TW202009519A - Precise point positioning method and positioning apparatus and recording medium thereof - Google Patents

Abstract

Precise point positioning (PPP) method and a PPP device are provided. The precise point positioning method includes obtaining a first satellite signal from a reference satellite and a second satellite signal from a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on a code data of the combined satellite signal, to obtain a satellite positioning data for positioning process. The satellite positioning data includes modified code data and modified carrier-phase data.

Description

Precision single-point positioning method, positioning device and recording medium

The invention relates to satellite positioning technology, and in particular to precise single-point positioning method, positioning device and recording medium.

With the development of electronic information, map information has also become electronic. Cooperating with other technologies including satellite positioning system (SPS) technology, it is already a common phenomenon to position positioning elements on an electronic map. In practical applications, when a user carries mobile user equipment (UE), such as a mobile phone or a navigation device, it generally has a positioning function, which allows the user to locate the location on the map. There are various positioning methods, among which satellite positioning is a method.

The present invention provides a precise single-point positioning technology, which can at least accelerate its initial convergence time.

In an exemplary embodiment, the present invention provides a precise single-point positioning method, which is executed by a user equipment and includes obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain the satellite positioning data required for positioning. The satellite positioning data includes the corrected code data and the corrected carrier phase data.

In one embodiment, the present invention also provides a precision single-point positioning device, including a processor and a register, which are collectively configured to process the following operations, including obtaining the first satellite signal of the target satellite and the second satellite signal of the reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain the satellite positioning data required for positioning. The satellite positioning data includes the corrected code data and the corrected carrier phase data.

In an exemplary embodiment, the present invention also provides a precise single-point positioning method, which is executed by a user equipment and includes receiving satellite correction signals from the target satellite after an error correction process every time interval, of which the current is the nth reception , N is a positive integer, where the satellite positioning signal contains the nth code data and carrier phase data. A smoothing process is performed on the current nth code data to obtain the smoothed nth code code. The smoothing process recurs at the current time point n includes: taking the current nth time code data as the first item, taking the n-1th smoothing code data plus the current nth time carrier phase data and The sum of the carrier phase data of the previous n-1th time is the second term, and the weights of the parameters a'and (1-a') are added between the first term and the second term respectively to obtain the current term After n times, the smoothed code data is returned. The parameter a'contains the satellite elevation angle of the satellite relative to the user equipment, and the parameter a'decreases as the satellite elevation angle increases.

In one embodiment, the present invention also provides a recording medium that records program code, which is obtained by the processor of the user equipment to perform the precise single-point positioning method as described above.

In order to make the above-mentioned features and advantages of the present invention more obvious and understandable, the embodiments are specifically described below in conjunction with the accompanying drawings for detailed description as follows.

The invention relates to a precise single-point positioning technology used in a satellite positioning system. The precision single-point positioning technology provided by the present invention can at least shorten the convergence time.

The following examples illustrate the present invention, but the present invention is not limited to the examples.

When the user equipment needs to be positioned on the ground, it receives the radio signal sent from the satellite. This radio signal provides the coordinate information of the satellite. Generally, the signals of four satellites at different positions can obtain the position of the user equipment. Satellite positioning systems include, for example, the Global Positioning System (Global Positioning System, GPS), the Global Navigation Satellite System (Global Navigation Satellite System, GNSS), and more specifically, the Chinese system's Beidou Navigation Satellite System (BDS), the European system Galileo (Galileo) and the Russian system of Global Navigation Satellite System (Globalnaya navigatsionnaya sputnikovaya sistema, GLONASS) and so on.

In the positioning mechanism of the satellite positioning system, precise single point positioning (Precise point positioning, PPP) is a technology that has been widely used and researched in recent years, and is characterized by not being moved by Real Time Kinematic (RTK) technology. The baseline distance between the station and the reference station is limited, and can provide users with positioning accuracy ranging from tens of centimeters to several centimeters.

The performance of precise single-point positioning is related to its convergence time. The initial convergence time of precision single-point positioning is too long (for example, 20-40 minutes or longer) is a problem to be considered.

FIG. 1 is a schematic diagram of a positioning mechanism of a satellite positioning system according to an embodiment of the present invention. Referring to FIG. 1, a satellite positioning system includes a satellite group 50, which is composed of multiple satellites 50a, 50b, and 50c. In this embodiment, three satellites are used as an example. These satellites can be the same type or different types of satellites, such as the satellites of the GLONASS (Global Navigation Satellite System) system, the satellites of the GPS (Global Positioning System) system, and so on.

The user equipment 52 having a receiver of a satellite positioning system is installed on a vehicle, for example, and its position may move as needed. The receiving end of the satellite positioning system may further include a reference station 54 provided at a fixed position. The number of reference stations 54 is not limited to one, and it may be plural as needed.

Each satellite 50a, 50b, 50c of the satellite group 50 can send information about the current position of the satellite to the reference station 54 and the user equipment 52, respectively. The signal directly received by the user equipment 52 is the original first signal. The reference station 54 installed at a fixed position also receives the signal transmitted by the satellite. The signals received by these reference stations 54 are first processed to obtain general error correction data, and the error correction data is used as the second signal. In one embodiment, the error correction data is primary error correction data. The reference station 54 transmits the second signal to the user equipment 52 through the network control center 56 and the network 60, so that the user equipment 52 obtains the second signal. The user equipment 52 obtains the satellite signal corresponding to the operating frequency after correcting the first signal according to the second signal. Satellite signals of different frequencies can be provided by the same satellite with multiple frequency functions or different satellites, generally by the same satellite.

In addition, according to actual needs, the user equipment 52 may not obtain the second signal via the network 60, for example, the network control center 56 transmits the second signal to the uplink system 58 and then to the satellite 50c, and then The satellite 50c is transmitted to the user equipment 52.

The reception of satellite signals involves a variety of errors, including, for example, satellite timetable errors, receiver timetable errors, satellite orbit offset errors, ionospheric errors, tropospheric errors, noise, etc. The second signal generated by the reference station 54 can provide general error correction of the satellite, such as satellite orbit offset error and satellite time table error.

For general multi-frequency satellites, the satellites in the satellite positioning system use at least one carrier frequency signal. The user equipment receives a carrier frequency signal of the satellite during positioning operation. To eliminate the effect of the ionosphere, another carrier frequency signal can be obtained. After combining multiple carrier frequency signals, the error effect of the ionosphere can be eliminated. This other carrier frequency signal can be obtained from the same satellite with multiple frequencies or from different satellites.

In one embodiment, the precision single-point positioning device is disposed or placed in the user equipment 52. In one embodiment, the user equipment 52 may be mobile, such as a vehicle, train, ship, airplane, or drone, which may move quickly, or sometimes enter a tunnel, and then quickly exit from the tunnel to receive satellite signals again . FIG. 2 is a schematic structural diagram of a precision single-point positioning device in user equipment according to an embodiment of the present invention. 3 is a schematic diagram of a precise single-point positioning method according to an embodiment of the present invention.

The above-mentioned user equipment 52 may include the structure or composition of the precision single-point positioning device 200 shown in FIG. 2 in one of multiple implementation examples. Referring to FIG. 2, the precision single-point positioning device 200 at least includes a receiver 110, a processor 120, a register 130, a memory device 140, and an input-output device 150. In another embodiment, the precision single-point positioning device 200 may include an antenna 105. The precision single-point positioning device 200 can eliminate various sources of error based on the between satellite single difference (BSSD) technique for the received signal, such as receiver time table errors, receiver hardware delays, and initial phase errors. In addition, the precision single-point positioning device 200 can also introduce adaptive carrier smoothing technology to reduce the noise level of the code observation after a differential, and then perform precision single-point positioning (PPP) operations on the processed signal . The entire architecture will be explained below.

The precision single-point positioning device 200 is, for example, a smart phone or a navigation device (Navigation Device) used by vehicles (vehicles, trains, ships, airplanes, drones, etc.).

The receiver 110 is used to wirelessly communicate with different communication systems and receive radio signals from satellites. This radio signal provides relevant position information of the corresponding satellite. In an embodiment, the position and/or speed of the user equipment can be obtained from the signals of multiple (eg three) satellites at different positions. The communication system such as a satellite positioning system includes, for example, a global positioning system (Global Positioning System, GPS), a global navigation satellite system (GNSS), a European system Galileo, and a Chinese system Beidou satellite navigation system (Beidou Navigation Satellite System, BDS), or the Russian system of Globalnaya navigatsionnaya sputnikovaya sistema (GLONASS), etc.

The processor 120 may be, for example, a central processing unit (CPU), a microcontroller, an application specific integrated circuit (ASIC), etc., or a programmable program with a specific design Programmable logic device (PLD) or field programmable gate array (FPGA), etc.

The temporary storage 130 is used to temporarily store the temporary storage information required by the processor 120 during the calculation process, such as a cache memory (Cache Memory) and so on.

The memory device 140 is used to store various functional modules that can be processed by the processor 120, and in this embodiment includes, for example, an error correction module 142 and a differential processing module that performs a satellite satellite single difference (BSSD) Group 144, an adaptive carrier smoothing processing module 146, and a precision single point positioning (Precise Point Positioning, PPP) processing module 148. The memory device 140 may be a volatile memory (Volatile memory), such as a random access memory (Random Access Memory, RAM) or a read-only memory (Read-Only Memory, ROM). The memory device 140 may also be a non-volatile memory (Non-volatile memory), such as a hard disk, a flash memory, or a solid state storage.

The input/output device 150 is used to output or input data. The processor 120 of the precision single-point positioning device 200 eliminates various sources of errors based on the inter-satellite primary differential technology (BSSD) for the received signal, and can introduce adaptive carrier smoothing technology to reduce the noise level of the code observation after a differential, The processed signal is then subjected to precise single point positioning (PPP) operation, and then output through the input/output device 150. In one embodiment, it can be displayed on a screen (not shown) in a navigation system. The current location is displayed on the map.

Please refer to FIG. 3, which is a schematic diagram of a precise single-point positioning method according to an embodiment of the present invention. In an embodiment, the precision single-point positioning method of FIG. 3 may be performed according to the architecture of the precision single-point positioning device 200 of FIG. 2.

In one embodiment, the operation of precise single-point positioning may include processing code. The required code is recorded on the recording medium. The recording medium may be a memory device 140 including an internal setting, or may be an external recording medium that can be read by the precision single-point positioning device 200 of the user equipment. In one embodiment, the error correction module 142, the differential processing module 144, the adaptive carrier smoothing processing module 146, and the precision single-point positioning processing module 148 may be hardware, firmware, or stored in memory The device 140 is loaded with software or machine executable code loaded by the processor 120.

In step S100, the receiver 110 receives the code data and the carrier phase data. In step S102, the error correction module 142 corrects the ionospheric error. In one embodiment, after the operation is started, the data will be acquired and processed at every predetermined time interval, and the time point n is used to represent the n-th data acquisition. In one embodiment, the operation is continuous. Corresponding to the accumulation of time, the nth time refers to the time point after n time intervals, n is a positive integer. Taking n=1 as an example, n=1 represents the first reception of satellite signals, and it will continue to receive raw satellite signals belonging to each satellite. In an embodiment, the subsequent signal smoothing process is a recursive method, which will refer to the data at the previous time point, so the satellite positioning data obtained when n=1 has not been smoothed, and it can provide the time point of n=2 The smoothing of is used in the recursive operation.

In step S100, the receiver 110 receives the original first frequency signal, corrects the original first frequency signal with primary error correction data, and becomes the satellite signal of the first frequency. The satellite signal of the first frequency includes the measured Code observation data and carrier-phase observation data. Code observation data is simply referred to as code data, expressed as P ₁ (n) or P ₁ , and carrier phase observation data is simply referred to as carrier phase data, with Φ ₁ (n) or Φ ₁ indicates that the subscript 1 indicates the satellite signal of the first frequency. In one embodiment, the receiver 110 receives the original second frequency signal, and the original second frequency signal is corrected to the primary error correction data to become the satellite signal of the second frequency. The satellite signal of the second frequency can be used to eliminate the ionospheric error. The satellite signal at the second frequency includes code data P ₂ (n) and carrier phase data Φ ₂ (n), and the subscript 2 represents the satellite signal at the second frequency. In an exemplary embodiment, the satellite signal of the second frequency can be sent from different frequency channels of the same satellite as the satellite signal of the first frequency. In another embodiment, the satellite signal at the second frequency can be sent by a different satellite than the satellite signal at the first frequency. In one embodiment, the satellite signal at the first frequency (P ₁ , Φ ₁ ) and the satellite signal at the second frequency (P ₂ , Φ ₂ ) are signals after the satellite orbit offset error and the satellite time table error have been corrected.

(1) P3 : 對應無電離層電碼資料的指標 Φ3 : 對應無電離層載波相位資料的指標 ρ : 接收機到衛星的幾何距離 c : 光速 r : 相對接收機的指標 dt^r : 接收機時表誤差 T : 對流層延遲 ε: 未建模(unmodeled)誤差，例如一些溫度雜訊、多通路(multipath)效應等等 N’ : 無電離層組合之載波未定值 λ : 波長In step S102, the error correction module 142 performs the process of eliminating ionospheric errors according to the combination of the satellite signal of the first frequency (P ₁ , Φ ₁ ) and the satellite signal of the second frequency (P ₂ , Φ ₂ ) to obtain an ionosphere-free (ionosphere-free) satellite signals, subscript 3 to distinguish between including code data P ₃ and carrier phase data Φ ₃ , such as formula (1):

(1) P3: Index corresponding to the ionospheric code data Φ3: Index corresponding to the ionospheric carrier phase data ρ: Geometric distance from the receiver to the satellite c: Speed of light r: Relative receiver index dt ^r : Receiver time table error T : Tropospheric delay ε: unmodeled error, such as some temperature noise, multipath effect, etc. N': undetermined carrier without ionospheric combination λ: wavelength

In one embodiment, the satellite signal of the first frequency (P ₁ , Φ ₁ ) and the satellite signal of the second frequency (P ₂ , Φ ₂ ) are linearly combined to eliminate the ionospheric error and obtain the code data P ₃ and the carrier phase Information Φ ₃ .

In one embodiment, the convergence time of the precision single-point positioning technique may be longer because the dual-frequency ionospheric linear combination eliminates ionospheric errors, but may also amplify noise energy.

After step S102, step S104 is executed, and the difference processing module 144 performs a mechanism of one-time difference between satellites to eliminate errors related to the receiver. In an embodiment, the receiver is, for example, the precision single-point positioning device 200 of FIG. 2. In one embodiment, the errors related to the receiver include receiver time table errors, receiver hardware delays, and initial phase errors. In one embodiment, a differential process may slightly magnify the observed noise level. In an embodiment of the invention, the adaptive carrier smoothing module 146 executes step S106 to perform smoothing, which can effectively shorten the convergence time and improve the positioning efficiency.

In one embodiment, the code data and the carrier phase data to be smoothed in the adaptive carrier smoothing processing module 146 are first subjected to a differential mechanism between satellites. That is, the mechanism for performing a one-time difference between satellites in step S104 is performed first, and then the smoothing process in step S106 is performed.

The mechanism of one-time difference between satellites is described below. For multiple satellites, any one of them can be used as a reference satellite. In this embodiment, the index k is used to represent the reference satellite, for example, the satellite 50a in FIG. 1 is taken as an example. Among the multiple satellites, any one of the effective satellites other than the reference satellite, for example, a satellite that is expected to be incorporated into satellite positioning is called a target satellite. In an implementation example, at least three target satellites are required for positioning. In this implementation example, the target l is used to represent the target satellite, and l is variable, depending on the number of satellites actually involved in positioning. The target satellite is, for example, one of the satellites 50b and 50c.

That is to say, one-time difference between satellites uses one of a plurality of satellites as a reference satellite to provide a reference satellite signal, and one or more of the plurality of satellites other than the reference satellite is a target satellite providing a target satellite signal , Where the reference satellite signal is combined with the target satellite signal to eliminate common errors.

(2)ρ^kl : 接收機到衛星k 與衛星l 的幾何距離的相減T^kl : 接收機到衛星k 與衛星l 的對流層延遲的相減 N’ : 接收機到衛星k 與衛星l 的無電離層組合之載波未定值的相減 λ : 波長

: 接收機到衛星k 與衛星l 的電碼資料未建模誤差的相減

: 接收機到衛星k 與衛星l 的載波相位資料未建模誤差的相減 在一實施範例中，在電碼資料的最後一項

的誤差經過衛星間一次差分的處理後可能會些微放大，可再進行平滑處理，如步驟S106進行平滑處理，其中平滑處理所使用的BSSD電碼資料與BSSD載波相位資料是已完成衛星間一次差分處理的資料。In one embodiment, the target satellite signal after removing ionospheric errors is the first satellite signal (P ^l ₃ , Φ ^l ₃ ), and the reference satellite signal after removing ionospheric errors is the second satellite signal (P ^k ₃ , Φ ^k ₃ ). After a differential processing between the satellites, the combined satellite signal is obtained. The combined satellite signal includes BSSD code data P ^kl ₃ and BSSD carrier phase data Φ ^kl ₃ , as shown in equation (2):

(2) ρ ^kl: k satellite receiver to the geometric distance of the satellite are subtracted l T ^kl: k to the satellite receiver and the satellite l of tropospheric delay subtraction N ': k to the satellite receiver and without the satellite l Subtractive λ of the carrier of the ionospheric combination: wavelength

: Subtraction of unmodeled errors in the code data from receiver to satellite k and satellite l

: Subtraction of unmodeled error of carrier phase data from receiver to satellite k and satellite l In an implementation example, in the last item of code data

The error may be slightly magnified after the first differential processing between satellites, and then smoothing may be performed, such as smoothing processing in step S106, where the BSSD code data and BSSD carrier phase data used for the smoothing process have completed a differential processing between satellites data of.

The following describes the smoothing mechanism of the adaptive carrier smoothing module 146, which is a recursive mechanism that can use the temporary storage 130 and the processor 120 for temporary storage processing. As shown in FIG. 3, the register 130 records the n-1th BSSD carrier phase data and the smoothed BSSD telegram data (step S110), and completes the nth smoothing in the adaptive carrier smoothing processing module 146 After the processing (step S106), the n-th BSSD carrier phase data and smoothed BSSD code data are updated in the register 130 (step S110), and the n-th BSSD carrier phase data and smoothed BSSD The code data is output to the precision single-point positioning processing module 148 to perform subsequent precision single-point positioning processing (step S108) to obtain the location of the precision single-point positioning device 200 and to position the precision single-point positioning device 200. In FIG. 2, the adaptive carrier smoothing processing module 146 outputs the smoothed code data and carrier phase data after one-time differential processing between satellites and smoothing to the precision single-point positioning processing module 148, as shown in step S108 Subsequent nth positioning processing for precise single-point positioning. In one embodiment, the precision single-point positioning processing module 148 uses multiple target satellite data for positioning, wherein the reference satellites of each target satellite may be shared, or different reference satellites may be provided for the respective target satellites. The invention is not limited to the selection of reference satellites. In an implementation example, the satellite positioning data includes corrected code data and corrected carrier phase data, the nth BSSD carrier phase data is the corrected carrier phase data, and the nth smoothed BSSD code data satellite positioning data is the correction After the code information.

”及 “(1-

)”進行權重加總，其如式(3) :

+ (1-

)(

+

+

) (3) “

”及 “(1-

)” 的參數“

” 是隨處理時間持續變化，

=1/n。In an implementation example, the smoothing process of the present invention smoothes the code data P ^kl ₃ . In an implementation example, if according to the recursion at time n, refer to equation (3), the code data P ^kl _3,SM (n) obtained by the smoothing process at time n is the n-1th smoothing Code data P ^kl _3,SM (n-1), n-th BSSD code data P ^kl ₃ (n) and BSSD carrier phase data Φ ₃ ^{kl are} based on the parameter “

"And" (1-

)" to add the weights, as in formula (3):

+ (1-

)(

+

+

) (3) "

"And" (1-

)"parameters"

"Is continuously changing with processing time,

=1/n.

”與當前的時間點n經過衛星間一次差分處理的電碼資料P^kl ₃ (n) 的乘積。第二項包含

+

+

與(1-

)的乘積。第一項與第二相加總得到平滑處理後的電碼資料P^kl _3,SM (n)。當觀測時間增加，其表示n值加大，平滑後的電碼資料P^kl _3,SM (n)的第二項“(1-

)•((

+

+

)”的效應會加大。另外上標 “kl ”是指參考衛星k 與目標衛星l 之間已完成衛星間一次差分的處理。The index n is the time point of receiving the data for the nth time, and in terms of time, it is a time point that passes n time intervals from the starting point. The subscript " SM " is the result after smoothing. The first term of equation (3) is the parameter "

”The product of the telegram data P ^kl ₃ (n) that has undergone a differential processing between satellites at the current time n. The second term contains

+

+

With (1-

). The first item and the second are added together to obtain the smoothed code data P ^kl _3,SM (n). When the observation time increases, it means that the value of n increases, and the second item of the smoothed code data P ^kl _3,SM (n) "(1-

)•((

+

+

)" will increase the effect. In addition, the superscript " kl " means that the reference satellite k and the target satellite l have completed a differential processing between satellites.

In addition, step S106 is a recursive manner. The first recursive smoothing process can input an appropriate initial value, which is, for example, p ^kl _3,SM (1) = p ^kl ₃ (1).

4 is a schematic diagram of an elevation angle smoothing mechanism in a precision single-point positioning method according to an embodiment of the invention. Referring to FIG. 4, in an implementation example, when the satellite elevation angle θ _{2 is} larger, the satellite is closer to the top of the receiver. The quality of the satellite signal at this time may be better. Conversely, when the satellite elevation angle θ _{1 is} small, the satellite is closer to the horizontal direction of the receiver, and the quality of the satellite signal may be poor.

修改為:

(4) 如此，參考式(3)及式(4)，當衛星仰角θ大時(例如接近90度)，參數“

”更趨近於零，如式(3)的第二項“(1-

)•(

+

+

)”的權重加大，可以增加平滑速度。反之當衛星仰角θ小時(例如接近0度)，如式(3)的第二項的權重會減小，則會減緩平滑速度，與未考慮衛星仰角θ的平滑處理的速度相同或相似。Based on the factors of satellite elevation angle θ, the smoothing process can add the effect of satellite elevation angle θ to add the code data to the satellite elevation angle correction, as shown in equation (4), change the parameters

change into:

(4) As such, referring to equations (3) and (4), when the satellite elevation angle θ is large (for example, close to 90 degrees), the parameter "

"Closer to zero, as in the second term of formula (3)" (1-

)•(

+

+

)" weight is increased, you can increase the smoothing speed. Conversely, when the satellite elevation angle θ is small (for example, close to 0 degrees), the weight of the second term of formula (3) will be reduced, it will slow down the smoothing speed, and the satellite is not considered The speed of the smoothing process of the elevation angle θ is the same or similar.

+ (1-

)(

+

+

) (5)

In an implementation example, considering the smoothing effect of the satellite elevation angle θ, it can also be applied to data without one-time difference processing between satellites, that is, step S104 is omitted. For the current target satellite, taking index l as an example, equation (3) is changed to equation (5):

+ (1-

)(

+

+

) (5)

In summary, the present invention may have at least the following features.

In an exemplary embodiment, the present invention provides a precise single-point positioning method, which is executed by a user equipment and includes obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain the satellite positioning data required for positioning. The satellite positioning data includes the corrected code data and the corrected carrier phase data.

In one embodiment, the present invention provides a precision single-point positioning device, including a processor and a register, which are collectively configured to process the following operations, including obtaining the first satellite signal of the target satellite and the second satellite signal of the reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain the satellite positioning data required for positioning. The satellite positioning data includes the corrected code data and the corrected carrier phase data.

In an embodiment, in the precise single-point positioning method or device, the step or operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal includes: eliminating the The first ionospheric error of the first satellite signal and the second ionospheric error of the second satellite signal are eliminated.

In one embodiment, in the precise single-point positioning method or device, the step or operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further includes: using the The first satellite signal and the second satellite signal are subjected to one-time differential processing between satellites to eliminate common errors.

In an embodiment, in the precise single-point positioning method or device, the one-time difference between the satellites takes one of a plurality of satellites as the reference satellite, and the reference satellite provides the second satellite signal except for the reference One of the satellites other than the satellite is the target satellite, and the target satellite provides the first satellite signal.

In an embodiment, in the precise single-point positioning method or device, the smoothing process includes: taking the current code data of the combined satellite signal as the first item, and taking the combined satellite signal after the previous recursive smoothing The sum of the telegram data plus the current recursive carrier phase data and the previous recursive carrier phase data is the second item, and the parameters a and (1-a) are used between the first item and the second item respectively The weights are added up, and the satellite positioning data after the current recursive smoothing is obtained.

In an embodiment, in the precise single-point positioning method or device, the parameter a includes the satellite elevation angle of the satellite relative to the user equipment, where the parameter a decreases as the satellite elevation angle increases.

In an exemplary embodiment, in the precise single-point positioning method or device, the parameter a is 1/n, wherein the first satellite signal and the second satellite signal are received every time interval, wherein the parameter n is Receive the first satellite signal and the second satellite signal for the nth time, n is a positive integer.

In an embodiment, in the precision single-point positioning method or device, the parameter a is (1-θ/90)/n, the parameter θ is the satellite elevation angle, and the first The satellite signal and the second satellite signal, wherein the parameter n is the nth reception of the first satellite signal and the second satellite signal, and n is a positive integer.

In an embodiment, in the precision single-point positioning method or device, each of the first satellite signal and the second satellite signal of the user equipment includes primary error correction data received by a reference station, wherein the The reference station respectively receives the radio signals of the reference satellite and the target satellite, and generates the primary error correction data.

In an embodiment, in the precise single-point positioning method or device, each of the first satellite signal and the second satellite signal includes code data and carrier phase data.

In an exemplary embodiment, the present invention also provides a precise single-point positioning method, which is executed by a user equipment and includes a satellite positioning signal obtained after receiving an error correction process from a target satellite every time interval, of which the current is the nth time Receive, n is a positive integer, where the satellite positioning signal contains the nth code data and carrier phase data. A smoothing process is performed on the current nth code data to obtain the smoothed nth code code. The smoothing process recurs at the current time point n includes: taking the current nth time code data as the first item, taking the n-1th smoothing code data plus the current nth time carrier phase data and The sum of the carrier phase data of the previous n-1th time is the second term, and the weights of the parameters a'and (1-a') are added between the first term and the second term respectively to obtain the current term After n times, the smoothed code data is returned. The parameter a'contains the correction of the satellite elevation angle of the satellite relative to the user equipment, so that the parameter a'decreases as the satellite elevation angle increases.

In an embodiment, in the precise single-point positioning method, the parameter a'includes a multiplier of (1-θ/90), and the parameter θ is the elevation angle of the satellite.

In one embodiment, in the precise single-point positioning method, the parameter a'changes with time to be (1-θ/90)/n.

In one embodiment, the present invention also provides a recording medium that records program code, which is obtained by the processor of the user equipment to perform the precise single-point positioning method as described above.

Although the present invention has been disclosed as above with examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be subject to the scope defined in the appended patent application.

50‧‧‧ Satellite group 50a, 50b, 50c ‧‧‧ Satellite 52‧‧‧ User equipment 54‧‧‧ Reference station 56‧‧‧ Network control center 58‧‧‧ On-ground system 60‧‧‧ Road 105‧‧‧ antenna 110‧‧‧ receiver 120‧‧‧ processor 130‧‧‧ register 140‧‧‧ memory device 142‧‧‧ error correction module 144‧‧‧ differential processing module 146‧ ‧‧Adaptable carrier smoothing processing module 148‧‧‧Precision single-point positioning (PPP) processing module 150‧‧‧I/O device 200‧‧‧Precision single-point positioning device S100, S102, S104, S106, S108, S110‧‧‧Step

FIG. 1 is a schematic diagram of a positioning mechanism of a satellite positioning system according to an embodiment of the present invention. FIG. 2 is a schematic structural diagram of a precision single-point positioning device in user equipment according to an embodiment of the present invention. 3 is a schematic diagram of a precise single-point positioning method according to an embodiment of the present invention. 4 is a schematic diagram of an elevation angle smoothing mechanism in a precision single-point positioning method according to an embodiment of the invention.

S100, S102, S104, S106, S108, S110‧‧‧

Claims (24)

A precise single-point positioning method, executed by a user equipment, includes: acquiring the first satellite signal of the target satellite and the second satellite signal of the reference satellite; combining the first satellite signal and the second satellite signal to eliminate a signal Error and obtain a combined satellite signal; and perform a smoothing process on the code data of the combined satellite signal to obtain the satellite positioning data required for positioning, the satellite positioning data includes the corrected code data and the corrected carrier phase data. The precise single-point positioning method as described in item 1 of the patent application scope, wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal includes: eliminating the first satellite The first ionospheric error of the signal; and the second ionospheric error of the second satellite signal. The precise single-point positioning method as described in item 2 of the patent application scope, wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further includes: using the first The satellite signal and the second satellite signal are subjected to one-time differential processing between satellites to eliminate common errors. The precise single-point positioning method as described in item 3 of the patent application scope, wherein the one-time difference between the satellites is to take one of a plurality of satellites as the reference satellite, and the reference satellite provides the second satellite signal except for the reference satellite One of the other satellites is the target satellite, and the target satellite provides the first satellite signal. The precise single-point positioning method as described in item 1 of the patent application scope, wherein the smoothing process includes: taking the current code data of the combined satellite signal as the first item, and taking the combined satellite signal after the previous recursive smoothing The sum of the code data plus the current recursive carrier phase data and the previous recursive carrier phase data is the second item, and the first item and the second item are weighted by parameters a and (1-a) respectively Sum up, and get the satellite positioning data after the current recursive smoothing. The precise single-point positioning method as described in item 5 of the patent application scope, wherein the parameter a includes the satellite elevation angle of the satellite relative to the user equipment, where the parameter a decreases as the satellite elevation angle increases. The precise single-point positioning method as described in item 6 of the patent application, wherein the parameter a is (1-θ/90)/n, the parameter θ is the elevation angle of the satellite, and the first satellite is received at every interval The signal and the second satellite signal, where the parameter n is the nth reception of the first satellite signal and the second satellite signal, and n is a positive integer. The precise single-point positioning method as described in item 5 of the patent application scope, wherein the parameter a is 1/n, wherein the first satellite signal and the second satellite signal are received every time interval, wherein the parameter n is the first Receive the first satellite signal and the second satellite signal n times, n is a positive integer. The precise single-point positioning method as described in item 1 of the patent application scope, wherein each of the first satellite signal and the second satellite signal of the user equipment contains primary error correction data received by a reference station, wherein the The reference station respectively receives the radio signals of the reference satellite and the target satellite, and generates the primary error correction data. The precise single-point positioning method as described in item 1 of the patent application scope, wherein each of the first satellite signal and the second satellite signal includes code data and carrier phase data. A precision single-point positioning device, including a processor and a register, configured to process the following operations, including: acquiring a first satellite signal of a target satellite and a second satellite signal of a reference satellite; combining the first satellite signal and the first satellite signal Two satellite signals to eliminate a signal error and obtain a combined satellite signal; and perform a smoothing process on the code data of the combined satellite signal to obtain the satellite positioning data required for positioning, the satellite positioning data includes the corrected code data And corrected carrier phase data. The precision single-point positioning device as described in item 11 of the patent application scope, wherein the operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal includes: eliminating the first satellite The first ionospheric error of the signal; and the second ionospheric error of the second satellite signal. The precision single-point positioning device as described in item 12 of the patent application scope, wherein the operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further includes: using the first The satellite signal and the second satellite signal are subjected to one-time differential processing between satellites to eliminate common errors. The precision single-point positioning device as described in item 13 of the patent application scope, wherein the primary difference between the satellites is to take one of a plurality of satellites as the reference satellite, and the reference satellite provides the second satellite signal, except for the reference satellite One of the other satellites is the target satellite, and the target satellite provides the first satellite signal. The precision single-point positioning device as described in item 11 of the patent application scope, wherein the smoothing process includes: taking the current code data of the combined satellite signal as the first item, and taking the combined satellite signal after the previous recursive smoothing The sum of the code data plus the current recursive carrier phase data and the previous recursive carrier phase data is the second item, and the first item and the second item are weighted by parameters a and (1-a) respectively Sum up, and get the satellite positioning data after the current recursive smoothing. The precision single-point positioning device as described in item 15 of the patent application scope, wherein the parameter a includes the satellite elevation angle of the satellite relative to the user equipment, where the parameter a decreases as the satellite elevation angle increases. The precise single-point positioning device as described in item 16 of the patent application, wherein the parameter a is (1-θ/90)/n, the parameter θ is the elevation angle of the satellite, and the first satellite is received at every interval The signal and the second satellite signal, where the parameter n is the nth reception of the first satellite signal and the second satellite signal, and n is a positive integer. The precision single-point positioning device as described in item 15 of the patent application scope, wherein the parameter a is 1/n, wherein the first satellite signal and the second satellite signal are received at every time interval, wherein the parameter n is the first Receive the first satellite signal and the second satellite signal n times, n is a positive integer. The precision single-point positioning device as described in item 11 of the patent application scope, wherein each of the first satellite signal and the second satellite signal of the user equipment contains primary error correction data received by a reference station, wherein the The reference station respectively receives the radio signals of the reference satellite and the target satellite, and generates the primary error correction data. The precision single-point positioning device as described in item 11 of the patent application scope, wherein each of the first satellite signal and the second satellite signal includes code data and carrier phase data. A precise single-point positioning method, executed by a user equipment, including: receiving satellite correction signals after error correction processing from the target satellite at every time interval, wherein the current is the nth reception, and n is a positive integer, where the The satellite positioning signal includes code data and carrier phase data; and performing a smoothing process on the current n-th code data to obtain the smoothed n-th code data, and the smoothing process recurs at the current time point n includes: Take the current nth time the code data as the first item, take the sum of the n-1th smoothed code data plus the current nth carrier phase data and the previous n-1th carrier phase data Is the second item, the parameters a'and (1-a') weight are added between the first item and the second item respectively to obtain the current nth recursive smoothed code data, where the The parameter a'contains the satellite elevation angle of the satellite relative to the user equipment, and the parameter a'decreases as the satellite elevation angle increases. The precise single-point positioning method as described in item 21 of the patent application scope, wherein the parameter a'includes a multiplier of (1-θ/90), and the parameter θ is the elevation angle of the satellite. The precise single-point positioning method as described in Item 22 of the patent application scope, wherein the parameter a'changes with time to be (1-θ/90)/n. A recording medium records a program code, which is acquired by a processor of a user equipment to execute the precise single-point positioning method described in item 1 of the patent application scope.

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