WO2020077941A1 - 一种城市峡谷环境下用于测绘车辆的定位系统及方法 - Google Patents

一种城市峡谷环境下用于测绘车辆的定位系统及方法 Download PDF

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WO2020077941A1
WO2020077941A1 PCT/CN2019/077889 CN2019077889W WO2020077941A1 WO 2020077941 A1 WO2020077941 A1 WO 2020077941A1 CN 2019077889 W CN2019077889 W CN 2019077889W WO 2020077941 A1 WO2020077941 A1 WO 2020077941A1
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module
satellite
positioning
inertial navigation
mobile communication
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陈熙源
闫晣
张梦尧
汤新华
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Southeast University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • G01S19/22—Multipath-related issues
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/246—Acquisition or tracking or demodulation of signals transmitted by the system involving long acquisition integration times, extended snapshots of signals or methods specifically directed towards weak signal acquisition
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Definitions

  • the invention relates to a positioning system and method for surveying and mapping vehicles in an urban canyon environment, which belongs to the field of wireless communication technology application, multi-sensor data fusion and application.
  • High-precision mobile mapping systems provide a technical guarantee for obtaining high-precision geographic information and three-dimensional digital images.
  • the navigation positioning module of urban surveying and mapping vehicles usually adopts the method of combining satellite and dead reckoning, and uses the complementary characteristics of the satellite navigation system and the inertial navigation system to realize the precise positioning of the mapping vehicle in the urban environment.
  • GNSS Global Navigation System
  • RTK real-time dynamic carrier phase differential
  • the inertial navigation system can suppress the deterioration of the positioning accuracy when the satellite temporarily loses lock to a certain extent, and helps the satellite receiver to complete the acquisition and tracking faster when the signal is restored, the combined satellite / inertial navigation system cannot meet the continuous satellite signal loss High-precision positioning requirements.
  • the current MMS system usually adopts the rapid passage of the occlusion area, reduces the satellite lock-out time or chooses a suitable time period (such as dealing with the occlusion of large vehicles, choosing to avoid the peak period of vehicles; dealing with the occlusion of urban greening , Choose to work in the dead leaf period) and other methods to reduce the impact of signal occlusion, limiting the efficiency of MMS to generate mapping data.
  • the signal attenuation caused by the urban canyon seriously affects the stability of the receiver's tracking loop and positioning solution module.
  • the object of the present invention is to provide a positioning system and method for a surveying and mapping vehicle in an urban canyon environment, which can improve the positioning accuracy of the surveying and mapping vehicle in an urban canyon under signal attenuation, signal blocking, dynamic multipath conditions, and improve the robustness of the system Sex.
  • a positioning system for surveying and mapping vehicles in an urban canyon environment includes: an active satellite antenna module, a satellite radio frequency receiving module, a satellite baseband processing module, an inertial navigation module, a vector tracking module, a mobile communication network positioning module, and a combined navigation module;
  • the active satellite antenna module is used to receive satellite signals
  • the satellite radio frequency receiving module converts the satellite signal into a digital intermediate frequency signal through down conversion and AD sampling, and sends it to the satellite baseband processing module;
  • the satellite baseband processing module completes the generation of the local carrier and the local ranging code, and completes the mixing of the digital intermediate frequency signal with the local carrier and the local ranging code;
  • the inertial navigation module converts its estimated pseudorange error ⁇ INS and pseudorange rate error Send to the vector tracking module, and receive the error correction amount of the position, speed, acceleration, and attitude sent back by the vector tracking module;
  • the vector tracking module completes the data fusion of the information input by the inertial navigation module and the satellite baseband processing module, and provides correction feedback for the inertial navigation module and the satellite baseband processing module;
  • the mobile communication network positioning module sends the position and speed information obtained by the mobile communication network positioning to the combined navigation module;
  • the combined navigation module fuses the position and speed information sent by the inertial navigation module and the mobile communication network positioning module to obtain the optimal estimate of position and speed, and realizes two working modes and structures of whether the mobile communication network is connected or not Switch.
  • the satellite baseband processing module converts the I GNSS and Q GNSS signals obtained by mixing the digital intermediate frequency signal with the local carrier and the local ranging code into a pseudo range error ⁇ GNSS and pseudo range rate through a maximum likelihood estimation unit error
  • the inertial navigation module includes three single-axis accelerometers and three single-axis gyroscopes.
  • a method for positioning a surveying and mapping vehicle in an urban canyon environment using the above-mentioned positioning system for surveying and mapping vehicles in an urban canyon environment includes the following steps:
  • the satellite baseband signal processing module and the vector tracking module jointly perform satellite acquisition, tracking, bit synchronization, frame synchronization, and positioning solution, and initialize the inertial navigation module after completing the first positioning;
  • step (2) After completing step (1), enter the satellite / inertial integrated navigation mode, and the inertial navigation module estimates the pseudorange error ⁇ INS and pseudorange rate error based on the position and velocity information given by the IMU INS is short for Inertial Navigation System, and IMU is short for Inertial Measurement Unit.
  • the satellite baseband processing module mixes the received digital intermediate frequency signal with the local carrier and the local ranging code to obtain I GNSS and Q GNSS , where I indicates that the intermediate frequency signal is output in phase, and Q indicates that the intermediate frequency signal is output orthogonally.
  • pseudorange error ⁇ GNSS and pseudorange rate error are estimated from I GNSS and Q GNSS ⁇ INS , And ⁇ GNSS , The difference is regarded as the EKF observation, expressed as:
  • d ⁇ represents ⁇ INS - ⁇ GNSS
  • Express ⁇ represents noise
  • the subscript numbers of each parameter represent the satellite channel number
  • EKF is the abbreviation of Extended Kalman Filter
  • GNSS is the abbreviation of Global Navigation Satellite System
  • the vector tracking module combines the satellite ephemeris to estimate the carrier Doppler frequency and pseudocode phase of the satellite signal, and feeds back to the carrier NCO and ranging code NCO, respectively.
  • NCO is short for Digitally Controlled Oscillator (Numerically Controlled Oscillator)
  • the position and speed error information obtained in step (3) is used to correct the inertial navigation module;
  • step (4) After completing step (4), enter the mobile communication network auxiliary mode, and the integrated navigation module fuse the corrected position and speed of the inertial navigation module with the position and speed obtained by the mobile communication network positioning module to obtain the final position , Speed information.
  • the switching of the mobile communication network auxiliary mode in step (5) is based on the state of the tracking loop.
  • the system follows the above steps Enter the mobile communication network auxiliary mode as described in (5); when the above conditions are not met, the system works in the satellite / inertial combined navigation mode, and the corrected position and speed of the inertial navigation module are used as the final output of the system.
  • step (5) the information fusion described in step (5) is implemented by Kalman filtering, and the difference between the output information of the inertial navigation module and the mobile communication network positioning module is used as the observation.
  • the present invention adopts a method based on maximum likelihood estimation to obtain pseudorange and pseudorange rate error information from the original navigation information I and Q values, avoiding the nonlinearity caused by the traditional phase detector
  • the problem is that compared with the traditional tracking method, it can achieve more stable and continuous tracking under high dynamic and signal blocking conditions, and also has a certain suppression effect on multipath errors.
  • the inertial auxiliary information is added to the vector tracking based on maximum likelihood estimation to achieve deep satellite / inertial coupling, which further improves the tracking performance of the satellite receiver under high dynamic, weak signal and strong interference conditions.
  • Mobile communication network positioning provides a supplementary solution to the rapid deterioration of accuracy due to continuous loss of satellite lock in a complex urban environment, and realizes intelligent switching of the system structure and working mode under multi-source navigation information, improving the reliability of the system , To ensure the continuous and stable high-precision positioning of the mapping vehicle.
  • FIG. 1 is a schematic diagram of the system structure of the present invention.
  • FIG. 2 is a schematic flowchart of the method of the present invention.
  • a positioning system for surveying and mapping vehicles in an urban canyon environment includes an active satellite antenna module, a satellite radio frequency receiving module, a satellite baseband processing module, an inertial navigation module, a vector tracking module, and a mobile communication network positioning module And integrated navigation module.
  • the satellite radio frequency receiving module down-converts and AD samples the satellite signal into digital intermediate frequency signal.
  • maximum likelihood estimation method may GNSS from the I, Q GNSS estimated pseudo-range and pseudo error Ap GNSS Distance error
  • the inertial navigation module can also estimate the pseudorange error ⁇ INS and pseudorange rate error according to the position and speed errors, combined with the ephemeris The difference between ⁇ INS - ⁇ GNSS and As an observation of the data fusion unit in the vector tracking module.
  • the data fusion unit adopts the extended Kalman filtering method and uses the filtering result as the feedback correction value of the inertial navigation system.
  • the correction amount of the carrier NCO and the ranging code NCO in the line-of-sight direction is constructed by combining the ephemeris to form a closed-loop loop
  • the satellite / inertial deep coupling system based on maximum likelihood estimation is constructed, and the position and velocity information output by the inertial navigation module after error correction is used as the system output.
  • the inertial navigation system includes three single-axis accelerometers and three single-axis gyroscopes, which are used to measure linear acceleration and angular velocity in three directions under a three-dimensional coordinate system, respectively.
  • the system also includes a mobile communication network positioning module and a combined navigation module.
  • a mobile communication network positioning module When the satellite tracking channels are all unlocked and the continuous unlocking time is too long, the positioning accuracy of the satellite / inertial deep coupling system will continue to deteriorate.
  • the positioning method based on the mobile communication network can be used as a supplement, coupled to the system, and the difference between the position and speed information provided by the inertial navigation system and the position and speed information obtained by the positioning of the mobile communication network is used as an observation, and Kalman filtering is used. Information fusion.
  • the integrated navigation module is responsible for the execution of the Kalman filter algorithm and the switching of the two working modes and structures of whether the mobile communication network is connected or not.
  • a method for positioning a mapping vehicle in an urban canyon environment includes the following steps:
  • the satellite baseband signal processing module and the vector tracking module jointly perform satellite acquisition, tracking, bit synchronization, frame synchronization, and positioning solution, and initialize the inertial navigation system after completing the first positioning;
  • step (1) After completing step (1), enter the satellite / inertial integrated navigation mode, and the inertial navigation module estimates the pseudorange error ⁇ INS and pseudorange rate error based on the position and velocity information given by the IMU
  • the specific method is:
  • ⁇ R and ⁇ v represent the position error and velocity error of the inertial navigation system
  • c represents the speed of light
  • ⁇ t u and ⁇ t ru represent the clock difference and drift of the receiver, respectively.
  • the satellite baseband signal processing module mixes the received digital intermediate frequency signal with the local carrier and the local ranging code to obtain I GNSS and Q GNSS , where I indicates that the intermediate frequency signal is output in phase and Q indicates that the intermediate frequency signal is output orthogonally.
  • pseudorange error ⁇ GNSS and pseudorange rate error are estimated from I GNSS and Q GNSS ⁇ INS , And ⁇ GNSS , The difference is regarded as the EKF observation, expressed as:
  • ⁇ represents the code phase error of the ranging code
  • f CA is the nominal frequency of the ranging code
  • ⁇ f d is the carrier Doppler deviation
  • f is the nominal carrier frequency.
  • A is the signal amplitude
  • C is the ranging code sequence
  • T is the sampling interval
  • f IF is the digital intermediate frequency signal frequency
  • f d is the carrier Doppler frequency shift
  • ⁇ is the code phase
  • n k is the Gaussian white noise
  • k is the sampling point number.
  • phase error of the ranging code and the deviation of the carrier Doppler frequency can be obtained by the following formula:
  • the subscript P indicates that the signal belongs to the immediate correlation branch
  • N indicates the number of sampling points in a correlation integration period.
  • the first and second derivatives of the ranging code can be expressed as
  • d represents the length of a ranging code chip.
  • the vector tracking module combines the satellite ephemeris to estimate the carrier Doppler frequency and pseudocode phase of the satellite signal, and feeds back to the carrier NCO and ranging code NCO, respectively. Form a closed-loop tracking loop.
  • the position and speed error information obtained in step (3) is used to correct the inertial navigation module.
  • step (4) After completing step (4), enter the mobile communication network auxiliary mode, and the integrated navigation module fuse the corrected position and speed of the inertial navigation module with the position and speed obtained by the mobile communication network positioning module to obtain the final position , Speed information.
  • the switching of the auxiliary mode of the mobile communication network is based on the state of the tracking loop.
  • the system enters the auxiliary mode of the mobile communication network according to step (5).
  • the system works in the satellite / inertial integrated navigation mode, and the corrected position and speed of the inertial navigation module are used as the final output of the system.
  • the information fusion of the inertial navigation module and the mobile communication network positioning module is implemented by Kalman filtering, and the difference between the output information of the inertial navigation module and the mobile communication network positioning module is used as the observation.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

一种城市峡谷环境下用于测绘车辆的定位系统及方法。定位系统包括有源卫星天线模块、卫星射频接收模块、卫星基带处理模块、惯性导航模块、矢量跟踪模块、移动通信网络定位模块和组合导航模块。定位方法包括如下步骤：首次卫星定位后对惯性导航系统初始化；进入卫星/惯性深耦合模式，根据最大似然估计得到伪距和伪距率误差；与惯性导航模块的估计结果的差值作为EKF的观测量；对惯性导航模块进行校正；估计卫星信号多普勒频率和码相位。卫星持续失锁时间过长时使用移动通信网络辅助定位，实现多源导航信息下系统结构及工作模式的智能切换。可以改善复杂城市环境下测绘车辆在微弱信号、动态多径、强干扰条件下的持续高精度定位性能，提高了系统的可靠性。

Description

一种城市峡谷环境下用于测绘车辆的定位系统及方法 技术领域：
本发明涉及一种城市峡谷环境下用于测绘车辆的定位系统及方法，属于无线通信技术应用、多传感器数据融合及应用领域。
背景技术：
高精度的移动测图系统(Mobile Mapping Systems,MMS)为获取高精度地理信息和三维数字影像提供了技术保证。城市测绘车辆的导航定位模块通常采用卫星与航位推算相结合的方法，利用卫星导航系统和惯性导航系统的互补特性实现测绘车辆在城市环境下的精确定位。
以北斗为代表的全球卫星导航系统(Global Navigation Satellite System,GNSS)已经得到广泛的应用，然而，将GNSS技术应用于人口密集、服务需求最为广泛的城市区域时，仍面临微弱信号捕获与跟踪、多径效应以及信号频繁遮挡和阻塞导致的连续定位失败等挑战。城市峡谷中微弱信号及卫星定位中无法避免的多径效应对定位系统的精度和可靠性影响较大，在高精度的实时动态载波相位差分(RTK)定位需求中，多径抑制成为进一步改善卫星定位精度的关键问题，特别是发生在城市移动载体上变化较剧烈的动态短多径误差，增加了卫星接收机载波环路失锁可能性。虽然惯性导航系统可以在一定程度上抑制卫星短暂失锁时定位精度的恶化，帮助卫星接收机在信号恢复时更快地完成捕获跟踪，但是卫星/惯性组合导航系统无法满足连续卫星信号失锁时的高精度定位需求。
针对卫星信号的遮挡和阻塞问题，目前的MMS系统通常采用快速通过遮挡区、减小卫星失锁时间或者选择合适时段(如应对大型车辆的遮挡，选择避开车辆高峰期；应对城市绿化的遮挡，选择在枯叶期作业)等方法减弱信号遮挡的影响，限制了MMS生成测绘数据的效率。城市峡谷带来的信号衰减，严重影响接收机的跟踪环路与定位解算模块的稳定性。
发明内容
本发明的目的是提供一种城市峡谷环境下用于测绘车辆的定位系统及方法，能够改善城市峡谷中测绘车辆在信号衰减、信号阻塞、动态多径条件下的定位精度、提高系统的鲁棒性。
上述的目的通过以下技术方案实现：
一种城市峡谷环境下用于测绘车辆的定位系统，包括：有源卫星天线模块、卫星射频接收模块、卫星基带处理模块、惯性导航模块、矢量跟踪模块、移动通信网络定位模块和组合导航模块；
所述有源卫星天线模块，用于接收卫星信号；
所述卫星射频接收模块，将卫星信号经过下变频和AD采样转化为数字中频信号，送入卫星基带处理模块；
所述卫星基带处理模块，完成本地载波与本地测距码的生成，并完成数字中频信号与本地载波、本地测距码的混频；
所述惯性导航模块，将其估计的伪距误差δρ INS和伪距率误差
Figure PCTCN2019077889-appb-000001
送入矢量跟踪模块，同时接收矢量跟踪模块发回的位置、速度、加速度、姿态的误差校正量；
所述矢量跟踪模块，完成惯性导航模块和卫星基带处理模块送入信息的数据融合，并为惯性导航模块和卫星基带处理模块提供校正反馈；
所述移动通信网络定位模块，将移动通信网络定位得到的位置、速度信息送入组合导航模块；
所述组合导航模块，将惯性导航模块和移动通信网络定位模块送入的位置、速度信息进行融合，得到位置、速度的最优估计，并实现移动通信网络接入与否两种工作模式及结构的切换。
进一步的，所述卫星基带处理模块通过极大似然估计单元，将数字中频信号与本地载波、本地测距码混频得到的I GNSS、Q GNSS信号转化为伪距误差δρ GNSS和伪距率误差
Figure PCTCN2019077889-appb-000002
进一步的，所述惯性导航模块包括3个单轴的加速度计和3个单轴的陀螺仪。
一种用上述城市峡谷环境下用于测绘车辆的定位系统进行城市峡谷环境下测绘车辆的定位方法，该方法包括如下步骤：
(1)卫星基带信号处理模块和矢量跟踪模块共同进行卫星的捕获、跟踪、位同步、帧同步和定位解算，完成首次定位后对惯性导航模块进行初始化；
(2)完成步骤(1)后进入卫星/惯性组合导航模式，惯性导航模块根据IMU给出的位置、速度信息，估计出伪距误差δρ INS和伪距率误差
Figure PCTCN2019077889-appb-000003
其中INS是惯性导航系统(Inertial Navigation System)的简写，IMU是惯性测量单元(Inertial Measurement Unit)的简写；
(3)卫星基带处理模块将接收到的数字中频信号与本地载波和本地测距码进行混频，得到I GNSS、Q GNSS，其中I表示中频信号同相输出，Q表示中频信号正交输出。通过极大似然估计，从I GNSS、Q GNSS中估计出伪距误差δρ GNSS和伪距率误差
Figure PCTCN2019077889-appb-000004
将δρ INS、
Figure PCTCN2019077889-appb-000005
与δρ GNSS、
Figure PCTCN2019077889-appb-000006
的差值作为EKF的观测量，表示为：
Figure PCTCN2019077889-appb-000007
其中dρ表示δρ INS-δρ GNSS，
Figure PCTCN2019077889-appb-000008
表示
Figure PCTCN2019077889-appb-000009
η代表噪声，各参数的下标数字代表 卫星通道号，EKF是扩展卡尔曼滤波器(Extended Kalman Filter)的简写，GNSS是全球导航卫星系统(Global Navigation Satellite System)的简写；
(4)通过步骤(3)得到的位置、速度误差信息，矢量跟踪模块结合卫星星历估计出卫星信号的载波多普勒频率和伪码码相位，分别反馈到载波NCO和测距码NCO，形成闭环跟踪环路；其中NCO是数字控制振荡器(Numerically Controlled Oscillator)的简写，同时利用步骤(3)得到的位置、速度误差信息对惯性导航模块进行校正；
(5)完成步骤(4)后进入移动通信网辅助模式，组合导航模块将惯性导航模块经校正后的位置、速度，与移动通信网络定位模块得到的位置、速度进行信息融合，得到最终的位置、速度信息。
进一步的，步骤(5)中的移动通信网络辅助模式的切换，以跟踪环路所处状态为判别标准，当所有跟踪通道全部失锁且连续失锁时间超出所设阈值时，系统按照上述步骤(5)中所述进入移动通信网络辅助模式；当不满足上述条件时，系统工作在卫星/惯性组合导航模式，以经校正后的惯性导航模块输出的位置、速度作为系统最终输出。
进一步的，步骤(5)中所述的信息融合，采用卡尔曼滤波的方式来实现，以惯性导航模块和移动通信网络定位模块输出信息的差值作为观测量。
本发明的有益效果为：本发明采用基于极大似然估计的方法，从原始的导航信息I、Q值中获取伪距和伪距率误差信息，避免了传统鉴相器带来的非线性问题，与传统跟踪方法相比可以在高动态、信号遮挡条件下实现更为稳定持续的跟踪，对多径误差也有一定抑制作用。在基于极大似然估计的矢量跟踪基础上加入惯性辅助信息，实现卫星/惯性的深耦合，进一步提高了卫星接收机在高动态、微弱信号、强干扰条件下的跟踪性能。移动通信网络定位则提供了在城市复杂环境下，因卫星持续失锁导致精度快速恶化时的补充方案，并实现了多源导航信息下系统结构及工作模式的智能切换，提高了系统的可靠性，保证了测绘车辆持续稳定的高精度定位。
附图说明
图1为本发明的系统结构示意图。
图2为本发明的方法流程示意图。
具体实施方式
如图1所示，一种用于城市峡谷环境下测绘车辆的定位系统，包括有源卫星天线模块、卫星射频接收模块、卫星基带处理模块、惯性导航模块、矢量跟踪模块、移动通信网络定位模块和组合导航模块。
有源卫星天线模块，在接收到实际的卫星信号之后，由卫星射频接收模块将卫星信号进 行下变频和AD采样转化为数字中频信号，数字中频信号在卫星基带处理模块中与本地载波、本地测距码混频生成两路信号，分别是同相支路的I GNSS和正交支路的Q GNSS，采用最大似然估计的方法可以从I GNSS、Q GNSS中估计出伪距误差δρ GNSS和伪距率误差
Figure PCTCN2019077889-appb-000010
同时惯性导航模块也可以根据位置、速度误差，结合星历估计出伪距误差δρ INS和伪距率误差
Figure PCTCN2019077889-appb-000011
将两者之差δρ INS-δρ GNSS和
Figure PCTCN2019077889-appb-000012
作为矢量跟踪模块中数据融合单元的观测量。该数据融合单元采用扩展卡尔曼滤波的方式，将滤波结果作为惯性导航系统的反馈校正量，同时结合星历构造出视距方向上的载波NCO和测距码NCO的校正量，形成闭环回路，构成基于最大似然估计的卫星/惯性深耦合系统，以惯性导航模块经误差校正后输出的位置、速度信息作为系统输出。惯性导航系统包括3个单轴的加速度计和3个单轴的陀螺仪，分别用于测量三维坐标系下三个方向上的线加速度和角速度。
该系统还包含了移动通信网络定位模块和组合导航模块，当卫星跟踪通道全部失锁，且持续失锁时间过长时，卫星/惯性深耦合系统的定位精度也将持续恶化。此时基于移动通信网络的定位方法可以作为补充，耦合到系统当中，将惯性导航系统提供的位置速度信息和移动通信网络定位得到的位置速度信息之间的差值作为观测量，采用卡尔曼滤波的形式进行信息融合。组合导航模块负责卡尔曼滤波算法的执行，以及移动通信网络接入与否两种工作模式及结构的切换。
如图2所示，一种用于城市峡谷环境下测绘车辆的定位方法，包括如下步骤：
(1)卫星基带信号处理模块和矢量跟踪模块共同进行卫星的捕获、跟踪、位同步、帧同步和定位解算，完成首次定位后对惯性导航系统进行初始化；
(2)完成步骤(1)后进入卫星/惯性组合导航模式，惯性导航模块根据IMU给出的位置、速度信息，估计出伪距误差δρ INS和伪距率误差
Figure PCTCN2019077889-appb-000013
具体方法为：
Figure PCTCN2019077889-appb-000014
其中δR和δv分别代表惯性导航系统的位置误差和速度误差，c代表光速，δt u和δt ru分别代表接收机的钟差和钟漂。
(3)卫星基带信号处理模块将接收到的数字中频信号与本地载波和本地测距码进行混频，得到I GNSS、Q GNSS，其中I表示中频信号同相输出，Q表示中频信号正交输出。通过极大似然估计，从I GNSS、Q GNSS中估计出伪距误差δρ GNSS和伪距率误差
Figure PCTCN2019077889-appb-000015
将δρ INS、
Figure PCTCN2019077889-appb-000016
与δρ GNSS、
Figure PCTCN2019077889-appb-000017
的差值作为EKF的观测量，表示为：
Figure PCTCN2019077889-appb-000018
其中dρ表示δρ INS-δρ GNSS，
Figure PCTCN2019077889-appb-000019
表示
Figure PCTCN2019077889-appb-000020
η代表噪声，下标数字代表卫星通道号。δρ GNSS和
Figure PCTCN2019077889-appb-000021
满足下式关系：
Figure PCTCN2019077889-appb-000022
其中，δτ表示测距码的码相位误差，f CA是测距码的标称频率，δf d是载波多普勒偏差，f是标称载波频率。假设数字中频信号表示为
Figure PCTCN2019077889-appb-000023
其中A表示信号幅度，C表示测距码序列，T为采样间隔，
Figure PCTCN2019077889-appb-000024
为载波初相位，f IF为数字中频信号频率，f d为载波多普勒频移，τ为码相位，n k为高斯白噪声，k为采样点序号。
测距码相位误差和载波多普勒频率偏差可以通过下式得到：
Figure PCTCN2019077889-appb-000025
其中
Figure PCTCN2019077889-appb-000026
Figure PCTCN2019077889-appb-000027
Figure PCTCN2019077889-appb-000028
Figure PCTCN2019077889-appb-000029
Figure PCTCN2019077889-appb-000030
Figure PCTCN2019077889-appb-000031
Figure PCTCN2019077889-appb-000032
Figure PCTCN2019077889-appb-000033
Figure PCTCN2019077889-appb-000034
Figure PCTCN2019077889-appb-000035
其中，下标P表示该信号属于即时相关支路，N表示在一个相关积分周期中采样点的个数。对测距码的一阶导数和二阶导数可以表示为
Figure PCTCN2019077889-appb-000036
其中d表示一个测距码码片的长度。
(4)通过步骤(3)得到的位置、速度误差信息，矢量跟踪模块结合卫星星历估计出卫星信号的载波多普勒频率和伪码码相位，分别反馈到载波NCO和测距码NCO，形成闭环跟踪环路。同时利用步骤(3)得到的位置、速度误差信息对惯性导航模块进行校正。
(5)完成步骤(4)后进入移动通信网辅助模式，组合导航模块将惯性导航模块经校正后的位置、速度，与移动通信网络定位模块得到的位置、速度进行信息融合，得到最终的位置、速度信息。移动通信网络辅助模式的切换，以跟踪环路所处状态为判别标准，当所有跟踪通道全部失锁且连续失锁时间超出所设阈值时，系统按照步骤(5)进入移动通信网络辅助模式。当不满足上述条件时，系统工作在卫星/惯性组合导航模式，以经校正后的惯性导航模块输出的位置、速度作为系统最终输出。惯性导航模块和移动通信网络定位模块的信息融合，采用卡尔曼滤波的方式来实现，以惯性导航模块和移动通信网络定位模块输出信息的差值作为观测量。

Claims (6)

  1. 一种城市峡谷环境下用于测绘车辆的定位系统，其特征在于，该系统包括：有源卫星天线模块、卫星射频接收模块、卫星基带处理模块、惯性导航模块、矢量跟踪模块、移动通信网络定位模块和组合导航模块；
    所述有源卫星天线模块，用于接收卫星信号；
    所述卫星射频接收模块，将卫星信号经过下变频和AD采样转化为数字中频信号，送入卫星基带处理模块；
    所述卫星基带处理模块，完成本地载波与本地测距码的生成，并完成数字中频信号与本地载波、本地测距码的混频；
    所述惯性导航模块，将其估计的伪距误差δρ INS和伪距率误差
    Figure PCTCN2019077889-appb-100001
    送入矢量跟踪模块，同时接收矢量跟踪模块发回的位置、速度、加速度、姿态的误差校正量；
    所述矢量跟踪模块，完成惯性导航模块和卫星基带处理模块送入信息的数据融合，并为惯性导航模块和卫星基带处理模块提供校正反馈；
    所述移动通信网络定位模块，将移动通信网络定位得到的位置、速度信息送入组合导航模块；
    所述组合导航模块，将惯性导航模块和移动通信网络定位模块送入的位置、速度信息进行融合，得到位置、速度的最优估计，并实现移动通信网络接入与否两种工作模式及结构的切换。
  2. 根据权利要求1所述的城市峡谷环境下用于测绘车辆的定位系统，其特征在于，所述卫星基带处理模块通过极大似然估计单元，将数字中频信号与本地载波、本地测距码混频得到的I GNSS、Q GNSS信号转化为伪距误差δρ GNSS和伪距率误差
    Figure PCTCN2019077889-appb-100002
  3. 根据权利要求1所述的城市峡谷环境下用于测绘车辆的定位系统，其特征在于，所述惯性导航模块包括3个单轴的加速度计和3个单轴的陀螺仪。
  4. 一种用权利要求1-3之一所述的城市峡谷环境下用于测绘车辆的定位系统进行城市峡谷环境下测绘车辆的定位方法，其特征在于，该方法包括如下步骤：
    (1)卫星基带信号处理模块和矢量跟踪模块共同进行卫星的捕获、跟踪、位同步、帧同步和定位解算，完成首次定位后对惯性导航模块进行初始化；
    (2)完成步骤(1)后进入卫星/惯性组合导航模式，惯性导航模块根据IMU给出的位置、速度信息，估计出伪距误差δρ INS和伪距率误差
    Figure PCTCN2019077889-appb-100003
    (3)卫星基带处理模块将接收到的数字中频信号与本地载波和本地测距码进行混频，得 到I GNSS、Q GNSS，其中I表示中频信号同相输出，Q表示中频信号正交输出。通过极大似然估计，从I GNSS、Q GNSS中估计出伪距误差δρ GNSS和伪距率误差
    Figure PCTCN2019077889-appb-100004
    将δρ INS、
    Figure PCTCN2019077889-appb-100005
    与δρ GNSS、
    Figure PCTCN2019077889-appb-100006
    的差值作为EKF的观测量，表示为：
    Figure PCTCN2019077889-appb-100007
    其中dρ表示δρ INS-δρ GNSS，
    Figure PCTCN2019077889-appb-100008
    表示
    Figure PCTCN2019077889-appb-100009
    η代表噪声，各参数的下标数字代表卫星通道号；
    (4)通过步骤(3)得到的位置、速度误差信息，矢量跟踪模块结合卫星星历估计出卫星信号的载波多普勒频率和伪码码相位，分别反馈到载波NCO和测距码NCO，形成闭环跟踪环路，同时利用步骤(3)得到的位置、速度误差信息对惯性导航模块进行校正；
    (5)完成步骤(4)后进入移动通信网辅助模式，组合导航模块将惯性导航模块经校正后的位置、速度，与移动通信网络定位模块得到的位置、速度进行信息融合，得到最终的位置、速度信息。
  5. 根据权利要求4所述的城市峡谷环境下测绘车辆的定位方法，其特征在于，步骤(5)中的移动通信网络辅助模式的切换，以跟踪环路所处状态为判别标准，当所有跟踪通道全部失锁且连续失锁时间超出所设阈值时，系统按照上述步骤(5)中所述进入移动通信网络辅助模式；当不满足上述条件时，系统工作在卫星/惯性组合导航模式，以经校正后的惯性导航模块输出的位置、速度作为系统最终输出。
  6. 根据权利要求4所述的城市峡谷环境下测绘车辆的定位方法，其特征在于，步骤(5)中所述的信息融合，采用卡尔曼滤波的方式来实现，以惯性导航模块和移动通信网络定位模块输出信息的差值作为观测量。
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