CN102288977A - Differential positioning algorithm based on Big Dipper/GPS (Global Positioning System) double-mode positioning module - Google Patents
Differential positioning algorithm based on Big Dipper/GPS (Global Positioning System) double-mode positioning module Download PDFInfo
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Abstract
The invention provides a differential positioning algorithm based on a Big Dipper/GPS (Global Positioning System) double-mode positioning module, which is suitable for a Big Dipper positioning system and contributes to effectively increasing the positioning accuracy of a Big Dipper module in reference to a GPS wide area differential technology based on a Big Dipper/GPS double-mode positioning module. After being applied and popularized, the differential positioning algorithm can play an important role on the aspects of military and the construction of national economy. When the differential positioning algorithm is applied to military, the intelligence reconnaissance capacity of the army of China can be raised to a new level, and the acquired information is more accurate. As for construction of national economy, the differential positioning algorithm can be applied to a plurality of fields such as vehicle navigation, scheduling of vehicles (public safety vehicles, fire protection vehicles, bank vehicles, taxies and the like), monitoring, urban transportation management, field operation and the like.
Description
Technical field
The present invention relates to a kind of Technique of Satellite Navigation and Positioning, specifically a kind of difference location algorithm based on Big Dipper GPS bimodulus locating module.
Background technology
Satellite navigation and location system is important space fundamental facilities, and it combines the advantage of traditional celestial navigation location and terrestrial radio navigator fix, is equivalent to a radio navigation station that is arranged on space, can bring the huge social economic benefit.Have only a few countries to develop satellite navigation system by independent development at present in the world.
First GPS (Global Position System) is the gps system that the U.S. came into effect from 1973 in the world, and is dual-use.But for a long time, the U.S. only provides accurate positioning signal to the national military, and what other users were provided then is to have added the low precision signal that disturbs, and Chinese GPS user's real-time positioning precision only is about 100m.For breaking the monopolization of the U.S., Russia has built up the GPS (Global Position System) Ge Luonasi of oneself; European Union has then started the plan of Galileo global navigation satellite positioning system.
As a country that has wide territory and marine site, China is necessary also to have the ability to set up the GPS of oneself.Since 2000, China has succeeded in sending up 4 " Big Dipper Navigation Satellites ", builds up Big Dipper navigation experiment system (first generation system).At present, also in construction period, bearing accuracy of the Big Dipper is on the low side for China's triones navigation system, and second generation Beidou satellite navigation system still is in the networking satellites transmits stage.Therefore,, use for reference the advantage of GPS location, improve present Big Dipper locating accuracy by software algorithm and have positive effect for meeting consumers' demand.
Summary of the invention
The objective of the invention is on the basis of existing wide area GPS differential technique, proposed a kind of difference location algorithm of suitable Big Dipper navigation positioning system based on the Big Dipper/GPS bimodulus locating module.
The objective of the invention is to realize in the following manner, send correction by base station, received and its measurement result is revised by subscriber station, to obtain the accurate localization result, specific algorithm is as follows:
If calibration point (z0) position is accurately known for x0, y0, when the user is positioned at calibration point, to the radial distance of i satellite is:
Ri0＝(x0-xsi)2+(y0-ysi)2+(z0-zsi)2，
(1), i satellite of " si " expression in the formula;
At calibration point, it is that tu0 then is to the pseudorange of calibration point through satellite i from central station through the time of arrival of the exit signal of i satellite issue that user's clock records central station:
ρ0＝c(tu0-t00)＝Ri+Ri0+cτ+δr (2)
(2) in the formula, c is the light velocity, and t00 is the departure time of central station exit signal when calibration point, and Ri is the radial distance of central station to an i satellite, and τ is the device cluster time delay of central station, satellite repeater and user terminal, and δ r is the radio wave propagation refraction error;
When the user leave the calibration point in-position (in the time of z1), be tu1 the time of arrival that user's clock records exit signal for x1, y1, and from central station through satellite to the pseudorange of current point be this moment:
ρ1＝c(tu1-to1)＝Ri+Ri1+cτ+δr (3)
(3) in the formula, t01 is the departure time of central station exit signal in the time of current, and Ri1 is the radial distance of current some user terminal to an i satellite, and formula (3) deducts formula (2):
Ri1＝Ri0+c(tu1-t01)-c(tu0-t00) (4)
(4) formula of utilization after calculating the real-time radial distance of user terminal to two satellite and obtaining altitude figures, just can have been calculated user's three-dimensional position in real time;
Range error is:
σr＝(Δf/f)×c×T (5)
(5) in the formula, Δ f/f is the rubidium clock frequency stability, and c is the light velocity, and T is that the farm labourer of rubidium clock does the time;
System's three-dimensional localization error is:
σp＝(σr·HDOP)2+(σh·VDOP)2 (6)
(6) in the formula, σ r is the receiver range error, and σ h is a height indicator measurement of higher degree error;
The difference algorithm code is as follows:
Excellent effect of the present invention is as follows: Big Dipper navigation positioning system is the satellite navigation and location system of China's stand-alone development, and the satellite navigation location relates to fields such as politics, economy, military affairs, is significant to safeguarding national interests.
The present invention is based on the Big Dipper/GPS bimodulus locating module,, proposed a kind of difference location algorithm of suitable Big Dipper positioning system, effectively raise the bearing accuracy of Big Dipper module based on the Big Dipper/GPS bimodulus locating module with reference to GPS wide area differential technology.Application of the present invention and popularization not only militarily, and can both be brought into play enormous function in the development of the national economy.Militarily, the information reconnaissance capability of my army can be reached a new high on the one hand, make the information that obtains more accurate.In the development of the national economy, the present invention is applied in also can be in a lot of fields.Such as good prospects for application all being arranged at aspects such as the scheduling of automobile navigation, vehicle (public security, fire-fighting, bank, taxi etc.), monitoring, urban traffic control, field works.
Description of drawings
Fig. 1 satellite orbit figure;
Embodiment
With reference to Figure of description to explaining below the work of the present invention.
Difference location algorithm based on the Big Dipper/GPS bimodulus locating module of the present invention (wide area differential gps system WADGPS), principle of work is distinguished respectively and " modelling " the error source of GPS observed quantity, the error correction values of each error source that will calculate (difference value) is transferred to the user by the data communication chain then, the error of user in the GPS location revised, to reach the purpose that weakens these error sources and improve user GPS bearing accuracy.
The WADGPS system is generally by a master station, plurality of GPS satellites tracking station, and a differential signal is broadcast the station, several monitoring stations, corresponding data communication network and several subscriber stations are formed.By at present current WADGPS be to the technical requirement of communication: tracking station need uninterrupted (3s at interval at least) in real time to the tracking data of master station transmit GPS satellite.Master station will be broadcast the station to the broadcast differential correcting value incessantly of the user in the 1000km scope by differential signal, and its turnover rate is substantially: ephemeris 3min, star clock 6s, ionosphere 1h.This transmission at first must be two-forty otherwise news age of differential correcting and mistiming can become big and reduce navigation and bearing accuracy; Must be low error rate simultaneously, otherwise can not guarantee the completeness that the user locatees.
The big-dipper satellite positioning system of China partly is made up of at rail backup satellite (110.50E), central control system, calibration system and all types of user machine etc. two geostationary satellites (800E and 1400E), one.The course of work of system is: at first send interrogating signal by central control system simultaneously to satellite I and satellite II, the users broadcasting in the satellite repeater item service area of footpath.User's response is the interrogating signal of a satellite wherein, and simultaneously to two satellite transmission response signals, the footpath satellite is transmitted back central control system.The signal that central control system receives and the demodulation user sends carries out corresponding data processing according to the application service content of usefulness then.To location application, central control system is measured two time delays: promptly send interrogating signal from central control system, transmit through a certain satellite and arrive the user, the user sends the location response signal, the delay of transmitting back central control system through same satellite; Send interrogating signal with controlling from the center, arrive the user through above-mentioned same satellite, the user sends response signal, transmits back the delay of central control system through another satellite.Because the position of central control system and two satellites all is known, therefore can calculate the distance of user's to the first satellite by top two retardations, and user's to two satellite distance sum, thereby know that it is a sphere of the centre of sphere with first satellite that the user is in one, with on the intersection between two satellites ellipsoid that is focus.Central control system searches user's height value from the digital terrain figure that is stored in the computing machine in addition, knows that again the user is on a certain ellipsoid parallel with the earth reference ellipsoid.Thereby central control system can finally calculate the three-dimensional coordinate of user's loca, and this coordinate sends to the user through encrypting by exit signal.
Difference algorithm of the present invention is: send correction by base station, received and its measurement result is revised by subscriber station, to obtain the accurate localization result.
Algorithm is implemented as follows:
If calibration point (z0) position is accurately known for x0, y0, when the user is positioned at calibration point, to the radial distance of i satellite is:
Ri0＝(x0-xsi)2+(y0-ysi)2+(z0-zsi)2 (1)
(1) in the formula, i satellite of subscript " si " expression.
At calibration point, it is that tu0 then is to the pseudorange of calibration point through satellite i from central station through the time of arrival of the exit signal of i satellite issue that user's clock records central station:
ρ0＝c(tu0-t00)＝Ri+Ri0+cτ+δr (2)
(2) in the formula, c is the light velocity, and t00 is the departure time of central station exit signal when calibration point, and Ri is the radial distance of central station to an i satellite, and τ is the device cluster time delay of central station, satellite repeater and user terminal, and δ r is the radio wave propagation refraction error.
When the user leave the calibration point in-position (in the time of z1), be tu1 the time of arrival that user's clock records exit signal for x1, y1, and from central station through satellite to the pseudorange of current point be this moment:
ρ1＝c(tu1-to1)＝Ri+Ri1+cτ+δr (3)
(3) in the formula, t01 is the departure time of central station exit signal in the time of current, and Ri1 is the radial distance of current some user terminal to an i satellite.Formula (3) deducts formula (2):
Ri1＝Ri0+c(tu1-t01)-c(tu0-t00) (4)
(4) formula of utilization after calculating the real-time radial distance of user terminal to two satellite and obtaining altitude figures, just can have been calculated user's three-dimensional position in real time.
Range error is:
σr＝(Δf/f)×?c×T (5)
(5) in the formula, Δ f/f is the rubidium clock frequency stability, and c is the light velocity, and T is that the farm labourer of rubidium clock does the time.
System's three-dimensional localization error is:
σp＝(σr·HDOP)2+(σh·VDOP)2 (6)
(6) in the formula, σ r is the receiver range error, and σ h is a height indicator measurement of higher degree error.
The partial code of realizing difference algorithm is as follows:
Embodiment:
The present invention successful Application on tide skilful Buddha's warrior attendant Big Dipper hand-held set and flat computer.At present, about tens meters of triones navigation system three-dimensional localization precision, GPS three-dimensional localization precision P sign indicating number is about 6m, and the C/A sign indicating number is about 12m at present.After tested, on Big Dipper hand-held set and flat computer, the actual location precision is smaller or equal to 5 meters, and locating effect is good.
Claims (1)
1. the difference location algorithm based on Big Dipper GPS bimodulus locating module is characterized in that, sends correction by base station, is received and its measurement result is revised by subscriber station, and to obtain the accurate localization result, specific algorithm is as follows:
If calibration point (z0) position is accurately known for x0, y0, when the user is positioned at calibration point, to the radial distance of i satellite is:
Ri0＝(x0-xsi)2+(y0-ysi)2+(z0-zsi)2，
(1), i satellite of " si " expression in the formula;
At calibration point, it is that tu0 then is to the pseudorange of calibration point through satellite i from central station through the time of arrival of the exit signal of i satellite issue that user's clock records central station:
ρ0＝c(tu0-t00)＝Ri+Ri0+cτ+δr (2)
(2) in the formula, c is the light velocity, and t00 is the departure time of central station exit signal when calibration point, and Ri is the radial distance of central station to an i satellite, and τ is the device cluster time delay of central station, satellite repeater and user terminal, and δ r is the radio wave propagation refraction error;
When the user leave the calibration point in-position (in the time of z1), be tu1 the time of arrival that user's clock records exit signal for x1, y1, and from central station through satellite to the pseudorange of current point be this moment:
ρ1＝c(tu1-to1)＝Ri+Ri1+cτ+δr (3)
(3) in the formula, t01 is the departure time of central station exit signal in the time of current, and Ri1 is the radial distance of current some user terminal to an i satellite, and formula (3) deducts formula (2):
Ri1＝Ri0+c(tu1-t01)-c(tu0-t00) (4)
(4) formula of utilization after calculating the real-time radial distance of user terminal to two satellite and obtaining altitude figures, just can have been calculated user's three-dimensional position in real time;
Range error is:
σr＝(Δf/f)×c×T (5)
(5) in the formula, Δ f/f is the rubidium clock frequency stability, and c is the light velocity, and T is that the farm labourer of rubidium clock does the time;
System's three-dimensional localization error is:
σp＝(σr·HDOP)2+(σh·VDOP)2 (6)
(6) in the formula, σ r is the receiver range error, and σ h is a height indicator measurement of higher degree error;
The difference algorithm code is as follows:
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| CN103090825A (en) * | 2012-12-10 | 2013-05-08 | 陕西西北铁道电子有限公司 | Compatible railroad bridge condition monitoring system based on Beidou satellite |
| CN103529459A (en) * | 2012-07-05 | 2014-01-22 | 上海映慧电子科技有限公司 | Precise positioning method through combination of single-frequency GPS and GLONASS and system thereof |
| CN103592667A (en) * | 2013-11-27 | 2014-02-19 | 深圳瑞信视讯技术有限公司 | Vehicle-mounted monitoring system and method based on Beidou navigation system |
| CN104392108A (en) * | 2014-11-03 | 2015-03-04 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | Remote positioning system and remote positioning method adopting iterative differential algorithm |
| CN106940447A (en) * | 2017-04-17 | 2017-07-11 | 桂林电子科技大学 | A kind of Big Dipper/GPS dual-mode navigation positional device and method |
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| CN113421180A (en) * | 2021-06-11 | 2021-09-21 | 江苏众安数据科技有限公司 | Medical waste transportation flow full-chain traceable system and method |
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| CN114648874A (en) * | 2022-03-04 | 2022-06-21 | 江苏宁沪高速公路股份有限公司 | Vehicle-mounted device for monitoring vehicle running |
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| CN102608632B (en) * | 2012-02-16 | 2017-01-04 | 厦门雅迅网络股份有限公司 | Beidou satellite GPS dual-mode cloud differential positioning method and system |
| CN102608632A (en) * | 2012-02-16 | 2012-07-25 | 厦门雅迅网络股份有限公司 | Beidou satellite GPS dual-mode cloud differential positioning method and system |
| CN103529459A (en) * | 2012-07-05 | 2014-01-22 | 上海映慧电子科技有限公司 | Precise positioning method through combination of single-frequency GPS and GLONASS and system thereof |
| CN103090825A (en) * | 2012-12-10 | 2013-05-08 | 陕西西北铁道电子有限公司 | Compatible railroad bridge condition monitoring system based on Beidou satellite |
| CN103592667A (en) * | 2013-11-27 | 2014-02-19 | 深圳瑞信视讯技术有限公司 | Vehicle-mounted monitoring system and method based on Beidou navigation system |
| CN104392108A (en) * | 2014-11-03 | 2015-03-04 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | Remote positioning system and remote positioning method adopting iterative differential algorithm |
| CN108226956B (en) * | 2016-12-22 | 2021-08-03 | 千寻位置网络有限公司 | Differential data protection processing method and system |
| CN108226956A (en) * | 2016-12-22 | 2018-06-29 | 千寻位置网络有限公司 | A kind of differential data protection processing method and its system |
| CN106940447A (en) * | 2017-04-17 | 2017-07-11 | 桂林电子科技大学 | A kind of Big Dipper/GPS dual-mode navigation positional device and method |
| CN113421180A (en) * | 2021-06-11 | 2021-09-21 | 江苏众安数据科技有限公司 | Medical waste transportation flow full-chain traceable system and method |
| CN113819903A (en) * | 2021-09-18 | 2021-12-21 | 青岛海信微联信号有限公司 | Vehicle positioning method and related device |
| CN113819903B (en) * | 2021-09-18 | 2024-03-05 | 青岛海信微联信号有限公司 | Vehicle positioning method and related device |
| CN114648874A (en) * | 2022-03-04 | 2022-06-21 | 江苏宁沪高速公路股份有限公司 | Vehicle-mounted device for monitoring vehicle running |
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