WO2017128871A1 - 一种高精度实时卫星定位装置及其方法 - Google Patents

一种高精度实时卫星定位装置及其方法 Download PDF

Info

Publication number
WO2017128871A1
WO2017128871A1 PCT/CN2016/109101 CN2016109101W WO2017128871A1 WO 2017128871 A1 WO2017128871 A1 WO 2017128871A1 CN 2016109101 W CN2016109101 W CN 2016109101W WO 2017128871 A1 WO2017128871 A1 WO 2017128871A1
Authority
WO
WIPO (PCT)
Prior art keywords
receiver
satellite positioning
point
precision
array
Prior art date
Application number
PCT/CN2016/109101
Other languages
English (en)
French (fr)
Inventor
申研
李渊博
Original Assignee
申研
李渊博
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 申研, 李渊博 filed Critical 申研
Priority to EP16887742.1A priority Critical patent/EP3410144B1/en
Priority to US15/665,461 priority patent/US10634796B2/en
Publication of WO2017128871A1 publication Critical patent/WO2017128871A1/zh

Links

Images

Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system

Definitions

  • the invention belongs to the field of satellite navigation and positioning technology, in particular to a high-precision real-time satellite positioning device and a method thereof which do not rely on a reference station.
  • Satellite positioning and navigation systems mainly include GPS, Beidou, GLONASS, Galileo, etc.
  • GPS Beidou
  • GLONASS GLONASS
  • Galileo Galileo
  • the application range of high-precision real-time satellite positioning and navigation is more and more wide, and the positioning accuracy of the user receiver is required to reach the decimeter level or even the centimeter level.
  • the single-point satellite positioning receiver technology is very mature. It is known from the well-known principle that satellite positioning is achieved by using a set of satellites such as pseudoranges, ephemeris, satellite transmission time and the like, and the user's clock difference. To obtain the three-dimensional coordinates of the ground, at least four satellites must be measured. In this positioning process, there are three parts of error: the first part of the error is caused by satellite clock error, ephemeris error, ionospheric error, tropospheric error, etc. The second part is the error caused by propagation delay; the third part is The inherent error of each user receiver is caused by internal noise, channel delay, multipath effect and the like. Due to the existence of these errors, the accuracy of static positioning of single-point satellites is difficult to reach below 10 meters, and therefore, high-precision positioning requirements cannot be met.
  • differential satellite positioning technology In order to obtain higher positioning accuracy, it is mainly implemented by differential satellite positioning technology.
  • the principle of the differential satellite positioning technology is: firstly, the ground reference station is located by using a differential satellite with known accurate three-dimensional coordinates to obtain a pseudorange correction amount or a position correction amount or a carrier phase correction amount, and then the correction amount is transmitted to the data link in real time through the data link.
  • the user receiver mobile station
  • the user receiver corrects the measurement data of the user receiver and removes most of the error, thereby improving the satellite positioning accuracy of the user receiver.
  • the user receiver can be in a stationary state or in a motion state.
  • the information sent by the base station can be divided into three categories: position difference, pseudo range difference and phase difference.
  • Differential satellite positioning is an additional (differential) correction signal outside of normal satellite positioning.
  • This modified signal improves the accuracy of satellite positioning.
  • the working principle of these three types of differential methods is the same, the difference is that the specific content of the transmission correction number is different, and the differential positioning accuracy is also different.
  • you can A plurality of base stations are connected into a network through a data processing center to form a ground enhancement system, and send correction amounts to the user receiver.
  • the existing principle of this differential satellite positioning technology relies on the fact that the base station transmits the correction amount through the data link to significantly improve the positioning accuracy.
  • the cost of constructing and using the base station, data link and user receiver is high and the operation is cumbersome.
  • the biggest problem encountered in the application is that the effective range and range of the calibration data of the base station are very limited, and these defects hinder. Large-scale application promotion of high-precision real-time satellite positioning and navigation.
  • the object of the present invention is to overcome the deficiencies of the prior art and provide a high-precision real-time satellite positioning device with reasonable design, high precision and low cost, and a method thereof.
  • a high-precision real-time satellite positioning device comprising a polygon receiver array composed of a plurality of single-point satellite positioning receivers, wherein the antenna phase centers of the single-point satellite positioning receivers are located at respective vertices and center points of the polygon receiver array, each Each of the single-point satellite positioning receivers includes an MCU and a receiver connected to the MCU, and the MCUs are connected in parallel to each other and connected to one processor module.
  • the antenna elements of the single-point satellite positioning receiver are distributed on the same plane, and the antennas of the single-point satellite positioning receivers are corrected, so that the deviation between the coordinate observation value and the true value of the single-point satellite positioning receiver located at each vertex is further
  • the directions of the vectors are identical to each other; the direction of the deviation vector is opposite to the direction of the deviation vector of the single-point satellite positioning receiver located at the center point, that is, the directions of the two deviation vector vectors are different by 180 degrees.
  • the polygon receiver antenna array is an equilateral triangle receiver antenna array, a square receiver antenna array, an equilateral pentagon receiver antenna array or an equilateral hexagonal receiver antenna array.
  • a high precision real-time satellite positioning method comprising the following steps:
  • Step 1 Each single-point satellite positioning receiver sends its own ID and observation coordinate to the processor module;
  • Step 2 The processor module calculates the following two numbers according to the ID of each single-point satellite positioning receiver, the observation value of each single-point satellite positioning receiver, and the physical geometric parameters of the polygon receiver array. What graph: one is the geometry enclosed by the coordinate observations of each vertex receiver; the other is the geometry surrounded by the physical line of the vertex receiver with the coordinate observation value of the receiver at the center point Graphic
  • Step 3 If the two geometric figures have overlapping regions, use the observation values obtained from the receiver located at the center point and the coordinate observations obtained by the receivers of the respective vertices to calculate the coordinates of the center point of the polygon, and obtain a difference calculation.
  • the coordinate of the midpoint between the two coordinates which is the high-precision latitude and longitude coordinate information of the geometric center point of the antenna array;
  • Step 4 If the two geometric figures do not have overlapping regions, the correction coordinates are used to correct the positioning coordinates to obtain high-precision latitude and longitude coordinate information of the geometric center point of the antenna array.
  • the correction value is obtained by a correction value function library, and the correction value function library includes an optimal correction value under different parameter conditions such as different carrier-to-noise ratio, available satellite number, elevation angle and angle, and channel practical quantity. The best correction value is obtained experimentally.
  • the length of the correction value is smaller than the radius of the physical receiver antenna array.
  • the method for correcting the positioning coordinates by using the correction value is: calculating the coordinates of the center point of the polygon minus the correction value by using the coordinate observation value obtained by the single point satellite positioning receiver of the vertex, thereby obtaining the geometric center point of the antenna array. High precision latitude and longitude coordinate information.
  • the present invention arranges a plurality of single-point satellite positioning receivers according to a certain geometric shape to form a receiver array circuit, which can completely eliminate the three-part error existing in a single-point satellite positioning receiver, and directly utilizes and processes the satellite positioning system.
  • the satellite positioning signal that is issued can significantly improve the positioning accuracy (up to decimeter or even centimeter level).
  • the invention does not rely on the reference station to improve the positioning accuracy, completely eliminates the construction and use cost of the base station, the ground augmentation system and the data link, and also eliminates the cumbersome professional technical operation, and also makes the working range thereof Any limitations.
  • the present invention has a very low receiver cost compared to a user receiver that relies on a base station for communication and differential calculations.
  • the present invention increases the number of components, but these devices are low-cost components, but the satellite positioning accuracy is improved by 100 times, remarkable Improve the cost performance of the user receiver.
  • the invention has reasonable design, high precision, low cost and convenient use, and can be widely applied in the general civil field of high-precision real-time satellite positioning and navigation.
  • FIG. 1 is a geometrical diagram of a square receiver antenna array of the present invention
  • Figure 2 is a circuit block diagram of a square receiver array
  • Figure 3 is a schematic diagram of the operation of the square receiver array of the present invention (the two squares have overlapping conditions);
  • Figure 4 is a schematic diagram of the operation of the square receiver array of the present invention (two squares without overlap).
  • a high-precision real-time satellite positioning device is realized by using a receiver array circuit formed by a plurality of single-point satellite positioning receivers arranged in a certain geometric shape, and the receiver array can be triangular, square, and five.
  • the geometrical position distribution of the polygon, hexagon or other polygons, the antenna phase center of each single-point satellite positioning receiver is located at each vertex and center point of the polygon.
  • a high-precision real-time satellite positioning device composed of a square receiver array shown in FIG. 1 will be described below as an example.
  • a high-precision real-time satellite positioning device consisting of a square receiver array includes five single-point satellite positioning receivers to form a square array of overall receiver circuits, wherein four single-point satellite positioning receivers have respective antenna geometric phase centers located in a square four
  • the vertices A, B, C, D, and the antenna geometric phase center of the other central single-point satellite positioning receiver are located at the center point E.
  • Each receiver antenna vibrator is laid out on the same plane.
  • the antennas of the four vertex A, B, C, and D receivers are corrected such that the coordinate observations of the four receivers are in the same direction as the deviation vector between the true values.
  • the antenna of the receiver located at the center point E is corrected so that the direction of the deviation vector between its coordinate observation value and the true value is 180 degrees out of the deviation vector direction of the A, B, C, and D receivers, that is, the deviation direction is opposite.
  • FIG. 2 shows a block diagram of the circuit of a high precision real-time satellite positioning device.
  • Each single-point satellite positioning receiver includes an MCU and a receiver connected to the MCU.
  • the MCUs of the five single-point satellite positioning receivers are connected in parallel and connected to one processor module.
  • Each of the single-point satellite positioning receivers of A, B, C, D, and E, with the satellite signal strength, satellite elevation and angle, and the number of available satellites, allows the five receivers to lock the same available positioning satellite.
  • N frames per second According to the original data of the satellite positioning, the original processing is used to calculate the antenna phase geometric center coordinates of each single point receiver.
  • Each receiver corresponds to one MCU to process the received data, and five MCUs generate the IDs of five receivers.
  • the five MCUs are connected in parallel with each other such that the five receivers maintain data synchronization and transmit the ID data of each receiver to the processor module.
  • the first function of the processor module is to control the five receivers and the MCU to maintain data synchronization.
  • the second function is to parse the data received from the MCU, perform comprehensive processing to complete the calculation, and solve and output the final positioning coordinates.
  • a high-precision real-time satellite positioning device composed of an equilateral triangle, an equilateral pentagon, an equilateral hexagon or other equilateral polygon array is similar to a high-precision real-time satellite positioning device composed of a square array, and will not be repeatedly described herein.
  • the working principle of the high-precision real-time satellite positioning device of the present invention since the antenna phase center of each single-point satellite positioning receiver is located at each vertex and center point of the polygon, the vector of the relative position between the phase centers of the respective receiver antennas (distance sum) The direction) is fixed and is a known parameter.
  • the satellite positioning coordinate observations available to the respective receivers have deviations between the observed values of the phase centers of the respective receiver antennas and the actual coordinates due to the errors existing in the single-point receiver.
  • the vector of the relative position between the coordinate observation values of the phase centers of the respective receiver antennas and the relative position of the known phase centers of the respective receiver antennas can extract the deviation due to the various errors described above.
  • Vector At this time, the deviation vector can be subtracted from the observation of the overall phase center of the receiver array antenna, thereby obtaining the observed coordinates of the overall circuit of the receiver array. Since the deviation can already be eliminated, this coordinate is closer to the true coordinates.
  • the high-precision real-time satellite positioning device of the present invention can completely eliminate the first part of the error existing in the single-point satellite positioning receiver; the second part and the third part of the error can be mostly eliminated.
  • the following requirements should be met:
  • the receiver antenna array should be an equilateral polygon such as an equilateral triangle, a square, a pentagon or a hexagon.
  • the phase center of each receiver antenna is located at each vertex and center point.
  • the clocks of the various receivers are kept synchronized, and the clock is synchronized by the receiver independent MCU.
  • the raw data of the satellite positioning signal is received in N frames per second for separate processing.
  • the accuracy is improved by correcting the value.
  • the parameters with different influences on accuracy such as different carrier-to-noise ratio, available satellite number, elevation angle and angle, and practical number of channels, are utilized to obtain the best correction value.
  • the length of this correction should be less than the radius of the receiver circuit.
  • the high-precision real-time satellite positioning method of the present invention includes the following steps:
  • Step 1 Each single-point satellite positioning receiver sends its own ID and observation coordinate to the processor module.
  • Step 2 The processor module calculates the geometric figure according to the ID of each receiver, the observation value of the apex angle receiver, the coordinates of the central receiver observation value, and the physical geometric parameters of the square array.
  • Step 3 If ABCD and A'B'C'D' have overlapping areas (as shown in Figure 3), use the observation E' obtained from the receiver at the center point and the receiver using four vertices.
  • the obtained coordinate observation value calculates the coordinate E of the square center point to perform differential calculation, that is, calculates the coordinates of the midpoint between the two coordinates, that is, obtains high-precision coordinate information of the geometric center point of the antenna array. If the geometry of the antenna array is several tens of centimeters, the error of the resulting coordinate information should be within a few tens of centimeters.
  • Step 4 If ABCD and A'B'C'D' do not have overlapping areas (as shown in Fig. 4), it indicates that the deviation is large, and the positioning accuracy is not high enough. Under these conditions, we can introduce correction values to improve accuracy.
  • the receiving opportunity picks up the best correction value from this database according to different carrier-to-noise ratio, available satellite number, elevation angle and angle, and channel practical quantity.
  • the coordinate E of the square center point is subtracted from the correction value to obtain the high-precision latitude and longitude coordinate information of the geometric center point of the antenna array.
  • the high-precision real-time satellite positioning method composed of an equilateral triangle, an equilateral pentagon, an equilateral hexagon or other equilateral polygon array is similar to the high-precision real-time satellite positioning method composed of a square array, and will not be repeated here.

Abstract

一种高精度实时卫星定位装置及其方法，该装置包括多个单点卫星定位接收机构成的多边形接收机阵列，各个单点卫星定位接收机的天线相位中心位于多边形接收机阵列的各顶点（A、B、C、D）和中心点（E）上，每个单点卫星定位接收机均包括一个MCU及与MCU相连接的接收机，各个MCU相互之间并联在一起并共同连接到一个处理器模块上。该装置将多个单点卫星定位接收机按一定几何形状排列而构成接收机阵列电路，能够最大程度地消除单点卫星定位接收机存在误差，其直接利用和处理卫星定位系统下发的卫星定位信号就能显著提高定位精度，具有设计合理、精度高、成本低廉、使用方便等特点。

Description

一种高精度实时卫星定位装置及其方法 技术领域
本发明属于卫星导航定位技术领域，尤其是一种不依靠基准站的高精度实时卫星定位装置及其方法。
背景技术
卫星定位导航系统主要包括GPS、北斗、GLONASS、Galileo等，随着卫星定位技术的快速发展，人们对快速高精度位置信息的需求也日益强烈。当前，高精度实时卫星定位导航的应用范围越来越广，要求用户接收机的定位精度需要达到分米级甚至厘米级。
单点卫星定位接收机技术已经非常成熟。由公知原理可知，卫星定位是利用一组卫星的伪距、星历、卫星发射时间等观测量和用户钟差来实现的。要获得地面的三维坐标，必须对至少4颗卫星进行测量。在这一定位过程中，存在3部分误差：第一部分误差是由卫星钟误差、星历误差、电离层误差、对流层误差等引起的；第二部分是由传播延迟导致的误差；第三部分为各用户接收机固有的误差，由内部噪声、通道延迟、多路径效应等原因造成。由于这些误差的存在，单点卫星静态定位的精度很难达到10米以下，因此，不能满足高精度定位要求。
为了获得更高的定位精度，目前主要采用差分卫星定位技术来实现。差分卫星定位技术的原理为：首先利用已知精确三维坐标的差分卫星定位地面基准站，求得伪距修正量或位置修正量或载波相位修正量，再将这个修正量实时通过数据链发送给用户接收机(移动站)，对用户接收机的测量数据进行修正，移去了大部分误差，从而提高用户接收机的卫星定位精度。用户接收机可处于静止状态，也可处于运动状态。基准站发送的信息方式可将差分定位分为三类，即：位置差分、伪距差分和相位差分。差分卫星定位是在正常的卫星定位外附加(差分)修正信号，此修正信号改善了卫星定位的精度。这三类差分方式的工作原理是相同的，所不同的是，发送修正数的具体内容不一样，其差分定位精度也不同。为了进一步提高性能和使用方便性，可以将 多个基准站通过数据处理中心连接成网络，构成地面增强系统，向用户接收机发送修正量。我们发现，现有的这种差分卫星定位技术的原理是必须依靠基准站通过数据链路来发送修正量才能显著提高定位精度。但是，建设和使用基准站、数据链路及用户接收机的成本很高，而且操作繁琐，另外在应用中遇到的最大问题就是基准站校正数据的有效作用距离与范围非常有限，这些缺陷阻碍了高精度实时卫星定位导航的大规模应用推广。
发明内容
本发明的目的在于克服现有技术的不足，提供一种设计合理、精度高、成本低的高精度实时卫星定位装置及其方法。
本发明解决其技术问题是采取以下技术方案实现的：
一种高精度实时卫星定位装置，包括多个单点卫星定位接收机构成的多边形接收机阵列，各个单点卫星定位接收机的天线相位中心位于多边形接收机阵列的各顶点和中心点上，每个单点卫星定位接收机均包括一个MCU及与MCU相连接的接收机，各个MCU相互之间并联在一起并共同连接到一个处理器模块上。
进一步，所述单点卫星定位接收机的天线振子分布在同一平面上，校正各个单点卫星定位接收机天线,使位于各顶点的单点卫星定位接收机坐标观测值与真实值之间的偏差矢量的方向相互一致；这个偏差矢量的方向与位于中心点的单点卫星定位接收机的偏差矢量方向相反，即两个偏差矢量矢量的方向相差180度。
进一步，所述的多边形接收机天线阵列为等边三角形接收机天线阵列、正方形接收机天线阵列、等边五边形接收机天线阵列或等边六边形接收机天线阵列。
一种高精度实时卫星定位方法，包括以下步骤：
步骤1、各个单点卫星定位接收机将各自的ID及观测值坐标发给处理器模块；
步骤2、处理器模块根据各个单点卫星定位接收机的ID、各个单点卫星定位接收机的观测值、多边形接收机阵列的物理几何参数计算出如下两个几 何图形：一个是各个顶点接收机的坐标观测值所围成的几何图形；另一个是以位于中心点的接收机的坐标观测值为中心点，以顶点接收机的物理线路所围成的几何图形；
步骤3、如果两个几何图形有重合区域，则使用从位于中心点的接收机得到的观测值与利用各个顶点的接收机所得到的坐标观测值计算出多边形中心点的坐标进行差分计算，得到两个坐标之间的中点的坐标，该坐标即为天线阵列几何中心点的高精度的经纬度坐标信息；
步骤4：如果两个几何图形没有重合区域，则利用修正值对定位坐标进行修正，得到天线阵列几何中心点的高精度的经纬度坐标信息。
进一步，所述修正值是通过修正值函数库获得，该修正值函数库包括对应不同的载噪比、可用卫星数、仰角和夹角、信道实用数量等参数条件下的最佳修正值，上述最佳修正值是通过试验方式获得。
进一步，所述修正值的长度小于物理接收机天线阵列的半径。
进一步，所述利用修正值对定位坐标进行修正的方法为：利用顶点的单点卫星定位接收机所得到的坐标观测值计算出多边形中心点的坐标减去修正值，从而得到天线阵列几何中心点的高精度的经纬度坐标信息。
本发明的优点和积极效果是：
1、本发明将多个单点卫星定位接收机按一定几何形状排列而构成接收机阵列电路，能够最大程度地消除单点卫星定位接收机存在的三部分误差，其直接利用和处理卫星定位系统下发的卫星定位信号就能显著提高定位精度(达到分米甚至厘米级)。
2、本发明不依靠基准站来提高定位精度，完全省去了基准站、地面增强系统及数据链路的建设与使用成本，也免去了繁琐的专业技术操作，同时也使得其工作范围没有任何局限。
3、本发明与依靠基准站进行通讯和差分计算的用户接收机相比，其接收机成本非常低廉。
4、本发明与普通的单点卫星定位接收机相比，虽然增加了部分元器件数量，但这些器件均为低成本元件，但却将卫星定位精度提高了100倍，显著 提高了用户接收机的性价比。
5、本发明设计合理，具有精度高、成本低廉、使用方便等特点，可以在高精度实时卫星定位导航的普通民用领域大规模应用推广。
附图说明
图1是本发明的正方形接收机天线阵列几何分布图；
图2是正方形接收机阵列的电路方框图；
图3是本发明的正方形接收机阵列工作原理图(两个正方形有重叠情况)；
图4是本发明的正方形接收机阵列工作原理图(两个正方形无重叠情况)。
具体实施方式
以下结合附图对本发明实施例做进一步详述：
一种高精度实时卫星定位装置，是利用一个由多个单点卫星定位接收机按一定几何形状排列而构成的接收机阵列电路来实现定位精度的提高，接收机阵列可以是三角形、正方形、五边形、六边形或其他多边形几何位置分布，各个单点卫星定位接收机的天线相位中心位于多边形各顶点和中心点。
下面以图1所示的正方形接收机阵列构成的高精度实时卫星定位装置为例进行说明。以正方形接收机阵列构成的高精度实时卫星定位装置包括五个单点卫星定位接收机组成一个正方形阵列的总体接收机电路，其中四个单点卫星定位接收机各自的天线几何相位中心位于正方形四个顶点A、B、C、D，另一个中心单点卫星定位接收机的天线几何相位中心位于中心点E。各个接收机天线振子布在同一平面上。校正四个顶点A、B、C、D接收机的天线，使这四个接收机的坐标观测值与真实值之间偏差矢量的方向相同。同时校正位于中心点E的接收机的天线，使它的坐标观测值与真实值之间偏差矢量的方向与A、B、C、D接收机的偏差矢量方向相差180度，即偏差方向相反。
图2给出了高精度实时卫星定位装置的电路方框图。每个单点卫星定位接收机均包括一个MCU及与MCU相连接的接收机，五个单点卫星定位接收机的MCU相互之间并联在一起，并共同连接到一个处理器模块中。A、B、C、D、E每个单点卫星定位接收机，通过卫星信号强度、卫星仰角和夹角高低以及可用卫星颗数分析，使五个接收机锁定相同的可用定位卫星。以每秒N帧的数 据来接收卫星定位的原始数据进行单独处理解算出每个单点接收机的天线相位几何中心坐标。每个接收机都对应一个MCU来处理接收到的数据，五个MCU生成五个接收机的ID。五个MCU相互之间是并联的，这样使五个接收机保持数据同步，并将每个接收机的ID数据发送给处理器模块。处理器模块的第一个作用是控制五个接收机和MCU保持数据同步，第二个作用是将从MCU收到的数据进行解析，进行综合处理完成计算，解算并输出最终的定位坐标。
等边三角形、等边五边形、等边六边形或其他等边多边形阵列构成的高精度实时卫星定位装置与正方形阵列构成的高精度实时卫星定位装置类似，在此不再重复说明。
本发明的高精度实时卫星定位装置的工作原理：由于各个单点卫星定位接收机的天线相位中心位于多边形各顶点和中心点，位于各个接收机天线相位中心之间的相对位置的矢量(距离和方向)也就固定下来，并且是已知的参数。另一方面，各个接收机可得到的卫星定位坐标观测量，由于单点接收机存在的误差，各个接收机天线相位中心的观测值与实际坐标之间存在偏差。各个接收机天线相位中心的坐标观测值之间的相对位置的矢量，与已知的各个接收机天线相位中心之间的相对位置的矢量对比，就可以提取出由于前述各种误差而引起的偏差矢量。这时，可以由接收机阵列天线的总体相位中心的观测值减去偏差矢量，从而得到接收机阵列总体电路的观测出的坐标。由于已经能够消除了偏差，这个坐标就更接近于真实的坐标。
本发明的高精度实时卫星定位装置可以将单点卫星定位接收机存在的第一部分误差可以完全消除；第二部分和第三部分误差大部分可以消除。为了实现最好的应用效果，应满足如下要求：
第一，尽量提高各个单点接收机的单点定位精度。
第二，接收机天线阵列应为等边多边形，如等边三角形、正方形、五边形或六边形。各个接收机天线相位中心位于各个顶点和中心点。
第三，各个接收机的时钟保持同步，利用接收机独立MCU进行时钟同步。
第四，校正各个单点卫星定位接收机天线,使位于各顶点的单点卫星定位接收机坐标观测值与真实值之间的偏差矢量的方向相互一致；这个偏差矢量 的方向与位于中心点的单点卫星定位接收机的偏差矢量方向相反，即这俩个矢量的方向相差180度。而且调整尺寸大小来优化定位的精度。
第五，各个接收机接收的卫星相同。以每秒N帧的数据来接收卫星定位信号的原始数据进行单独处理。
第六，通过修正值来提高精度。利用不同的载噪比、可用卫星数、仰角和夹角、信道实用数量等对精度有影响的参数加以利用，获得最佳的修正值。这个修正值的长度应小于接收机电路的半径。
基于上述高精度实时卫星定位装置，以正方形接收机阵列为例，本发明的高精度实时卫星定位方法包括以下步骤：
步骤1、各个单点卫星定位接收机将各自的ID及观测值坐标发给处理器模块。
步骤2、处理器模块根据各个接收机的ID、顶角接收机的观测值、中心接收机观测值坐标、正方形阵列的物理几何参数计算出几何图形。
由于位于四个顶点的接收机与位于中心点的接收机坐标偏差矢量的方向相差180度，即偏差方向相反。这样计算出两个正方形：一个是由四个顶点的接收机所得到的坐标观测值所围成的正方形ABCD，其中心点坐标为E；另一个是以物理电路中位于中心点的接收机的观测值E’为中心点和接收机天线正方形阵列物理长度所画出的正方形A’B’C’D’。
步骤3：如果ABCD和A’B’C’D’有重合的面积(如图3所示)，则使用从位于中心点的接收机得到的观测值E’与利用四个顶点的接收机所得到的坐标观测值计算出正方形中心点的坐标E进行差分计算，即计算出这俩个坐标的之间的中点的坐标，即得到天线阵列几何中心点的高精度的坐标信息。如果天线阵列的几何尺寸是几十厘米,那么得到的坐标信息的误差就应在几十厘米以内。
步骤4：如果ABCD和A’B’C’D’没有重合的面积(如图4所示)，则表明偏差较大，此定位精度不够高。在这种条件下，我们可以引入修正值来提高精度。
由于不同的载噪比、可用卫星数、仰角和夹角、信道实用数量等条件都 会对定位精度有影响，我们可以通过测试试验而获得在不同的载噪比、可用卫星数、仰角和夹角、信道实用数量等参数条件下的最佳修正值，形成修正值函数数据库。这个修正值的长度应小于物理接收机天线阵列的半径。在实际工作中，接收机会根据不同的载噪比、可用卫星数、仰角和夹角、信道实用数量来从此数据库中调取最佳的修正值。利用四个顶点的接收机所得到的坐标观测值计算出正方形中心点的坐标E减去修正值即得到天线阵列几何中心点的高精度的经纬度坐标信息。
等边三角形、等边五边形、等边六边形或其他等边多边形阵列构成的高精度实时卫星定位方法与正方形阵列构成的高精度实时卫星定位方法类似，在此不再重复说明。
需要强调的是，本发明所述的实施例是说明性的，而不是限定性的，因此本发明并不限于具体实施方式中所述的实施例，凡是由本领域技术人员根据本发明的技术方案得出的其他实施方式，如其他几何形状的接收机阵列等，同样属于本发明保护的范围。

Claims (7)

  1. 一种高精度实时卫星定位装置，其特征在于：包括多个单点卫星定位接收机构成的多边形接收机阵列，各个单点卫星定位接收机的天线相位中心位于多边形接收机阵列的各顶点和中心点上，每个单点卫星定位接收机均包括一个MCU及与MCU相连接的接收机，各个MCU相互之间并联在一起并共同连接到一个处理器模块上。
  2. 根据权利要求1所述的一种高精度实时卫星定位装置，其特征在于：所述单点卫星定位接收机的天线振子分布在同一平面上，校正各个单点卫星定位接收机天线,使位于各顶点的单点卫星定位接收机坐标观测值与真实值之间的偏差矢量的方向相互一致；这个偏差矢量的方向与位于中心点的单点卫星定位接收机的偏差矢量方向相反，即两个偏差矢量矢量的方向相差180度。
  3. 根据权利要求1或2所述的一种高精度实时卫星定位装置，其特征在于：所述的多边形接收机阵列为等边三角形、正方形接收机阵列、等边五边形接收机阵列或等边六边形接收机阵列。
  4. 一种如权利要求1至3任一项所述的一种高精度实时卫星定位装置的定位方法，其特征在于包括以下步骤：
    步骤1、各个单点卫星定位接收机将各自的ID及观测值坐标发给处理器模块；
    步骤2、处理器模块根据各个单点卫星定位接收机的ID、各个单点卫星定位接收机的观测值、多边形接收机阵列的物理几何参数计算出如下两个几何图形：一个是各个顶点接收机的坐标观测值所围成的几何图形；另一个是以位于中心点的接收机的坐标观测值为中心点，以顶点接收机的物理线路所围成的几何图形；
    步骤3、如果两个几何图形有重合区域，则使用从位于中心点的接收机得到的观测值与利用各个顶点的接收机所得到的坐标观测值计算出多边形中心点的坐标进行差分计算，得到两个坐标之间的中点的坐标，该坐标即为天线阵列几何中心点的高精度的经纬度坐标信息；
    步骤4：如果两个几何图形没有重合区域，则利用修正值对定位坐标进行修正，得到天线阵列几何中心点的高精度的经纬度坐标信息。
  5. 根据权利要求4所述的一种高精度实时卫星定位装置的定位方法，其特征在于：所述修正值是通过修正值函数库获得，该修正值函数库包括对应不同的载噪比、可用卫星数、仰角和夹角、信道实用数量等参数条件下的最佳修正值，上述最佳修正值是通过试验方式获得。
  6. 根据权利要求4所述的一种高精度实时卫星定位装置的定位方法，其特征在于：所述修正值的长度小于物理接收机天线阵列的半径。
  7. 根据权利要求4所述的一种高精度实时卫星定位装置的定位方法，其特征在于：所述利用修正值对定位坐标进行修正的方法为：利用顶点的单点卫星定位接收机所得到的坐标观测值计算出多边形中心点的坐标减去修正值，从而得到天线阵列几何中心点的高精度的经纬度坐标信息。
PCT/CN2016/109101 2016-01-29 2016-12-09 一种高精度实时卫星定位装置及其方法 WO2017128871A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP16887742.1A EP3410144B1 (en) 2016-01-29 2016-12-09 High-precision, real-time satellite positioning device and method thereof
US15/665,461 US10634796B2 (en) 2016-01-29 2017-08-01 High-precision real-time satellite positioning apparatus and method thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610064456.3 2016-01-29
CN201610064456.3A CN105589087B (zh) 2016-01-29 2016-01-29 一种高精度实时卫星定位装置及其方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/665,461 Continuation US10634796B2 (en) 2016-01-29 2017-08-01 High-precision real-time satellite positioning apparatus and method thereof

Publications (1)

Publication Number Publication Date
WO2017128871A1 true WO2017128871A1 (zh) 2017-08-03

Family

ID=55928812

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/109101 WO2017128871A1 (zh) 2016-01-29 2016-12-09 一种高精度实时卫星定位装置及其方法

Country Status (4)

Country Link
US (1) US10634796B2 (zh)
EP (1) EP3410144B1 (zh)
CN (1) CN105589087B (zh)
WO (1) WO2017128871A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112965147A (zh) * 2021-02-09 2021-06-15 珠海复旦创新研究院 一种宽带干涉仪闪电定位系统的系统误差模拟和优化方法
CN115856945A (zh) * 2023-02-03 2023-03-28 北京航空航天大学 适用于gnss多频点的精密单点授时方法、装置及介质

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105589087B (zh) 2016-01-29 2017-06-23 申研 一种高精度实时卫星定位装置及其方法
CN106501826B (zh) 2016-09-14 2017-08-25 申研 一种高精度实时卫星定位方法
CN108226974B (zh) * 2017-12-29 2021-09-28 北京航空航天大学 多无人机编队中的无人机定位方法和装置
CN109343090A (zh) * 2018-07-10 2019-02-15 东南大学 一种嵌入式gps/ bds/glonass实时精密单点定位设备
CN109444931B (zh) * 2018-10-08 2020-12-15 闽江学院 一种静态伪距单点定位的方法及装置
CN109856661A (zh) * 2018-12-18 2019-06-07 中国电子科技集团公司第五十四研究所 一种去中心化多站高精度相对位置获取方法
CN109581442B (zh) 2018-12-27 2021-05-11 华为技术有限公司 一种高精度的卫星定位方法、定位终端和定位系统
CN110927761B (zh) * 2019-11-22 2023-09-05 大连金勺科技有限公司 一种gnss阵列式联合高精度定位算法
CN111381256B (zh) * 2020-03-10 2022-07-26 上海卫星工程研究所 主动遥感卫星天线相位中心偏移误差计算的方法和系统
CN111538044B (zh) * 2020-04-10 2023-03-07 苏州市高新北斗导航平台有限公司 低成本rtk接收机定位精度测试方法
CN111504311A (zh) * 2020-05-15 2020-08-07 杭州鸿泉物联网技术股份有限公司 多传感器融合实时定位导航装置及方法
CN113721277A (zh) * 2021-09-24 2021-11-30 苏州常棣华电子科技有限公司 一种高精度卫星定位方法（grp）和装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8120527B2 (en) * 2008-01-30 2012-02-21 Javad Gnss, Inc. Satellite differential positioning receiver using multiple base-rover antennas
CN102830405A (zh) * 2012-08-29 2012-12-19 四川九洲空管科技有限责任公司 一种多点定位系统高精度同步授时方法
CN103364056A (zh) * 2013-07-22 2013-10-23 鲍李峰 一种三天线多模gnss卫星高度计定标浮标
CN105589087A (zh) * 2016-01-29 2016-05-18 申研 一种高精度实时卫星定位装置及其方法
CN105699939A (zh) * 2016-01-29 2016-06-22 申研 一种高精度实时定位装置及其方法
CN205374753U (zh) * 2016-01-29 2016-07-06 申研 一种高精度实时卫星定位装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5446465A (en) * 1993-06-18 1995-08-29 Diefes; Debra L. Satellite location and pointing system for use with global positioning system
JP2002048856A (ja) * 2000-08-07 2002-02-15 Hitachi Ltd Ｇｐｓ受信システム及びｇｐｓ受信機並びに記録媒体
US6812887B2 (en) * 2001-12-12 2004-11-02 Nokia Corporation Method and apparatus for saving power in a global positioning system receiver
US8094087B2 (en) * 2008-01-31 2012-01-10 Javad Gnss, Inc. Portable navigational antenna system
CN101419275B (zh) * 2008-12-08 2011-09-07 北京航空航天大学 基于多接收机的局域机场监视方法和系统
CN102323598B (zh) * 2011-07-29 2013-02-20 中国气象局北京城市气象研究所 一种电离层残差扰动量的检测方法、装置及系统
CN102636795B (zh) * 2012-04-27 2013-08-21 清华大学 一种多接收机网络化无线定位方法
CN104808225A (zh) * 2014-01-28 2015-07-29 石立公 单点卫星定位误差的测量方法、校正方法及装置
US10690777B2 (en) * 2014-07-31 2020-06-23 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Multi-antenna-GNSS receiver-system to raise the probability of line of sight
DE102015204259A1 (de) * 2015-03-10 2016-09-15 Siemens Aktiengesellschaft Verfahren und Anordnung zur Positionsbestimmung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8120527B2 (en) * 2008-01-30 2012-02-21 Javad Gnss, Inc. Satellite differential positioning receiver using multiple base-rover antennas
CN102830405A (zh) * 2012-08-29 2012-12-19 四川九洲空管科技有限责任公司 一种多点定位系统高精度同步授时方法
CN103364056A (zh) * 2013-07-22 2013-10-23 鲍李峰 一种三天线多模gnss卫星高度计定标浮标
CN105589087A (zh) * 2016-01-29 2016-05-18 申研 一种高精度实时卫星定位装置及其方法
CN105699939A (zh) * 2016-01-29 2016-06-22 申研 一种高精度实时定位装置及其方法
CN205374753U (zh) * 2016-01-29 2016-07-06 申研 一种高精度实时卫星定位装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3410144A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112965147A (zh) * 2021-02-09 2021-06-15 珠海复旦创新研究院 一种宽带干涉仪闪电定位系统的系统误差模拟和优化方法
CN115856945A (zh) * 2023-02-03 2023-03-28 北京航空航天大学 适用于gnss多频点的精密单点授时方法、装置及介质

Also Published As

Publication number Publication date
EP3410144B1 (en) 2023-06-07
CN105589087B (zh) 2017-06-23
EP3410144A1 (en) 2018-12-05
EP3410144A4 (en) 2019-08-21
US20170343679A1 (en) 2017-11-30
EP3410144C0 (en) 2023-06-07
CN105589087A (zh) 2016-05-18
US10634796B2 (en) 2020-04-28

Similar Documents

Publication Publication Date Title
WO2017128871A1 (zh) 一种高精度实时卫星定位装置及其方法
WO2018049945A1 (zh) 一种高精度实时卫星定位方法
CN104502926B (zh) 一种基于精密机械臂的室外gnss接收机绝对天线相位中心校正方法
CN110275192B (zh) 一种基于智能手机的高精度单点定位方法与装置
CN108919634A (zh) 一种北斗三频非差非组合观测值时间传递系统及方法
CN108490473A (zh) 一种融合gnss和uwb的无人机增强定位方法与系统
CN107765275B (zh) 广域差分定位方法、装置、终端及计算机可读存储介质
CN107861131A (zh) 一种斜路径电离层延迟的获取方法及系统
WO2022161126A1 (zh) 一种实时定位系统及方法
CN113325446B (zh) 一种多模共频gnss载波相位时间传递方法及系统
CN105549048B (zh) 基于三角形接收机阵列的高精度卫星定位装置及其方法
CN107807373A (zh) 基于移动智能终端的gnss高精度定位方法
JP2010112842A (ja) Ｔｅｃマップ及び受信機バイアスの作成及び測定方法及び装置
CN107037463B (zh) 一种地基长波授时系统与gnss系统的组合定位授时方法
CN110146904B (zh) 一种适用于区域电离层tec的精确建模方法
CN109613582B (zh) 一种车载实时单频米级伪距定位方法
CN205374753U (zh) 一种高精度实时卫星定位装置
CN205374750U (zh) 基于三角形接收机阵列的高精度实时卫星定位装置
CN110596737A (zh) 一种gnss虚拟参考站自适应建站方法
CN114355419B (zh) 一种分布式北斗位置服务中心rtk产品定位方法及定位装置
Wang et al. Edge computing-based differential positioning method for BeiDou navigation satellite system
CN110646817A (zh) 计算定位误差的方法和高精度定位方法
Wang et al. Optimal weighting method for reducing digital satellite TV differential timing error
CN114236585B (zh) 基于北斗导航卫星系统的目标运动监测方法及存储介质
CN116088021B (zh) 一种基于天线布局的测姿方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16887742

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2016887742

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2016887742

Country of ref document: EP

Effective date: 20180829