. 2,representing boundary point coordinates under the WGS-84 coordinate system; n represents that there are n three-dimensional buildings around the receiver,>representing that each building contains +>And boundary points.
Specifically, the step S2 includes:
s2-1: calculating the outline position of the receiver based on the Beidou/GNSS single-point positioning observation model of the pseudo-range observation value;
assuming that the receiver can simultaneously receive satellites of two systems of Beidou and GPS, and each system comprises signals of two frequencies, the following pseudo-range single-point positioning model can be constructed:
wherein,、/>、/>and->Pseudo-range observation values respectively representing Beidou B1, beidou B2, GPS L1 and GPS L2 signals; />Representing the geometrical distance of the receiver to the satellite; c is the propagation speed of the electromagnetic wave in vacuum; />And->Receiver clock differences of the Beidou and GPS systems are respectively corresponding; />And->Satellite clock differences of the Beidou and GPS systems are respectively corresponding;、/>、/>and->Pseudo-range hardware delay at the receiver ends of Beidou B1, beidou B2, GPS L1 and GPS L2 is represented respectively;、/>、/>and->The satellite end pseudo-range hardware delays of the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 are respectively represented; />And->Respectively representing zenith troposphere delay and mapping functions thereof; />And->Respectively representing total electron content and projection function of the zenith ionized layer; />、/>、/>And->Respectively representing frequencies corresponding to the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 signals; />、/>、/>And->Noise and unmodeled errors of the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 are represented respectively; the angle labels r and s represent the receiver and satellite numbers, respectively.
Linearizing equation (2) and expressing it in matrix form is:
wherein,、/>、/>and->Respectively a design matrix, a parameter vector to be estimated, an observation vector and an observation value weight matrix. The specific expression of the parameter vector to be estimated is as follows:
wherein,representing the estimated three-dimensional position increment +.>And->Receiver clock difference of estimated Beidou and GPS respectively,>is estimated zenith tropospheric delay, < >>Is the estimated zenith ionospheric delay for each satellite; the initial receiver position estimated from equation (4) is noted +.>Which is used to provide initial coordinates for accurate positioning.
S2-2: calculating azimuth angle and altitude angle of each satellite according to satellite space coordinates provided by broadcast ephemeris and the rough position of the receiver;
assume that the three-dimensional position estimated by the receiver isIts corresponding geodetic coordinates are +.>The method comprises the steps of carrying out a first treatment on the surface of the The space coordinates of the satellite in the geocentric geodetic coordinate system are +.>The satellite space coordinates are converted into a station-center coordinate system through coordinate translation and rotation:
wherein,and->Respectively representing latitude and longitude of the receiver; />Representing coordinates of the satellite in a station center coordinate system;
the altitude E and azimuth a of the satellite are obtained by an arctangent function:
specifically, the step S3 includes:
s3-1: matching the building range of each satellite in a coordinate database according to the satellite azimuth;
assuming that the azimuth set of boundary points contained in all buildings isAll azimuth angles are ordered from small to large:
wherein,representing the ordered azimuth matrix, +.>The definition of j, k and M for each boundary point is the same as in equation (1).
By traversing the azimuth set of all boundary points in turnFinding a building range containing the satellite azimuth interval:
in the method, in the process of the invention,is the azimuth of the current satellite, +.>And->Indicating the azimuth angles of boundary points on both sides of the building where the satellite is located.
S3-2: judging the shielding condition of each satellite in the projection direction of the building according to the relation between the satellite height angle and the building boundary point height angle;
assume thatAnd->Respectively representing the minimum value and the maximum value of the altitude angle of two boundary points of a building in the satellite vision range, wherein the expression of the minimum value and the maximum value is as follows:
wherein the function isAnd->Respectively used for returning the minimum value and the maximum value in the array;
obtaining a set of line-of-sight signal LOS and non-line-of-sight signal NLOS satellites by traversing the shielding conditions of all satellitesThe method comprises the steps of carrying out a first treatment on the surface of the If it is detected that a satellite is blocked by a building, a tag is set +.>Otherwise, set the tag；/>The value of (2) can be judged according to the following formula:
in the method, in the process of the invention,representing every satellite->Height angle of->And->Can be calculated from formula (10).
Referring to fig. 2, a schematic diagram of the principle of auxiliary detection of non-line-of-sight signals by three-dimensional model mapping is shown. Wherein,and->The four boundary points of the building respectively show corresponding coordinates in a station coordinate system. When the satellite azimuth is in the building range, whether the satellite is a non-line-of-sight satellite or not can be judged by judging the magnitude relation between the satellite altitude and the altitude of the two boundary points.
Referring to fig. 3, NLOS satellites (circles) and LOS satellites (pentagons) detected by a three-dimensional model map-matching algorithm, where the shaded portion is a projection of a building representing an occluded NLOS satellite. In the figure, the gray area represents the projection of the building at the observation point, and the satellites in this area are NLOS satellites. All satellites can be classified through three-dimensional model mapping, so that non-line-of-sight satellites generated due to building shielding are selected.
In the step S4, the method includes:
s4-1: removing all shielded non-line-of-sight satellites according to the method, and solving the accurate position of the receiver by fusing Beidou/GNSS pseudo-range and carrier phase observation information;
the Beidou/GNSS observation equation containing the pseudorange and carrier phase observations is as follows:
in the subscriptAnd->Respectively representing a receiver, a signal frequency and a satellite system; />And->Pseudo-range and carrier phase observations representing line-of-sight signal measurements, respectively; />Representing the geometrical distance of the receiver to the satellite; c is the propagation speed of the electromagnetic wave in vacuum; />And->Representing the clock difference of the receiver and the satellite end respectively; />And->A hardware delay representing a pseudorange and a carrier phase, respectively, associated with the receiver; />And->Hardware delays representing pseudoranges and carrier phases associated with satellites, respectively; />And->Mapping functions respectively representing a troposphere and an ionosphere; />And->Respectively representing zenith troposphere delay and zenith ionosphere total electron content; />And->Respectively represent frequency->Corresponding carrier phase wavelength and ambiguity; />And->The observed noise and the unmodeled error terms, which represent the pseudorange and carrier phase, respectively.
The linearization equation of the formula (12) can be solved through filtering to obtain accurate parameters to be estimated:
wherein,representing the estimated three-dimensional position increment +.>Is a satellite system->Receiver clock error,/->Is estimated zenith tropospheric delay, < >>Is estimated zenith ionospheric delay for each satellite,/->Is the estimated ambiguity for each satellite carrier; thus, the precise position based on the pseudorange and carrier phase observations can be found by:
wherein,is the receiver initial approximate coordinates estimated by equation (4), a>The Beidou real-time accurate positioning coordinate is mapped and matched based on the three-dimensional model.
Referring to fig. 4, there is a comparison of positioning errors of different receiver terminals such as millet 8, mate40, septentrio, etc. aided by three-dimensional mapping (3 DMA). The Beidou accurate positioning algorithm based on three-dimensional mapping matching can effectively improve positioning precision and shorten convergence time of accurate single-point positioning. Whether the mobile phone is a low-cost smart phone or a measurement type Beidou/GNSS receiver, the three-dimensional model mapping matching algorithm improves the positioning performance of Beidou, effectively overcomes the weaknesses of low positioning accuracy, low positioning speed and poor reliability of the Beidou in a city shielding environment, and enhances the application capability of the Beidou in a complex environment.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications, variations, alterations, substitutions made by those skilled in the art to the technical solution of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (7)
1. The Beidou real-time accurate positioning method based on three-dimensional model mapping matching is characterized by comprising the following steps of:
s1: collecting boundary and height information of a three-dimensional building model, and generating a coordinate database of boundary points of the three-dimensional model;
s2: calculating the position of a receiver and the altitude and azimuth angle of each satellite based on the pseudo-range information of the satellites in the Beidou system;
s3: matching the building range of each satellite in a coordinate database according to the satellite azimuth angle, and judging the shielding condition of the satellite in the view-range projection direction;
s4: eliminating all the shielded non-line-of-sight satellites, and fusing the pseudo range and carrier phase observation information of the satellites to solve the accurate position of the receiver;
in the step S2, the method includes:
s2-1: calculating the position of a receiver based on a Beidou single-point positioning observation model of a pseudo-range observation value;
s2-2: calculating azimuth angle and altitude angle of each satellite according to satellite space coordinates provided by broadcast ephemeris and the position of a receiver;
the step S2-1 comprises the following steps:
assuming that a receiver receives satellites of two systems of Beidou and GPS simultaneously, each system comprises signals of two frequencies, and constructing a pseudo-range single-point positioning model as follows:
，
wherein,、/>、/>and->Pseudo-range observation values respectively representing Beidou B1, beidou B2, GPS L1 and GPS L2 signals; />Representing the geometrical distance of the receiver to the satellite; c is the propagation speed of the electromagnetic wave in vacuum; />And->Receiver clock differences of the Beidou and GPS systems are respectively corresponding; />And->Satellite clock differences of the Beidou and GPS systems are respectively corresponding; />、/>、And->Pseudo-range hardware delay at the receiver ends of Beidou B1, beidou B2, GPS L1 and GPS L2 is represented respectively; />、/>、/>And->The satellite end pseudo-range hardware delays of the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 are respectively represented; />And->Respectively representing zenith troposphere delay and mapping functions thereof; />And->Respectively representing total electron content and projection function of the zenith ionized layer; />、/>、And->Respectively representing frequencies corresponding to the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 signals; />、/>、/>And->Noise and unmodeled errors of the Beidou B1, the Beidou B2, the GPS L1 and the GPS L2 are represented respectively; the angle marks r and s respectively represent the numbers of the receiver and the satellite;
linearizing equation (2) and expressing it in matrix form is:
，
wherein,、/>、/>and->The method comprises the steps of respectively designing a matrix, a parameter vector to be estimated, an observation vector and an observation value weight matrix, wherein the expression of the parameter vector to be estimated is as follows:
，
wherein,representing the estimated three-dimensional position increment +.>And->Receiver clock difference of estimated Beidou and GPS respectively,>is estimated zenith tropospheric delay, < >>Is the estimated zenith ionospheric delay for each satellite; the initial receiver position estimated from equation (4) is noted +.>Which is used to provide initial coordinates for accurate positioning.
2. The positioning method according to claim 1, wherein in the step S1, the positioning method comprises:
assuming that there are n three-dimensional buildings around the receiver, each building containsAnd the total set of the coordinate databases generated by all the boundary point coordinates is as follows:
，
wherein j represents a j-th three-dimensional building, k is a boundary point included in the three-dimensional building,representing boundary point coordinates.
3. The positioning method according to claim 1, wherein in the step S2-2, it includes:
assume that the three-dimensional position estimated by the receiver isCorresponding to itGeodetic coordinates +.>The method comprises the steps of carrying out a first treatment on the surface of the The space coordinates of the satellite in the geocentric geodetic coordinate system are +.>The satellite space coordinates are converted into a station-center coordinate system through coordinate translation and rotation:
，
wherein,and->Respectively representing latitude and longitude of the receiver; />Representing coordinates of the satellite in a station center coordinate system;
the altitude E and azimuth a of the satellite are obtained by an arctangent function:
。
4. the positioning method according to claim 1, wherein in the step S3, the positioning method comprises:
s3-1: matching the building range of each satellite in a coordinate database according to the satellite azimuth;
s3-2: and judging the shielding condition of each satellite in the projection direction of the building according to the relation between the satellite height angle and the building boundary point height angle.
5. The positioning method according to claim 4, wherein the step S3-1 comprises:
assuming that the azimuth set of boundary points contained in all buildings isAll azimuth angles are ordered from small to large:
，
wherein,representing the ordered azimuth matrix, +.>For each azimuth angle of the boundary point, j represents the j-th three-dimensional building, k is the some boundary point included in the three-dimensional building,/o>Representing boundary point coordinates>Representing that the three-dimensional building comprises->Boundary points;
by traversing the azimuth set of all boundary points in turnFinding a building range containing the satellite azimuth interval:
，
in the method, in the process of the invention,is the azimuth of the current satellite，/>And->Indicating the azimuth angles of boundary points on both sides of the building where the satellite is located.
6. The positioning method according to claim 5, wherein in the step S3-2, it includes:
assume thatAnd->Respectively representing the minimum value and the maximum value of the altitude angle of two boundary points of a building in the satellite vision range, wherein the expression of the minimum value and the maximum value is as follows:
，
wherein the function isAnd->Respectively used for returning the minimum value and the maximum value in the array;
obtaining a set of line-of-sight signal LOS and non-line-of-sight signal NLOS satellites by traversing the shielding conditions of all satellites；
If it is detected that a satellite is blocked by a building, a tag is setOtherwise, set the tag->；/>The value of (2) is judged according to the following formula:
，
in the method, in the process of the invention,representing every satellite->Is a height angle of (2).
7. The positioning method according to claim 1, characterized in that in step S4, it comprises:
the Beidou observation equation containing the pseudo-range and carrier phase observations is as follows:
，
in the subscriptAnd->Respectively representing a receiver, a signal frequency and a satellite system; />And->Pseudo-range and carrier phase observations representing line-of-sight signal measurements, respectively; />Representing the geometrical distance of the receiver to the satellite; c is the propagation speed of the electromagnetic wave in vacuum; />And->Representing the clock difference of the receiver and the satellite end respectively; />And->A hardware delay representing a pseudorange and a carrier phase, respectively, associated with the receiver; />And->Hardware delays representing pseudoranges and carrier phases associated with satellites, respectively; />And->Mapping functions respectively representing a troposphere and an ionosphere; />And->Respectively representing zenith troposphere delay and zenith ionosphere total electron content; />And->Respectively represent frequency->Corresponding carrier phase wavelength and ambiguity; />And->Observation noise and unmodeled error terms representing pseudo-range and carrier phase, respectively;
solving the linearization equation of the formula (12) through filtering to obtain accurate parameters to be estimated:
,
wherein,representing the estimated three-dimensional position increment +.>Is a satellite system->Receiver clock error,/->Is estimated zenith tropospheric delay, < >>Is estimated zenith ionospheric delay for each satellite,/->Is the estimated ambiguity for each satellite carrier;
the accurate position based on the pseudorange and carrier phase observations is obtained by:
，
wherein,receiver initial coordinates estimated by equation (4), a>The Beidou real-time accurate positioning coordinate is mapped and matched based on the three-dimensional model.
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