CN116973948B - Mixed type satellite navigation receiver deviation accurate processing method and system - Google Patents
Mixed type satellite navigation receiver deviation accurate processing method and system Download PDFInfo
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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
- G01S19/01—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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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- 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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
A method and a system for precisely processing deviation of a hybrid satellite navigation receiver comprise the following steps: calculating initial orbit, clock error, pseudo-range deviation and phase deviation by taking a virtual receiver as a reference; calculating deviation information of each receiver in the network relative to the type of the virtual receiver; classifying the multi-factor comprehensive receiver, and taking the local distance and the minimum as classification judgment standards; primarily dividing receiver categories with the same characteristics to form a plurality of receiver clusters consisting of a plurality of receiver types; unifying the whole network receiver to the type of the virtual receiver, and reprocessing; the entire receiver inter-type bias system would require the reference network to iterate through the product process flow twice. The invention only provides additional correction information to eliminate the influence caused by the deviation between the types of the receivers under the condition of not changing the state of the existing product production system.
Description
Technical Field
The invention relates to the technical field of satellite navigation positioning, in particular to a method for accurately processing deviation of a hybrid satellite navigation receiver.
Background
The global satellite navigation system (GlobalNavigationSatelliteSystem, GNSS) is based on radio signals broadcast by navigation satellites, provides precise position and time information for ground users, and further realizes navigation, positioning and time service in the global scope. The GNSS technology has the characteristics of all weather, high precision, low cost and the like, and is widely applied to the fields of plate movement monitoring, earthquake monitoring, landslide early warning and the like. In the 21 st century, the network RTK (RealTimeKinematic) technology and the precise single point positioning technology (PrecisePointPositioning, PPP) are becoming mature and widely applied, and the positioning precision can reach the decimeter level or even the centimeter level. However, the network RTK technology still has the defects of limited coverage range in the reference network, large data communication burden and the like, and the main problem of PPP is that the time for first convergence and re-convergence is relatively long. The regional network enhanced precision single point positioning technology (PPP-RTK) is a new generation GNSS precision positioning technology which appears after the RTK/network RTK/PPP technology, namely, the sparse regional reference network is utilized to estimate and generate various state domain positioning enhancement information, and broadcast to a large number of users in one way so as to realize quick precision single point positioning. The PPP-RTK technology combines the technical advantages of PPP and network RTK, and has wide application prospect in the fields of precision measurement, fine agriculture, automatic driving and the like. However, PPP-RTK technology is not yet mature, and its theory and key technology are yet to be further improved.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention aims to provide a method for accurately processing the deviation of a hybrid satellite navigation receiver, which ensures the precision of a service end product and the strict consistency of a user end and the service end product.
The invention is realized by the following technical scheme:
the invention provides a method for accurately processing deviation of a hybrid satellite navigation receiver, which comprises the following steps:
1) Calculating initial orbit, clock error, pseudo-range deviation and phase deviation by taking a virtual receiver with a mixed type receiver network as a reference;
2) Calculating deviation information of each receiver in the network relative to the type of the virtual receiver;
3) Taking the deviation between receivers as an initial sample, classifying the multi-factor comprehensive receivers, taking Euclidean distance as a distance index, and taking the local distance and the minimum as classification judgment standards;
4) Primarily dividing receiver categories with the same characteristics to form a plurality of receiver clusters consisting of a plurality of receiver types;
5) Unifying the whole network receiver to the type of the virtual receiver, and reprocessing according to the data processing method of the step 1) to obtain a new satellite clock error estimation unit, satellite pseudo-range deviation and phase deviation;
6) The whole receiver inter-type bias system will require the reference network to iterate the product process flow twice, repeating steps 1) -5) to ensure accurate estimation of the inter-receiver bias.
Further, in step 3), the following formula is shown:
in the method, in the process of the invention,represents the cluster center, w, of the ith cluster ij Represents the j sample points of the i-th cluster, S represents the cluster class, P represents the evaluation index, I … I represents the Euclidean distance, n represents the number of sample data, and k represents the number of cluster centers.
Furthermore, the prior parameter input to the clustering algorithm is reduced, and the newly added measuring stations are subjected to type classification.
Further, in step 4), for each receiver, first, according to the deviation information between the receiver and the virtual receiver, the deviation value of the receiver relative to the virtual receiver is calculated, in each cluster, the deviation values of all the receivers are averaged to obtain an average deviation value of the cluster, the average deviation value is used as the correction of the cluster, and all the receivers in the cluster will share a set of correction.
In step 5), the correction is subtracted from the original pseudo-range during data processing to obtain a new pseudo-range, and the new satellite clock error estimation unit, satellite pseudo-range deviation and phase deviation estimation unit are calculated to be used as final broadcasting products.
The invention also relates to a system for accurately processing the deviation of the mixed type receiver, which comprises the following steps:
the initial module is used for calculating initial orbit, clock error, pseudo-range deviation and phase deviation by taking a virtual receiver with a mixed type receiver network as a reference;
the resolving module is used for resolving deviation information of each receiver in the network relative to the type of the virtual receiver;
the classification module is used for classifying the multi-factor comprehensive receivers by taking the deviation among the receivers as an initial sample, taking Euclidean distance as a distance index and taking the local distance and the minimum as classification judgment standards;
the receiver cluster forming module is used for primarily dividing the receiver categories with the same characteristics to form a plurality of receiver clusters consisting of a plurality of receiver types;
the processing module is used for unifying the whole network receiver to the type of the virtual receiver, and reprocessing the whole network receiver according to the data processing method in the step 1) to obtain a new satellite clock error estimation unit, satellite pseudo-range deviation and phase deviation;
and (3) an iteration processing module, which is used for the whole inter-receiver type deviation system to require the reference network to iterate the product processing flow twice, and repeat the steps 1) -5) so as to ensure accurate estimation of the inter-receiver deviation.
The invention also relates to an electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method.
The invention also relates to a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method.
The technical scheme of the invention can realize the following beneficial technical effects:
the invention generates the deviation correction information between the receiver types based on the initial product supplement generated by the virtual reference receiver type standard, and the deviation processing unit between the receiver types accurately calculates the deviation correction between the server side and the user side under the receiver type by a low-frequency dynamic correction mode, and only provides additional correction information to eliminate the influence caused by the deviation between the receiver types under the condition of not changing the existing product production system state.
Drawings
Fig. 1 is a flow chart of a method for processing deviation accuracy of a hybrid receiver according to the present invention.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The present invention will be described in detail with reference to the accompanying drawings and examples.
Aiming at the actual situation that products such as satellite clock error, satellite code/phase error and the like provided by the existing PPP-RTK cloud service are based on the observation data of a Beidou/GNSS mixed type reference station network, the mixed type receiver deviation accurate processing method has to analyze the influence of the deviation from a data processing layer and accurately correct the influence in order to ensure the precision of the products at the server side and the strict consistency of the products at the user side and the server side. The module virtualizes a reference network formed by cloud mixed type receivers into a unified type virtual receiver type, based on GNSS original observation of a server or an end user and satellite clock error and signal deviation products, accurately extracts pseudo-range observation deviations of different types of receivers on the virtual receiver through PPP-AR means, generates original observation correction numbers aiming at different receiver types, and accurately eliminates influence brought by the construction of the mixed type receivers.
The first aspect of the present invention provides a method for accurately processing deviation of a hybrid satellite navigation receiver, as shown in fig. 1, comprising the following steps:
1) The method ensures that the information such as the number, the type, the firmware version, the anti-multipath algorithm and the like of the receivers cannot change within a long time of the reference network, and calculates initial orbit, clock error and pseudo-range/phase deviation by taking the virtual receiver with the mixed type receiver network as the reference. The GNSS original observation equation is:
where r denotes the receiver, s denotes the satellite, j denotes the transmission frequency, E [. Cndot.]In order for the operator to be desirable,and->Pseudo-range and phase observations, respectively. The right side parameters include the distance from the ground +.>Tropospheric delay τ r And its projection function +.>Receiver clock difference dt r The method comprises the steps of carrying out a first treatment on the surface of the Satellite clock difference dt s The method comprises the steps of carrying out a first treatment on the surface of the Ionospheric delay->Coefficient u of j The method comprises the steps of carrying out a first treatment on the surface of the Receiver pseudo-range bias>Satellite pseudo-range bias->Receiver phase offset>Satellite phase deviation->Integer ambiguity +.>And wavelength +.>
2) The deviation information of each receiver in the network relative to the type of the virtual receiver is accurately calculated based on a PPP-AR (PrecisePointPointPositioning-Aambiguity Resolution) method. In PPP-AR solution, the formula for assisting in separating ambiguity and various deviations based on the existing MW combined observed value is as follows:
in the method, in the process of the invention,representing MW combined floating ambiguity; d, d r,NL And delta r,MW Respectively a receiver narrow lane code deviation combination and a wide lane phase deviation combination; />And->The satellite narrow lane code deviation and the wide lane phase deviation are respectively; lambda (lambda) WL For widelane ambiguity wavelength, +.>Is a wide lane integer ambiguity.
3) And taking the deviation among the receivers as an initial sample, carrying out multi-factor comprehensive receiver classification by using a cluster analysis classical algorithm K-means, taking the Euclidean distance commonly used by the K-means as a distance index, and taking the local distance sum minimum as a classification judgment standard. As shown in formula (3):
in the method, in the process of the invention,represents the cluster center, w, of the ith cluster ij Represents the j sample points of the i-th cluster, S represents the cluster class, P represents the evaluation index, I … I represents the Euclidean distance, n represents the number of sample data, and k represents the number of cluster centers.
For the actual characteristics of the deviation between receiver types and the changing characteristics of the actual application scene, the clustering algorithm must have the minimum initialization parameters and insensitivity to increment and input order. In the practical application scene, the types and the number of the receivers can be greatly changed along with the construction of the measuring stations and the development requirement of the user side, so that the prior parameter input of a clustering algorithm needs to be reduced as much as possible in order to ensure the self-adaptive capacity and the classification precision of the clusters, and meanwhile, the types of the newly added measuring stations can be rapidly and accurately classified on the premise of not artificially designing the insertion sequence of the newly added measuring stations.
4) The method comprises the steps of initially dividing receiver categories with the same characteristics (such as receiver model, hardware version, working frequency band, observed data type and the like) to form a plurality of receiver clusters composed of a plurality of receiver types, for each receiver, firstly calculating the deviation value of the receiver relative to a virtual receiver according to deviation information between the receiver and the virtual receiver, and averaging the deviation values of all the receivers in each cluster to obtain the average deviation value of the cluster. Taking this average deviation value as the correction of the cluster, all receivers in the cluster will share a set of corrections.
5) Unifying the whole network receiver to the type of the virtual receiver, and reprocessing according to the data processing method of the step 1) to obtain a new satellite clock error estimation unit and satellite pseudo-range/phase deviation, wherein the correction is deducted on the basis of the original pseudo-range when the data processing is carried out, so that the new pseudo-range is obtained and then calculated, and the new satellite clock error estimation unit and the satellite pseudo-range/phase deviation estimation unit product are used as final broadcasting products.
6) The overall receiver-to-receiver bias system will require the reference network to iterate through the product process flow twice (in accordance with the steps described above) to ensure accurate estimation of the inter-receiver bias.
The invention also relates to a system for accurately processing the deviation of the mixed type receiver, which comprises the following steps:
the initial module is used for calculating initial orbit, clock error, pseudo-range deviation and phase deviation by taking a virtual receiver with a mixed type receiver network as a reference;
the resolving module is used for resolving deviation information of each receiver in the network relative to the type of the virtual receiver;
the classification module is used for classifying the multi-factor comprehensive receivers by taking the deviation among the receivers as an initial sample, taking Euclidean distance as a distance index and taking the local distance and the minimum as classification judgment standards;
the receiver cluster forming module is used for primarily dividing the receiver categories with the same characteristics to form a plurality of receiver clusters consisting of a plurality of receiver types;
the processing module is used for unifying the whole network receiver to the type of the virtual receiver, and reprocessing the whole network receiver according to the data processing method in the step 1) to obtain a new satellite clock error estimation unit, satellite pseudo-range deviation and phase deviation;
and (3) an iteration processing module, which is used for the whole inter-receiver type deviation system to require the reference network to iterate the product processing flow twice, and repeat the steps 1) -5) so as to ensure accurate estimation of the inter-receiver deviation.
The invention also relates to an electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method.
The invention also relates to a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method.
In summary, the method and system for precisely processing the deviation of the hybrid satellite navigation receiver of the present invention comprise: calculating initial orbit, clock error, pseudo-range deviation and phase deviation by taking a virtual receiver as a reference; calculating deviation information of each receiver in the network relative to the type of the virtual receiver; classifying the multi-factor comprehensive receiver, and taking the local distance and the minimum as classification judgment standards; primarily dividing receiver categories with the same characteristics to form a plurality of receiver clusters consisting of a plurality of receiver types; unifying the whole network receiver to the type of the virtual receiver, and reprocessing; the entire receiver inter-type bias system would require the reference network to iterate through the product process flow twice. The invention only provides additional correction information to eliminate the influence caused by the deviation between the types of the receivers under the condition of not changing the state of the existing product production system.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (8)
1. The method for accurately processing the deviation of the hybrid satellite navigation receiver is characterized by comprising the following steps of:
step 1) calculating initial orbit, clock error, pseudo-range deviation and phase deviation by taking a virtual receiver with a mixed type receiver network as a reference;
step 2) calculating deviation information of each receiver in the network relative to the type of the virtual receiver;
step 3) taking the deviation between the receivers as an initial sample, classifying the multi-factor comprehensive receivers, taking Euclidean distance as a distance index, and taking the local distance and the minimum as classification judgment standards;
step 4) primarily dividing the receiver categories with the same characteristics to form a plurality of receiver clusters consisting of a plurality of receiver types;
step 5) unifying the whole network receiver to a virtual receiver type, and reprocessing according to the data processing method of the step 1) to obtain a new satellite clock error estimation unit, satellite pseudo-range deviation and phase deviation;
step 6) the whole inter-receiver type deviation system requires the reference network to iterate the product processing flow twice, and the steps 1) to 5) are repeated so as to ensure accurate estimation of the inter-receiver deviation.
2. The method for precisely processing the deviation of the hybrid-type satellite navigation receiver according to claim 1, wherein in the step 3), the following formula is shown:
in the method, in the process of the invention,represents the cluster center, w, of the ith cluster ij Represents the j sample point of the i-th cluster,>the number of sample data representing the ith cluster, S representing the cluster, P representing the evaluation index, | … || representing the Euclidean distance, n representing the number of sample data, and k representing the number of cluster centers.
3. The method for accurately processing the deviation of the hybrid-type satellite navigation receiver according to claim 2, wherein the prior parameter input to a clustering algorithm is reduced, and the newly added station is subjected to type classification.
4. A method for accurately processing the deviation of a hybrid satellite navigation receiver according to claim 3, wherein in step 4), for each receiver, the deviation value of the receiver with respect to the virtual receiver is calculated first according to the deviation information between the receiver and the virtual receiver, and in each cluster, the deviation values of all the receivers are averaged to obtain an average deviation value of the cluster, the average deviation value is used as the correction of the cluster, and all the receivers in the cluster will share a set of corrections.
5. The method according to claim 4, wherein in step 5), correction is subtracted from the original pseudo-range during data processing to obtain a new pseudo-range, and the new satellite clock difference estimation unit, satellite pseudo-range deviation and phase deviation estimation unit are calculated as final broadcasting products.
6. A hybrid-type receiver bias accuracy processing system using the hybrid-type satellite navigation receiver bias accuracy processing method of claim 1, comprising:
the initial module is used for calculating initial orbit, clock error, pseudo-range deviation and phase deviation by taking a virtual receiver with a mixed type receiver network as a reference;
the resolving module is used for resolving deviation information of each receiver in the network relative to the type of the virtual receiver;
the classification module is used for classifying the multi-factor comprehensive receivers by taking the deviation among the receivers as an initial sample, taking Euclidean distance as a distance index and taking the local distance and the minimum as classification judgment standards;
the receiver cluster forming module is used for primarily dividing the receiver categories with the same characteristics to form a plurality of receiver clusters consisting of a plurality of receiver types;
the processing module is used for unifying the whole network receiver to the type of the virtual receiver, and reprocessing the whole network receiver according to the data processing method in the step 1) to obtain a new satellite clock error estimation unit, satellite pseudo-range deviation and phase deviation;
and the iteration processing module is used for the whole inter-receiver type deviation system to require the reference network to iterate the product processing flow twice, and the steps 1) to 5) are repeated so as to ensure accurate estimation of the inter-receiver deviation.
7. An electronic device, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the preceding claims 1 to 5.
8. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of the preceding claims 1 to 5.
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