WO2024109466A1 - Procédé de marquage de précision de positionnement par satellite et appareil associé - Google Patents

Procédé de marquage de précision de positionnement par satellite et appareil associé Download PDF

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Publication number
WO2024109466A1
WO2024109466A1 PCT/CN2023/127852 CN2023127852W WO2024109466A1 WO 2024109466 A1 WO2024109466 A1 WO 2024109466A1 CN 2023127852 W CN2023127852 W CN 2023127852W WO 2024109466 A1 WO2024109466 A1 WO 2024109466A1
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WIPO (PCT)
Prior art keywords
ambiguity
satellite
lane
wide
accuracy
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PCT/CN2023/127852
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English (en)
Chinese (zh)
Inventor
赖允斌
王理砚
司徒春辉
陈亮
韩雷晋
施垒
Original Assignee
广州导远电子科技有限公司
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Publication of WO2024109466A1 publication Critical patent/WO2024109466A1/fr

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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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • 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
    • 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
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Definitions

  • the present disclosure relates to the field of satellite navigation, and in particular to a satellite positioning accuracy marking method and related devices.
  • the present invention aims to provide a method for marking the accuracy of satellite positioning, the method comprising:
  • An ambiguity fixation processing state is determined, and an accuracy of the positioning result is determined according to the ambiguity fixation processing state.
  • the determining the ambiguity fixing processing state, and determining the accuracy of the positioning result according to the ambiguity fixing processing state includes:
  • the coordinate variance of the receiving device is less than the preset variance
  • the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number
  • the narrow lane ambiguity is fixed successfully, determining that the ambiguity fixing processing state is the first state
  • the accuracy of the positioning result is determined to be a first accuracy according to the first state.
  • the determining the ambiguity fixing processing state, and determining the accuracy of the positioning result according to the ambiguity fixing processing state includes:
  • the coordinate variance of the receiving device is less than the preset variance
  • the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number
  • the narrow lane ambiguity fixation fails, determining that the ambiguity fixation processing state is the second state
  • the accuracy of the positioning result is determined to be a second accuracy according to the second state.
  • the determining of the ambiguity fixing processing state and determining the accuracy of the positioning result according to the ambiguity fixing processing state includes:
  • the coordinate variance of the receiving device is less than the preset variance
  • the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number
  • the narrow lane ambiguity is fixed successfully, determining that the ambiguity fixing processing state is the third state
  • the accuracy of the positioning result is determined to be a third accuracy according to the third state.
  • the determining the ambiguity fixing processing state, and determining the accuracy of the positioning result according to the ambiguity fixing processing state includes:
  • the coordinate variance of the receiving device is less than the preset variance
  • the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number
  • the narrow lane ambiguity fixation fails, determining that the ambiguity fixation processing state is the fourth state
  • the accuracy of the positioning result is determined to be a fourth accuracy according to the fourth state.
  • the determining the ambiguity fixing processing state, and determining the accuracy of the positioning result according to the ambiguity fixing processing state includes:
  • the accuracy of the positioning result is determined to be a fifth accuracy according to the fifth state.
  • the determining the ambiguity fixing processing state, and determining the accuracy of the positioning result according to the ambiguity fixing processing state includes:
  • the accuracy of the positioning result is determined according to the sixth state as a sixth accuracy.
  • the determining the ambiguity fixing processing state, and determining the accuracy of the positioning result according to the ambiguity fixing processing state includes:
  • the positioning result is determined to be an invalid result according to the seventh state.
  • performing ambiguity fixing processing according to the observation data and the differential data to obtain a positioning result includes:
  • the narrow lane ambiguity is fixed for the wide lane fixed ambiguity of each satellite to obtain a positioning result.
  • constructing the observation equation according to the observation data and the differential data includes:
  • P s,j represents the pseudorange of satellite s at frequency j
  • L s,j represents the phase observation value of satellite s at frequency j.
  • C represents the speed of light in a vacuum
  • dt r,j represents the clock error of the receiving device r at frequency j
  • dt s represents the clock error of satellite s
  • T represents the wet tropospheric delay
  • ⁇ represents the ratio between the squares of multiple frequencies
  • b r,j represents the pseudorange hardware delay of receiving device r at frequency j
  • B r,j represents the phase hardware delay of receiving device r at frequency j
  • Characterizes the wavelength of satellite s at frequency j represents the phase floating point ambiguity of satellite s at frequency
  • performing wide lane ambiguity fixing on the phase floating point ambiguity of each satellite to obtain the wide lane fixed ambiguity of each satellite includes:
  • the integer wide-lane ambiguity corresponding to the mobile satellite is calculated according to the inter-satellite single-difference wide-lane floating-point ambiguity
  • the constrained ambiguity parameters are updated as the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite according to the integer wide-lane ambiguity to obtain the wide-lane fixed ambiguity of the mobile satellite.
  • the step of calculating the corresponding inter-satellite single-difference wide-lane floating point ambiguity according to the phase floating point ambiguity corresponding to each frequency of each mobile satellite comprises:
  • the corresponding inter-satellite single-difference wide-lane floating ambiguity is calculated according to the phase floating ambiguity corresponding to each frequency of each mobile satellite and the phase floating ambiguity corresponding to each frequency of the reference satellite.
  • the calculating corresponding inter-satellite single-difference wide-lane floating ambiguity according to the phase floating ambiguity corresponding to each frequency of each of the mobile satellites and the phase floating ambiguity corresponding to each frequency of the reference satellite comprises:
  • WL represents the inter-satellite single-difference wide-lane floating-point ambiguity
  • N y,1 represents the phase floating-point ambiguity of the mobile satellite at the first frequency
  • N y,2 represents the phase floating-point ambiguity of the mobile satellite at the second frequency
  • N c,1 represents the phase floating-point ambiguity of the reference satellite at the first frequency
  • N C,2 represents the phase floating-point ambiguity of the reference satellite at the second frequency.
  • calculating the integer wide-lane ambiguity corresponding to the mobile satellite according to the inter-satellite single-difference wide-lane floating-point ambiguity includes:
  • the inter-satellite single-difference wide-lane floating-point ambiguity is rounded to an integer to obtain the integer wide-lane ambiguity.
  • updating the constrained ambiguity parameters for the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite according to the integer wide-lane ambiguity to obtain the wide-lane fixed ambiguity of the mobile satellite includes:
  • WL 0 represents the integer wide lane ambiguity
  • WL represents the inter-satellite single-difference wide lane floating point ambiguity
  • ⁇ represents the error value
  • performing narrow lane ambiguity fixing on the wide lane fixed ambiguity of each satellite to obtain a positioning result includes:
  • a target wide lane fixed ambiguity is deleted from the wide lane fixed ambiguities of the plurality of satellites, and narrow lane ambiguity is fixed again for the other wide lane fixed ambiguities according to a preset search algorithm; wherein the target wide lane fixed ambiguity is a wide lane fixed ambiguity corresponding to a satellite with the lowest satellite elevation angle among the plurality of satellites;
  • the ratio value reaches a preset ratio, and the number of remaining wide lane fixed ambiguities is greater than or equal to a preset number, it is determined that the narrow lane ambiguity is fixed successfully, and the inter-satellite single-difference integer narrow lane ambiguity is used as an update constraint for the inter-satellite single-difference narrow lane floating point ambiguity to obtain the positioning result; wherein the inter-satellite single-difference narrow lane floating point ambiguity is obtained by solving the observation equation; if the ratio value does not reach the preset ratio, or the number of wide lane fixed ambiguities for narrow lane ambiguity fixation is less than a preset number, it is determined that the narrow lane ambiguity fixation fails, and the positioning result is obtained.
  • Another object of the present disclosure is to provide a satellite positioning accuracy marking device, the device comprising:
  • a receiving module used for receiving satellite observation data and differential data
  • a processing module used for performing ambiguity fixing processing according to the observation data and the differential data to obtain a positioning result
  • the determination module is used to determine an ambiguity fixing processing state, and determine the accuracy of the positioning result according to the ambiguity fixing processing state.
  • Another object of the present disclosure is to provide a receiving device, comprising a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement any of the methods described in the aforementioned embodiments.
  • Another object of the present disclosure is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method as described in any one of the aforementioned embodiments.
  • the present invention has the following beneficial effects:
  • the accuracy marking method and related device of satellite positioning provided by the embodiment of the present disclosure first receive the observation data and differential data of the satellite, perform ambiguity fixing processing according to the observation data and differential data, thereby obtaining the positioning result, and then determine the ambiguity fixing state, and determine the accuracy of the positioning result according to the ambiguity fixing state.
  • the method can determine the accuracy of the positioning result according to the ambiguity fixing state, so no matter whether the obtained positioning result is a fixed solution or a floating point solution, the accuracy of the positioning result can be determined according to the ambiguity fixing state.
  • FIG1 shows a block diagram of a receiving device provided by an embodiment of the present disclosure
  • FIG2 shows a schematic flow chart of a method for marking the accuracy of satellite positioning provided by an embodiment of the present disclosure
  • FIG3 shows another schematic flow chart of a method for marking the accuracy of satellite positioning provided by an embodiment of the present disclosure
  • FIG4 shows another schematic flow chart of a method for marking the accuracy of satellite positioning provided by an embodiment of the present disclosure
  • FIG5 shows another schematic flow chart of the satellite positioning accuracy marking method provided by an embodiment of the present disclosure
  • FIG6 is a schematic diagram showing the accuracy level of positioning results
  • FIG. 7 shows a functional module diagram of a satellite positioning accuracy marking device provided in an embodiment of the present disclosure.
  • Icon 10 - receiving device; 100 - memory; 110 - processor; 120 - communication module; 200 - receiving module; 210 - processing module; 220 - determination module.
  • satellite navigation positioning technology can be used for positioning, especially in the field of autonomous driving, which often uses the fusion positioning technology of vehicle-mounted combined navigation, which generally uses GNSS (Global Navigation Satellite System) satellite positioning technology to provide the absolute position coordinates of the vehicle.
  • GNSS Global Navigation Satellite System
  • phase floating-point ambiguity has integer characteristics in theory, when the phase floating-point ambiguity is successfully fixed to an integer, it is called a fixed solution in GNSS satellite positioning technology. When the phase floating-point ambiguity is not successfully fixed to an integer, it is called a floating-point solution in GNSS satellite positioning technology. Among them, the accuracy of the fixed solution is at the centimeter level, while the accuracy of the floating-point solution often varies from decimeters to meters.
  • the accuracy of the floating-point solution is unreliable, the accuracy of the floating-point solution is often assumed to be at the meter level, that is, even if the floating-point solution is actually at the decimeter level, the electronic device will process it as a meter-level accuracy.
  • the positioning accuracy requirement of some application scenarios is only at the decimeter level, and the solutions in the prior art cannot distinguish which floating-point solutions are at the decimeter level and which are at the meter level.
  • a centimeter-level fixed solution must also be used for positioning.
  • the value of the decimeter-level floating-point solution cannot be fully utilized, which greatly reduces the availability of GNSS satellite positioning results.
  • FIG1 is a block diagram of a receiving device 10 .
  • the receiving device 10 can be set on a device that needs satellite positioning.
  • the receiving device 10 can receive data sent by the satellite and calculate the coordinate information of the receiving device. It can be understood that the coordinate information of the receiving device can be used as the coordinate information of the device that needs satellite positioning.
  • the device that requires satellite positioning may be a vehicle equipped with autonomous driving technology, that is, the receiving device 10 may be set on the vehicle equipped with autonomous driving technology to provide the absolute position coordinates of the vehicle through GNSS satellite positioning technology.
  • the receiving device 10 includes a memory 100, a processor 110, and a communication module 120.
  • the memory 100, the processor 110, and the communication module 120 are electrically connected to each other directly or indirectly to achieve data transmission or interaction.
  • these components can be electrically connected to each other through one or more communication buses or signal lines.
  • the memory 100 is used to store programs or data.
  • the memory 100 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc.
  • RAM random access memory
  • ROM read-only memory
  • PROM programmable read-only memory
  • EPROM erasable programmable read-only memory
  • EEPROM electrically erasable read-only memory
  • the processor 110 is used to read/write data or programs stored in the memory and execute corresponding functions.
  • the communication module 120 is used to establish a communication connection between the server and other communication terminals through the network, and to send and receive data through the network.
  • FIG1 is only a schematic diagram of the structure of the receiving device 10, and the receiving device 10 may also include more or fewer components than those shown in FIG1, or have a configuration different from that shown in FIG1.
  • Each component shown in FIG1 may be implemented by hardware, software, or a combination thereof.
  • the embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored thereon.
  • the computer program is executed by a processor, the accuracy marking method for satellite positioning provided by the embodiments of the present disclosure can be implemented.
  • FIG. 2 is a flowchart of the accuracy marking method of satellite positioning provided by the embodiment of the present disclosure. Referring to FIG. 2, the method includes:
  • Step S20 receiving satellite observation data and differential data
  • the observation data may be observation data of a GNSS navigation satellite
  • the differential data may be differential data of a geostationary communication satellite.
  • the GNSS navigation satellite may include a GPS satellite navigation system, a Galileo satellite navigation system, a BDS Beidou satellite navigation system, etc., and the receiving device may obtain observation data sent by one or more of these satellite navigation systems.
  • the differential data may be provided by a satellite-based augmentation service provider.
  • the observation data may include pseudorange and carrier phase observations and Doppler observations
  • the differential data may include precise orbit clock error data, satellite-side pseudorange and phase hardware delay data, and ionospheric and tropospheric delay data on the satellite signal propagation path.
  • Step S21 performing ambiguity fixing processing according to the observation data and the differential data to obtain a positioning result
  • Step S22 determining the ambiguity fixing processing state, and determining the accuracy of the positioning result according to the ambiguity fixing processing state.
  • the positioning result is coordinate information of the receiving device.
  • the ambiguity fixation processing state may characterize the processing status of each processing process when ambiguity fixation processing is performed based on observation data and differential data.
  • the accuracy of the positioning result may include the accuracy of a fixed solution and the accuracy of a floating-point solution. It can be understood that if the positioning result obtained is a fixed solution, the accuracy of the positioning result is at the centimeter level; if the positioning result obtained is a floating-point solution, the method can be used to determine whether the accuracy of the positioning result is specifically at the decimeter level or the meter level.
  • this method can determine whether the accuracy of the floating-point solution is at the decimeter level or the meter level. Therefore, in actual application, for some application scenarios where the positioning accuracy requirement is only at the decimeter level, the floating-point solution with decimeter accuracy can be directly used for positioning without having to obtain a fixed solution. This method can make full use of the value of the decimeter-level floating-point solution and improve the availability of GNSS satellite positioning results.
  • the accuracy marking method of satellite positioning provided by the embodiment of the present disclosure first receives the observation data and differential data of the satellite, performs ambiguity fixing processing according to the observation data and differential data, thereby obtaining a positioning result, and then determines the ambiguity fixing state, and determines the accuracy of the positioning result according to the ambiguity fixing state.
  • the method can determine the accuracy of the positioning result according to the ambiguity fixing state, so no matter whether the obtained positioning result is a fixed solution or a floating point solution, the accuracy of the positioning result can be determined according to the ambiguity fixing state.
  • the ambiguity fixation processing process may include an observation equation solving process, a wide lane ambiguity fixation process, and a narrow lane ambiguity fixation process, wherein the phase floating-point ambiguity of each satellite and the initial coordinates of the receiving device can be obtained by solving the observation equation, and the wide lane ambiguity fixation process and the narrow lane ambiguity fixation process can improve the accuracy of the initial coordinates of the receiving device, thereby obtaining centimeter-level, decimeter-level, or meter-level coordinates of the receiving device.
  • FIG. 3 is another flow chart of the satellite positioning accuracy marking method provided by the embodiment of the present disclosure.
  • the above step S21 can be implemented by the following steps:
  • Step S21-1 when the pseudo-range single point positioning is successful, construct an observation equation based on the observation data and the differential data, and calculate the phase floating point ambiguity of each satellite according to the observation equation;
  • pseudo-range single-point positioning needs to be performed in advance. If the pseudo-range single-point positioning is successful, the observation equation can be constructed and solved. If the pseudo-range single-point positioning fails, the positioning result is an invalid solution and there is no need to perform subsequent steps.
  • observation equation can be constructed by:
  • P s,j represents the pseudorange of satellite s at frequency j
  • L s,j represents the phase observation value of satellite s at frequency j.
  • C represents the speed of light in a vacuum
  • dt r,j represents the clock error of the receiving device r at frequency j
  • dt s represents the clock error of satellite s
  • T represents the wet tropospheric delay
  • ⁇ represents the ratio between the squares of multiple frequencies
  • b r,j represents the pseudorange hardware delay of receiving device r at frequency j
  • B r,j represents the phase hardware delay of receiving device r at frequency j
  • Characterizes the wavelength of satellite s at frequency j represents the phase floating point ambiguity of satellite s at frequency
  • (x s ,y s ,z s ) are the coordinates of satellite s
  • (x r ,y r ,z r ) are the coordinates of receiving device r.
  • the coordinates of the satellite s are known parameters, and the coordinates of the receiving device r are unknown parameters. By solving the observation equation, the unknown coordinates of the receiving device r can be obtained.
  • the observation equation also includes other unknown parameters
  • the receiving device can obtain the unknown data therein by solving the equation, including the coordinates of the receiving device r, the clock error of the receiving device r at the j frequency, the wet tropospheric delay, the ionospheric delay of the receiving device, and the phase floating point ambiguity of the satellite at each frequency.
  • the receiving device can construct the observation equation for each satellite, thereby obtaining the phase floating point ambiguity of each satellite at each frequency.
  • the hardware delay of the receiving device is absorbed by the clock error of the receiving device, and the orbit error and clock error of the satellite and the hardware delay of the satellite end can be corrected by differential data.
  • errors such as tropospheric dry delay, phase winding, antenna phase center offset, and relativistic effect can be corrected in advance through the set error correction model.
  • ⁇ I,j and ⁇ T,j are small, so It can be regarded as approximately equal to It can be considered as approximately equal to T.
  • Step S21-2 performing wide lane ambiguity fixation on the phase floating point ambiguity of each satellite to obtain the wide lane fixed ambiguity of each satellite;
  • Step S21-3 fix the narrow lane ambiguity of the wide lane fixed ambiguity of each satellite to obtain a positioning result.
  • FIG. 4 is another flow chart of the accuracy marking method for satellite positioning provided by an embodiment of the present disclosure. Please refer to FIG. 4 .
  • the above step S21-2 may be implemented by the following steps:
  • Step S21-2-1 selecting a reference satellite from all satellites according to a preset rule, and using other satellites other than the reference satellite as mobile satellites;
  • Step S21-2-2 calculating the corresponding inter-satellite single-difference wide-lane floating ambiguity according to the phase floating ambiguity corresponding to each frequency of each mobile satellite;
  • the preset rule may be to randomly select a reference satellite, or to select a reference satellite according to a satellite altitude angle.
  • the receiving device can select one from all satellites as a reference satellite and use the other satellites as mobile satellites, so that for each mobile satellite, the inter-satellite single-difference wide-lane floating-point ambiguity of the satellite is calculated according to the phase floating-point ambiguity corresponding to each frequency of the satellite.
  • the corresponding inter-satellite single-difference wide-lane floating ambiguity may be calculated according to the phase floating ambiguity corresponding to each frequency of each mobile satellite and the phase floating ambiguity corresponding to each frequency of the reference satellite.
  • WL represents the inter-satellite single-difference wide-lane floating ambiguity
  • N y,1 represents the phase floating ambiguity of the mobile satellite at the first frequency
  • N y,2 represents the phase floating ambiguity of the mobile satellite at the second frequency
  • N c,1 represents the phase floating ambiguity of the reference satellite at the first frequency
  • N C,2 represents the phase floating ambiguity of the reference satellite at the second frequency.
  • Step S21-2-3 if the inter-satellite single-difference wide-lane floating-point ambiguity of each mobile satellite meets the preset conditions, then the integer wide-lane ambiguity corresponding to the mobile satellite is calculated according to the inter-satellite single-difference wide-lane floating-point ambiguity;
  • the preset condition may be that the decimal part of the inter-satellite single-difference wide-lane floating-point ambiguity is less than a preset threshold.
  • the decimal part of the inter-satellite single-difference wide-lane floating-point ambiguity is less than the preset threshold, the inter-satellite single-difference wide-lane floating-point ambiguity is rounded to obtain an integer wide-lane ambiguity.
  • the preset threshold can be 0.3. It can be understood that if the decimal part of the inter-satellite single-difference wide-lane floating-point ambiguity of a mobile satellite is greater than or equal to 0.3, it is determined that the mobile satellite does not meet the preset conditions, and there is no need to round off the satellite that does not meet the preset conditions.
  • WL 0 represents the integer wide lane ambiguity
  • round() represents the rounding operation on the data in the brackets.
  • Step S21-2-4 updating the constrained ambiguity parameters according to the integer wide lane ambiguity as the inter-satellite single-difference wide lane floating point ambiguity of the mobile satellite, and obtaining the wide lane fixed ambiguity of the mobile satellite.
  • WL 0 represents the integer wide lane ambiguity
  • WL represents the inter-satellite single-difference wide lane floating point ambiguity
  • ⁇ represents the error value
  • FIG. 5 is another flow chart of the accuracy marking method for satellite positioning provided by an embodiment of the present disclosure. Please refer to FIG. 5 .
  • the above step S21-3 can be implemented by the following steps:
  • Step S21-3-1 performing narrow lane ambiguity fixation on wide lane fixed ambiguities of multiple satellites according to a preset search algorithm to obtain inter-satellite single difference integer narrow lane ambiguities and ratio values;
  • the preset search algorithm may be a lambda search algorithm.
  • the wide lane fixed ambiguities of the multiple satellites may include only the wide lane fixed ambiguities of satellites that meet a preset condition in the wide lane ambiguity fixation process; in another possible implementation manner, the wide lane fixed ambiguities of the multiple satellites may include the wide lane fixed ambiguities of satellites that meet the preset condition in the wide lane ambiguity fixation process, and the wide lane fixed ambiguities of satellites that do not meet the preset condition in the wide lane ambiguity fixation process.
  • Step S21-3-2 when the ratio value does not reach the preset ratio, the target wide lane fixed ambiguity is deleted from the wide lane fixed ambiguities of the multiple satellites, and the narrow lane ambiguity is fixed for the other wide lane fixed ambiguities again according to the preset search algorithm;
  • the target wide lane fixed ambiguity is the wide lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle among multiple satellites. Fuzziness;
  • the preset ratio may be 2.5.
  • the receiving device can obtain the inter-satellite single difference integer narrow lane ambiguity and the ratio value, and the receiving device can determine whether the ratio value reaches a preset ratio. If it does not reach the preset ratio, the receiving device can delete the wide lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle from all wide lane fixed ambiguities, and perform a lambda search again based on the other wide lane fixed ambiguities from which the wide lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle has been deleted.
  • Step S21-3-3 if the ratio value reaches a preset ratio, and the number of remaining wide lane fixed ambiguities is greater than or equal to a preset number, it is determined that the narrow lane ambiguity is fixed successfully, and the inter-satellite single difference integer narrow lane ambiguity is constrained to update the inter-satellite single difference narrow lane floating point ambiguity to obtain a positioning result;
  • the inter-satellite single-difference narrow-lane floating-point ambiguity is obtained by solving the observation equation.
  • the receiving device can obtain the inter-satellite single-difference narrow-lane floating-point ambiguity when solving the observation equation. Therefore, when performing narrow-lane ambiguity fixation on the wide-lane fixed ambiguity, if it is determined that the narrow-lane ambiguity fixation is successful based on the ratio value and the number of remaining wide-lane fixed ambiguities, the receiving device can update the constraints for the inter-satellite single-difference narrow-lane floating-point ambiguity based on the obtained inter-satellite single-difference integer narrow-lane ambiguity to obtain the positioning result.
  • the preset number can be set according to actual conditions.
  • the preset number can be 4.
  • Step S21-3-4 if the ratio value does not reach the preset ratio, or the number of wide lane fixed ambiguities for narrow lane ambiguity fixation is less than the preset number, it is determined that the narrow lane ambiguity fixation has failed, and the positioning result is obtained.
  • the ratio value does not reach the preset ratio, or the number of wide lane fixed ambiguities for narrow lane ambiguity fixation is less than the preset number, it means that the narrow lane ambiguity fixation fails at this time, so there is no need to update the constraints for the inter-satellite single-difference narrow lane floating point ambiguities according to the inter-satellite single-difference integer narrow lane ambiguities.
  • the ambiguity fixing processing state of each step in the above ambiguity fixing process can be determined, so as to determine the accuracy of the positioning result finally obtained.
  • the receiving device can first determine whether the observation equation is solved successfully. If the observation equation fails to be solved, the ambiguity fixing processing state can be determined to be the sixth state, and the accuracy of the positioning result can be determined to be the sixth accuracy according to the sixth state.
  • the accuracy of the positioning result calculated in the sixth state is the worst.
  • the sixth accuracy can represent an accuracy level of 10.0 meters.
  • the receiving device determines that the observation equation is solved successfully, it can further determine whether the coordinate variance of the receiving device solved by the observation equation is greater than or equal to a preset variance. That is, when the observation equation is solved successfully and the coordinate variance of the receiving device is greater than or equal to the preset variance, the ambiguity fixed processing state is determined to be the fifth state, and the accuracy of the positioning result is determined to be the fifth accuracy based on the fifth state.
  • the coordinates of the receiving device may be obtained by solving the observation equation, and the receiving device may calculate the coordinate variance of the receiving device according to the coordinates, and determine whether the coordinate variance is greater than or equal to a preset variance.
  • the preset variance may be 0.5.
  • the accuracy of the positioning result obtained in the fifth state is better than the accuracy of the positioning result obtained in the sixth state.
  • the fifth accuracy can represent an accuracy level of 5.0 rice.
  • the fifth precision is the default precision of the floating-point solution in the prior art.
  • the coordinate variance of the receiving device is less than a preset variance, it can be further determined whether the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than or equal to a preset number, and whether the narrow lane ambiguity is fixed successfully.
  • the ambiguity fixation processing state is determined to be the fourth state; according to the fourth state, the accuracy of the positioning result is determined to be the fourth accuracy.
  • the preset number can be set according to actual conditions.
  • the preset number can be 4.
  • the accuracy of the positioning result obtained by solving in the fourth state is better than the accuracy of the positioning result obtained by solving in the fifth state.
  • the fourth accuracy can represent an accuracy level of 3.0 meters.
  • the coordinate variance of the receiving device is less than the preset variance
  • the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number
  • the narrow lane ambiguity is fixed successfully
  • the ambiguity fixing processing state is determined to be the third state; according to the third state, the accuracy of the positioning result is determined to be the third accuracy.
  • the accuracy of the positioning result obtained by solving in the third state is better than the accuracy of the positioning result obtained by solving in the fourth state.
  • the third accuracy can represent an accuracy level of 0.5 meters.
  • the coordinate variance of the receiving device is less than the preset variance
  • the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number
  • the narrow lane ambiguity fixation fails
  • the ambiguity fixation processing state is determined to be the second state
  • the accuracy of the positioning result is determined to be the second accuracy according to the second state.
  • the accuracy of the positioning result obtained by solving in the second state is better than the accuracy of the positioning result obtained by solving in the third state.
  • the second accuracy can represent an accuracy level of 0.3 meters.
  • the coordinate variance of the receiving device is less than the preset variance
  • the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number
  • the narrow lane ambiguity is fixed successfully
  • the ambiguity fixing processing state is determined to be the first state
  • the accuracy of the positioning result is determined to be the first accuracy according to the first state.
  • the accuracy of the positioning result obtained by solving in the first state is better than the accuracy of the positioning result obtained by solving in the second state.
  • the first accuracy can represent an accuracy level of 0.1 meters.
  • the first accuracy is the accuracy of the fixed solution.
  • the positioning result is an invalid solution.
  • the present disclosure can divide the positioning results into the following 7 levels, namely level 0, level 1, level 2, level 3, level 4, level 5, level 6 and level 7, wherein the accuracy level corresponding to level 0 is an invalid solution, the accuracy level corresponding to level 1 is 0.1 meter, the accuracy level corresponding to level 2 is 0.3 meter, the accuracy level corresponding to level 3 is 0.5 meter, the accuracy level corresponding to level 4 is 3.0 meters, the accuracy level corresponding to level 5 is 5.0 meters, and the accuracy level corresponding to level 6 is 10.0 meters.
  • the receiving device can present the accuracy grade and accuracy level of the obtained positioning results to the user, so that the user can choose whether to select the positioning results at this accuracy level.
  • the receiving device may display that the accuracy level of the current positioning result is level 2, and the accuracy level is 0.3 meters.
  • the satellite positioning accuracy marking device includes: a receiving module 200, a processing module 210 and a determining module 220.
  • the receiving module 200 is used to receive satellite observation data and differential data
  • receiving module 200 can also be used to perform the above step S20;
  • the processing module 210 is used to perform ambiguity fixation processing according to the observation data and the differential data to obtain a positioning result
  • processing module 210 can also be used to perform the above step S21;
  • the determination module 220 is used to determine the ambiguity fixation processing state, and determine the accuracy of the positioning result according to the ambiguity fixation processing state.
  • determination module 220 can also be used to execute the above step S22.
  • the determination module 220 is also used to determine that the ambiguity fixing processing state is the first state when the observation equation is solved successfully, the coordinate variance of the receiving device is less than a preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to a preset number, and the narrow lane ambiguity is fixed successfully; and determine the accuracy of the positioning result as the first accuracy according to the first state.
  • the determination module 220 is also used to determine that the ambiguity fixing processing state is the second state when the observation equation is solved successfully, the coordinate variance of the receiving device is less than a preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to a preset number, and the narrow lane ambiguity fixation fails; and determine the accuracy of the positioning result as the second accuracy according to the second state.
  • the determination module 220 is also used to determine that the ambiguity fixing processing state is a third state when the observation equation is solved successfully, the coordinate variance of the receiving device is less than a preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than a preset number, and the narrow lane ambiguity is fixed successfully; and determine the accuracy of the positioning result as the third accuracy according to the third state.
  • the determination module 220 is also used to determine that the ambiguity fixing processing state is a fourth state when the observation equation is solved successfully, the coordinate variance of the receiving device is less than a preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than a preset number, and the narrow lane ambiguity fixation fails; and determine the accuracy of the positioning result as the fourth accuracy according to the fourth state.
  • the determination module 220 is also used to determine that the ambiguity fixing processing state is the fifth state when the observation equation is solved successfully and the coordinate variance of the receiving device is greater than or equal to the preset variance; and determine the accuracy of the positioning result as the fifth accuracy according to the fifth state.
  • the determination module 220 is further configured to, when the observation equation fails to be solved, determine that the ambiguity fixing processing state is a sixth state; and determine that the accuracy of the positioning result is a sixth accuracy according to the sixth state.
  • the determination module 220 is further configured to, when the pseudorange single-point positioning fails, determine that the ambiguity fixing processing state is a seventh state; and determine that the positioning result is an invalid solution according to the seventh state.
  • the processing module 210 is also used to, when the pseudorange single-point positioning is successful, construct an observation equation based on the observation data and the differential data, and calculate the phase floating-point ambiguity of each satellite based on the observation equation; perform wide-lane ambiguity fixation on the phase floating-point ambiguity of each satellite to obtain the wide-lane fixed ambiguity of each satellite; and perform narrow-lane ambiguity fixation on the wide-lane fixed ambiguity of each satellite to obtain a positioning result.
  • processing module 210 can also be used to execute the above steps S21 - 1 to S21 - 3.
  • processing module 210 is further configured to construct an observation equation according to the following formula when the pseudorange single point positioning is successful:
  • P s,j represents the pseudorange of satellite s at frequency j
  • L s,j represents the phase observation value of satellite s at frequency j.
  • C represents the speed of light in a vacuum
  • dt r,j represents the clock error of the receiving device r at frequency j
  • dt s represents the clock error of the satellite s
  • T represents the wet tropospheric delay
  • ⁇ represents the ratio between the squares of multiple frequencies
  • b r,j represents the pseudorange hardware delay of receiving device r at frequency j
  • B r,j represents the phase hardware delay of receiving device r at frequency j
  • Characterizes the wavelength of satellite s at frequency j represents the phase floating point ambiguity of satellite s at
  • the processing module 210 is further used to select a reference satellite from all satellites according to a preset rule, and use other satellites other than the reference satellite as mobile satellites; calculate the corresponding inter-satellite single-difference wide-lane floating-point ambiguity according to the phase floating-point ambiguity corresponding to each frequency of each mobile satellite; if the inter-satellite single-difference wide-lane floating-point ambiguity of each mobile satellite meets a preset condition, calculate the integer wide-lane ambiguity corresponding to the mobile satellite according to the inter-satellite single-difference wide-lane floating-point ambiguity; update the constrained ambiguity parameters for the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite according to the integer wide-lane ambiguity, and obtain the wide-lane fixed ambiguity of the mobile satellite.
  • processing module 210 can also be used to execute the above steps S21-2-1 to S21-2-4.
  • the processing module 210 is further used to calculate corresponding inter-satellite single-difference wide-lane floating-point ambiguities according to the phase floating-point ambiguities corresponding to each frequency of each mobile satellite and the phase floating-point ambiguities corresponding to each frequency of the reference satellite.
  • WL represents the inter-satellite single-difference wide-lane floating ambiguity
  • N y,1 represents the phase floating ambiguity of the mobile satellite at the first frequency
  • N y,2 represents the phase floating ambiguity of the mobile satellite at the second frequency
  • N c,1 represents the phase floating ambiguity of the reference satellite at the first frequency
  • N C,2 represents the phase floating ambiguity of the reference satellite at the second frequency.
  • the processing module 210 is further configured to, for each mobile satellite, round off the inter-satellite single-difference wide-lane floating-point ambiguity to obtain an integer wide-lane ambiguity if the decimal part of the inter-satellite single-difference wide-lane floating-point ambiguity is less than a preset threshold.
  • WL 0 represents the integer wide lane ambiguity
  • WL represents the inter-satellite single-difference wide lane floating point ambiguity
  • ⁇ represents the error value
  • the processing module 210 is further configured to perform narrow lane ambiguity fixation on the wide lane fixed ambiguities of the plurality of satellites according to a preset search algorithm to obtain inter-satellite single difference integer narrow lane ambiguity and a ratio value; if the ratio value does not reach a preset ratio, delete the target wide lane fixed ambiguity from the wide lane fixed ambiguities of the plurality of satellites, and perform narrow lane ambiguity fixation on the other wide lane fixed ambiguities again according to a preset search algorithm; wherein the target wide lane fixed ambiguity is the wide lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle among the plurality of satellites.
  • the method comprises the steps of: determining an ambiguity by fixing the narrow lane ambiguity; if the ratio value reaches a preset ratio, and the number of remaining wide lane fixed ambiguities is greater than or equal to a preset number, determining that the narrow lane ambiguity is fixed successfully, and updating the inter-satellite single-difference narrow lane floating point ambiguity as a constraint for inter-satellite single-difference narrow lane floating point ambiguity according to the inter-satellite single-difference integer narrow lane ambiguity, to obtain the positioning result; wherein the inter-satellite single-difference narrow lane floating point ambiguity is obtained by solving the observation equation; if the ratio value does not reach the preset ratio, or the number of wide lane fixed ambiguities for narrow lane ambiguity fixation is less than a preset number, determining that the narrow lane ambiguity fixation fails, and obtaining the positioning result.
  • processing module 210 can also be used to execute the above steps S21-3-1 to S21-3-4.
  • the precision marking device for satellite positioning receives the observation data and differential data of the satellite through the receiving module; performs ambiguity fixing processing according to the observation data and differential data through the processing module to obtain the positioning result; determines the ambiguity fixing processing state through the determining module, and determines the precision of the positioning result according to the ambiguity fixing processing state.
  • the device After performing ambiguity fixing processing according to the observation data and differential data, the device can determine the precision of the positioning result according to the ambiguity fixing state, so no matter whether the obtained positioning result is a fixed solution or a floating point solution, the precision of the positioning result can be determined according to the ambiguity fixing state.
  • each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions.
  • the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings.
  • each box in the block diagram and/or flowchart, and the combination of boxes in the block diagram and/or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.
  • the functional modules in the various embodiments of the present disclosure may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
  • the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.
  • the present disclosure provides a satellite positioning accuracy marking method and related devices, which can determine the accuracy of the positioning result according to the ambiguity fixing state after performing ambiguity fixing processing according to observation data and differential data. Therefore, no matter whether the obtained positioning result is a fixed solution or a floating point solution, the accuracy of the positioning result can be determined according to the ambiguity fixing state.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un procédé de marquage de précision de positionnement par satellite et un appareil associé, se rapportant au domaine de la navigation par satellite. Le procédé comprend les étapes consistant à : recevoir des données d'observation d'un satellite et des données différentielles d'un satellite (S20) ; en fonction des données d'observation et des données différentielles, effectuer un traitement de résolution d'ambiguïté pour obtenir un résultat de positionnement (S21) ; et déterminer un état de traitement de résolution d'ambiguïté et, en fonction de l'état de traitement de résolution d'ambiguïté, déterminer la précision du résultat de positionnement (S22). Après la réalisation d'un traitement de résolution d'ambiguïté en fonction des données d'observation et des données différentielles, le procédé peut déterminer la précision de résultats de positionnement en fonction des états de résolution d'ambiguïté. Ainsi, le procédé peut à la fois déterminer la précision des résultats de positionnement en fonction des états de résolution d'ambiguïté indépendamment des résultats de positionnement obtenus qui sont des solutions fixes ou des solutions flottantes.
PCT/CN2023/127852 2022-11-25 2023-10-30 Procédé de marquage de précision de positionnement par satellite et appareil associé WO2024109466A1 (fr)

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