CN1405577A - Method for conducting post differential calculation to satellite positioning data - Google Patents
Method for conducting post differential calculation to satellite positioning data Download PDFInfo
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- CN1405577A CN1405577A CN 01127325 CN01127325A CN1405577A CN 1405577 A CN1405577 A CN 1405577A CN 01127325 CN01127325 CN 01127325 CN 01127325 A CN01127325 A CN 01127325A CN 1405577 A CN1405577 A CN 1405577A
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Abstract
This invention discloses a method for post difference to satellite positioning data. In order to eliminate errors of GPS satellite track, ionosphere effect and errors from SA policy, we apply difference GPS technology in GPS positioning and select the pseudo-distance difference scheme with accurate positioning and realistic technology in which receiver at the primary station should compute the distance to a viewed satellite being compared with the measurement value with error to get the bias. Then all distance tested errors by satellite are to be transmitted to users who utilize the errors to correct the measured pseudo-distance to get the real position, eliminating common error and increasing poisoning accuracy.
Description
Technical field the invention discloses a kind of when utilizing satnav, eliminates the back difference method that error adopts Difference Calculation for improving bearing accuracy.
Background technology is from american global positioning system in 1994 since (GPS) all build up and put into operation, and in short 4 years, this technical development is very rapid.The application of GPS also enters and locatees relevant field, has obtained huge economic benefit and social benefit.For eliminating gps satellite orbit error, ionospheric effect and because the error that the SA policy causes, in the GPS location, we need use the differential GPS technology.Because the characteristic that the gsm system data can not be broadcasted, we can't adopt general forward difference scheme, thereby make the development of backward difference scheme necessitate.Secondly in order to reduce the quantity of information of transfer table communication, back method of difference has great importance.
Not high and geodetic type receiver can not be used for the real-time and dynamic situation to summary of the invention at the bearing accuracy of navigational route type receiver, by the back Difference Calculation navigational route type receiver is upgraded to differential GPS, make its bearing accuracy by original about 100 meters, rise to about 10 meters.
The present invention to above-mentioned for eliminating error, the problem that improves the GPS bearing accuracy proposes a kind of back difference method, this method is tried to achieve its distance to visible satellite by the receiver on the base station, and this distance that calculates and the measured value that contains error are relatively obtained its deviation.Range error with all satellites is transferred to the user then, and the user utilizes this range error to correct the pseudorange of measurement and solves the position of itself, but with regard to the cancellation common error, improves bearing accuracy.
A kind of satellite location data is carried out the method for back Difference Calculation, it is provided with satellite positioning receiver (GPS receiver), wireless digital cellular telephone communication device based on vehicle and the transfer table of communication controler that satellite location data is handled and communicator is controlled; Be provided with satellite positioning receiver, data processor and can be by the differential reference station of serial ports and Surveillance center's communication; Be equipped with wireless digital cellular telephone communication device in Surveillance center.
Described transfer table transmits locator data by the point-to-point information service that wireless digital cell phone system center provides to Surveillance center, differential reference station also transmits locator data to Surveillance center by serial ports, in Surveillance center these two groups of data are carried out the back Difference Calculation, to reach the elimination common error, improve the purpose of bearing accuracy.
Difference method behind the described satellite location data, it is that the GPS receiver that is placed on the transfer table is to be sent to Surveillance center by the point-to-point SMS service that wireless digital cell phone system center provides with the gps data of being received, the GPS receiver that is placed on the differential reference station is sent to Surveillance center with the gps data of being received by serial ports.Two receivers are same group of satellites of observation, and obviously satellite clock correction all is identical with ephemeris error, and the influence of two distances that the base station receiver is obtained with receiver user same satellite of observation also is identical.Like this, the layback number that utilization is tried to achieve by base station receiver observation to receiver user observed quantity correct, just can eliminate this part common error, the error, most ionosphere delay and the semiconvection layer that satellite are increased comprising the SA policy postpone.
We have selected bearing accuracy higher, and why technical practicable again pseudo range difference scheme pseudo range difference GPS can improve precision in the location, is spatial coherence between the two, promptly balances out the common error part by differential technique.But this correlativity weakens with distance.Therefore, bearing accuracy also reduces with the distance from base station.Guarantee to reach certain precision, can not be long from the distance of base station, general 40km exceeds.
The data transmission of transfer table of the present invention and Surveillance center can adopt following any one: conventional intercom system, two-way paging, simulation cluster, Digital Clustering (as IDEN), DataCell, CDPD, GSM data transmission, GSM/SMS/GPRS, CDMA.
Description of drawings: accompanying drawing 1 is the location drawing of base station, transfer table and satellite.
Embodiment: specific implementation principle of the present invention is as follows: as shown in the figure:
。Base station a.Transfer table b ρ '
AiThe pseudorange that expression satellite i is ordered to a, all the other are (this numerical value can obtain from receiver) ρ in like manner
AiThe actual distance that expression satellite i is ordered to a, all the other in like manner (this numerical value can obtain from receiver) formula ρ '=ρ+Sa+ Δ ρ is arranged
1+ Δ ρ
2+ ct
1+ ct
2Wherein Sa represents because the error that the SA policy causes;
Δ ρ
1The expression delay error;
Δ ρ
2The expression refraction error;
t
1Expression satellite clock error;
t
2Expression GPS receiver clock error;
If satellite i is a reference satellite, list a respectively, 2 pseudorange equation ρ ' of b to satellite i
Ai=ρ
Ai+ sa+ Δ ρ
1(i)+Δ ρ
2(i)+ct
1(i)+ct
2(a) ... ... 1 formula ρ '
Bi=ρ
Bi+ sa+ Δ ρ
1(i)+Δ ρ
2(i)+ct
1(i)+ct
2(b) ... ... 2 formulas
1 formula deducts 2 formulas and does first difference, and the distance that needs only base station and transfer table is less to the distance of satellite with respect to ground, then Δ ρ
1, Δ ρ
2, ct
1Can disappear, do to get 3 formulas after the difference.Δ ρ '
i=ρ '
Ai-ρ '
Bi=ρ
Ai-ρ
Bi+ Δ ct
2(a is to b)=Δ ρ
i+ Δ ct
2(a is to b)
... ... the ..3 formula
Get a satellite (j) again and do first difference
ρ '
Aj=ρ
Aj+ sa+ Δ ρ
1(j)+Δ ρ
2(j)+ct
1(j)+ct
2(a) ... ... 4 formulas
ρ '
Bj=ρ
Bj+ sa+ Δ ρ
1(j)+Δ ρ
2(j)+ct
1(j)+ct
2(b) ... ... 5 formulas
4 formulas deduct 5 formulas and do first difference, and the distance that needs only base station and transfer table is less to the distance of satellite with respect to ground, then Δ ρ
1, Δ ρ
2, ct
1Can disappear, do to get 6 formulas after the difference.
Δ ρ '
j=ρ '
Aj-ρ '
Bj=ρ
Aj-ρ
Bj+ Δ ct
2(a is to b)=Δ ρ
j+ Δ ct
2(a is to b)
... ... the ..6 formula
Deduct 6 formulas with 3 formulas and do second order difference this moment
ρ′
ai-ρ′
bi-ρ′
aj+ρ′
bj＝ρ
ai-ρ
bi-ρ
aj+ρ
bj
Be Δ ρ '
Ij= Δ
ρ
Ij... ... the ..7 formula
Because pseudorange value can be provided by the GPS receiver, so the 7 formula left sides are given value.Setting up calculated with mathematical model draws as follows: the exact position that this moment, B was ordered
X0, y
0, z0 offers user's position coordinates for the GPS receiver,
X, y, z are GPS receiver position coordinates accurately.
Δx＝x-x0，Δy＝y-y
0，Δz＝z-z0
Claims (5)
1, a kind of satellite location data is carried out the method for back Difference Calculation, it is based on being that vehicle is provided with satellite positioning receiver (GPS receiver), wireless digital cellular telephone communication device and the transfer table of communication controler that satellite location data is handled and communicator is controlled; And be provided with satellite positioning receiver, data processor and can be by the differential reference station of serial ports and Surveillance center's communication; Be equipped with wireless digital cellular telephone communication device in Surveillance center, described transfer table transmits locator data by the point-to-point information service that wireless digital cell phone system center provides to Surveillance center, differential reference station also transmits locator data to Surveillance center by serial ports, in Surveillance center these two groups of data is carried out the back Difference Calculation.
2, according to difference method behind the described satellite location data of claim 1, it is characterized in that: the GPS receiver that is placed on the transfer table is to be sent to Surveillance center by the point-to-point information service that wireless digital cell phone system center provides with the gps data of being received, the GPS receiver that is placed on the differential reference station is sent to Surveillance center with the gps data of being received by serial ports.
3, difference method behind the satellite location data according to claim 1 is characterized in that utilizing the second order difference method, gets through setting up mathematical model:
The exact position that B is ordered
X0, y
0, z0 offers user's position coordinates for the GPS receiver,
X, y, z are GPS receiver position coordinates accurately.
Δx＝x-x0，Δy＝y-y
0，Δz＝z-z0
4, difference method behind the satellite location data according to claim 1, the data transmission that it is characterized in that transfer table of the present invention and Surveillance center can adopt following any one: conventional intercom system, two-way paging, simulation cluster, Digital Clustering (as IDEN), DataCell, CDPD, GSM data transmission, GSM/SMS/GPRS, CDMA.
5, difference method behind the satellite location data according to claim 1 is characterized in that: the data transmission of transfer table and Surveillance center is cellular short message passage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01127325 CN1405577A (en) | 2001-08-13 | 2001-08-13 | Method for conducting post differential calculation to satellite positioning data |
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|---|---|---|---|
| CN 01127325 CN1405577A (en) | 2001-08-13 | 2001-08-13 | Method for conducting post differential calculation to satellite positioning data |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101295014B (en) * | 2008-05-19 | 2011-01-05 | 中国测绘科学研究院 | Distant-range high-precision real-time/fast positioning method and system based on GNSS |
| CN101625235B (en) * | 2009-08-04 | 2011-05-11 | 北京航空航天大学 | Orbit radius curve measurement system based on a plurality of split inertial references |
| CN101285879B (en) * | 2007-04-09 | 2011-05-18 | 精工爱普生株式会社 | First output position calculation method, positioning device, and electronic instrument |
| CN101329395B (en) * | 2007-06-20 | 2012-01-04 | 联发科技股份有限公司 | Methods for processing external correction messages, correcting position measurements of gnss receiver, and related apparatuses |
| CN101203770B (en) * | 2005-06-13 | 2012-07-11 | 诺基亚公司 | Holding assistant satellite positioning |
| CN101726745B (en) * | 2009-12-30 | 2012-09-05 | 中国航天科工信息技术研究院 | Method and system for resolving signal in space error |
| CN101770019B (en) * | 2009-01-06 | 2012-12-05 | 厦门雅迅网络股份有限公司 | Method for carrying out backward difference calculation on satellite positioning data |
| CN106507223A (en) * | 2017-01-11 | 2017-03-15 | 深圳森虎科技股份有限公司 | The normal mode of transmitter receiver, Digital Clustering and simulation cluster adaptive method for switching |
| CN112051595A (en) * | 2019-06-05 | 2020-12-08 | 北京自动化控制设备研究所 | Backward differential filtering method for solving motion acceleration of carrier by utilizing DGPS (differential global positioning system) position information |
-
2001
- 2001-08-13 CN CN 01127325 patent/CN1405577A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101203770B (en) * | 2005-06-13 | 2012-07-11 | 诺基亚公司 | Holding assistant satellite positioning |
| CN101285879B (en) * | 2007-04-09 | 2011-05-18 | 精工爱普生株式会社 | First output position calculation method, positioning device, and electronic instrument |
| CN101329395B (en) * | 2007-06-20 | 2012-01-04 | 联发科技股份有限公司 | Methods for processing external correction messages, correcting position measurements of gnss receiver, and related apparatuses |
| CN101295014B (en) * | 2008-05-19 | 2011-01-05 | 中国测绘科学研究院 | Distant-range high-precision real-time/fast positioning method and system based on GNSS |
| CN101770019B (en) * | 2009-01-06 | 2012-12-05 | 厦门雅迅网络股份有限公司 | Method for carrying out backward difference calculation on satellite positioning data |
| CN101625235B (en) * | 2009-08-04 | 2011-05-11 | 北京航空航天大学 | Orbit radius curve measurement system based on a plurality of split inertial references |
| CN101726745B (en) * | 2009-12-30 | 2012-09-05 | 中国航天科工信息技术研究院 | Method and system for resolving signal in space error |
| CN106507223A (en) * | 2017-01-11 | 2017-03-15 | 深圳森虎科技股份有限公司 | The normal mode of transmitter receiver, Digital Clustering and simulation cluster adaptive method for switching |
| CN106507223B (en) * | 2017-01-11 | 2019-12-03 | 深圳森虎科技股份有限公司 | Normal mode, Digital Clustering and the simulation cluster adaptive method for switching of intercom |
| CN112051595A (en) * | 2019-06-05 | 2020-12-08 | 北京自动化控制设备研究所 | Backward differential filtering method for solving motion acceleration of carrier by utilizing DGPS (differential global positioning system) position information |
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