CN106526629B - Satellite navigation and its orientation method and device - Google Patents
Satellite navigation and its orientation method and device Download PDFInfo
- Publication number
- CN106526629B CN106526629B CN201611208417.2A CN201611208417A CN106526629B CN 106526629 B CN106526629 B CN 106526629B CN 201611208417 A CN201611208417 A CN 201611208417A CN 106526629 B CN106526629 B CN 106526629B
- Authority
- CN
- China
- Prior art keywords
- satellite
- ambiguity
- integer ambiguity
- relative positioning
- satellites
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000013598 vector Substances 0.000 claims abstract description 69
- 238000004364 calculation method Methods 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005305 interferometry Methods 0.000 description 2
- 239000005433 ionosphere Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 239000005437 stratosphere Substances 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
-
- 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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
Landscapes
- 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
The present invention proposes a kind of satellite navigation and its orientation method and device, the observation satellite that the baseline being made of signal receiver determines is obtained first, the smallest one group of satellite of the positioning precision factor is calculated as proper star and primary, pass through the carrier phase of signal receiver continuous measuring basis star and primary again, and search for the integer ambiguity of the carrier phase of proper star and primary, finally according to carrier phase, integer ambiguity and the positioning precision factor calculate the baseline vector that signal receiver is constituted, the deflection of signal receiver can be obtained after acquisition baseline vector, to be oriented to satellite navigation.Satellite navigation and its orientation method of the invention and device, proper star and primary are determined in conjunction with the positioning precision factor, positioning accuracy is high, is conducive to accurately calculate the baseline vector that signal receiver is constituted, to accurately be oriented satellite navigation.
Description
Technical Field
The invention relates to the technical field of satellite navigation orientation, in particular to satellite navigation equipment and an orientation method and device thereof.
Background
The global four-major satellite navigation system comprises a Beidou satellite navigation system, a U.S. GPS satellite navigation system, a Russian 'Glonass' satellite navigation system and a European 'Galileo' satellite navigation system of China. The satellite navigation system includes a space segment, a control segment, and a user segment. The space segment is composed of satellites, the control segment relates to the operational management of the satellites, and the user segment includes military and civilian user equipment. The satellite navigation orientation technology is applied as a high-precision positioning technology of a satellite navigation satellite system, and is used for determining the orientation of a geometric vector formed by two points in space in a given coordinate system based on a satellite carrier phase signal interferometry principle.
The method is characterized in that a reference satellite and a main satellite are determined as key steps of a satellite navigation orientation technology, the positioning accuracy can be influenced by the space geometric distribution of the reference satellite and the main satellite, the conventional method is to select 4 satellites with the minimum geometric accuracy attenuation factor as the reference satellite and the main satellite, and the satellite selection method is only suitable for the condition of static positioning measurement with very low satellite changing speed and cannot meet the requirement of the positioning accuracy under the condition of high dynamic precise relative measurement with high satellite changing speed.
Disclosure of Invention
Based on the satellite navigation equipment and the orientation method and device thereof, the invention can meet the positioning precision requirement under the condition of high dynamic precision relative measurement with higher satellite changing speed.
A method of orientation of a satellite navigation device, comprising:
acquiring a reference star and a main star determined by a base line formed by signal receiving equipment; the calculation value of the relative positioning precision factors of the reference satellite and the main satellite is less than or equal to a preset threshold value;
measuring carrier phases of a reference satellite and a main satellite through signal receiving equipment;
searching the integer ambiguity of the carrier phases of the reference satellite and the main satellite;
and calculating a baseline vector according to the carrier phase, the integer ambiguity and the relative positioning precision factor.
An orientation device of a satellite navigation apparatus, comprising:
the reference star and main star determining module is used for acquiring a reference star and a main star determined by a base line formed by signal receiving equipment; the calculation value of the relative positioning precision factors of the reference satellite and the main satellite is less than or equal to a preset threshold value;
the carrier phase measuring module is used for measuring the carrier phases of the reference satellite and the main satellite through the signal receiving equipment;
the integer ambiguity searching module is used for searching the integer ambiguity of the carrier phases of the reference star and the main star;
and the baseline vector calculation module is used for calculating a baseline vector according to the carrier phase, the integer ambiguity and the relative positioning precision factor.
A satellite navigation device, comprising:
the reference satellite and main satellite determining equipment is used for acquiring a group of satellites with the minimum relative positioning accuracy factors as a reference satellite and a main satellite;
the carrier phase measuring equipment is used for measuring the carrier phases of the reference satellite and the main satellite through the signal receiving equipment;
the integer ambiguity searching equipment is used for searching the integer ambiguity of the carrier phases of the reference star and the main star;
and the baseline vector calculation device is used for calculating a baseline vector according to the carrier phase, the integer ambiguity and the relative positioning precision factor.
The satellite navigation equipment is provided with the signal receiving equipment, the satellite navigation equipment is oriented by positioning and representing the signal receiving equipment, an observation satellite determined by a base line formed by the signal receiving equipment is firstly obtained, a group of satellites with the minimum relative positioning precision factors are calculated to be used as a reference satellite and a main satellite, carrier phases of the reference satellite and the main satellite are continuously measured through the signal receiving equipment, the whole-cycle ambiguity of the carrier phases of the reference satellite and the main satellite is searched, a base line vector formed by the signal receiving equipment is finally calculated according to the carrier phases, the whole-cycle ambiguity and the relative positioning precision factors, and a direction angle of the signal receiving equipment can be obtained after the base line vector is obtained, so that the satellite navigation equipment is oriented. The satellite navigation equipment and the orientation method and device thereof combine the relative positioning precision factor to determine the reference star and the main star, have high positioning precision, and are beneficial to accurately calculating the baseline vector formed by the signal receiving equipment, thereby accurately orienting the satellite navigation equipment.
Drawings
FIG. 1 is a flow diagram illustrating a method for orienting a satellite navigation device in one embodiment;
FIG. 2 is a schematic orientation diagram of a satellite navigation device in one embodiment;
FIG. 3 is a flow chart of an orientation method of a satellite navigation device in another embodiment;
FIG. 4 is a flow chart of an orientation method of a satellite navigation device in a further embodiment;
FIG. 5 is a flow chart illustrating an orientation method of the satellite navigation device according to still another embodiment;
FIG. 6 is a schematic structural diagram of an orientation apparatus of a satellite navigation device in one embodiment;
fig. 7 is a schematic structural diagram of a satellite navigation device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In one embodiment, referring to fig. 1, an orientation method of a satellite navigation device includes:
s11: acquiring a group of satellites with the minimum relative positioning accuracy factor as a reference satellite and a main satellite;
s12: measuring carrier phases of a reference satellite and a main satellite through signal receiving equipment;
s13: searching the integer ambiguity of the carrier phases of the reference satellite and the main satellite;
s14: and calculating a baseline vector according to the carrier phase, the integer ambiguity and the relative positioning precision factor.
The satellite navigation device is a satellite navigation quick orientation device which is based on a satellite navigation orientation technology and a satellite carrier phase signal interferometry principle and is used for determining the orientation of a geometric vector formed by two points in space in a given coordinate system. The reference star and the main star are a group of satellites with the best positioning accuracy in space geometric distribution, generally the reference star and the main star are composed of 4 satellites, one of the satellites is the reference star, the other three satellites are the main stars, and the satellite navigation equipment can be oriented through the signal receiving equipment, the reference star and the main star. The signal receiving equipment can be an antenna arranged on the satellite navigation equipment, the antenna can transmit and receive signals, and the rapid orientation of the satellite navigation equipment can be realized by orienting the signal receiving equipment. The baseline vector is a vector formed by the signal receiving equipment, and after the baseline vector is obtained, the size and the direction of the baseline, such as a baseline course angle and a pitch angle, can be further obtained, so that the orientation from the satellite to the equipment is realized. The signal receiving device can be two or more, as shown in fig. 2, and particularly, two antennas can be installed on the satellite navigation device. The carrier phase is a measure of the phase of the satellite signal received at the time of reception relative to the phase of the carrier signal generated by the signal receiving apparatus, and the accuracy of the carrier phase measurement is highest.
In this embodiment, the positioning accuracy of the reference satellite and the main satellite is determined by a relative positioning accuracy factor (RDOP), the relative positioning accuracy factor is suitable for static positioning measurement and high-dynamic precise relative measurement, the smaller the relative positioning accuracy factor is, the higher the positioning accuracy of the reference satellite and the main satellite is, and a group of satellites with the smallest relative positioning accuracy factor is used as the reference satellite and the main satellite.
In an alternative embodiment, referring to fig. 3, a group of satellites with the smallest relative positioning accuracy factor is obtained as the reference satellite and the main satellite, and the method is implemented by the following steps:
s111: acquiring a satellite with the largest pitch angle as an alternative satellite according to the base line; wherein the number of alternative stars is greater than or equal to 5;
s112: and calculating relative positioning accuracy factors of any 4 satellites in the alternative satellites, and setting the 4 satellites with the minimum relative positioning accuracy factors as a reference satellite and a main satellite.
In the embodiment, the pitch angles of the observation satellites are acquired through the base line, a series of satellites with the largest pitch angles are used as the candidate satellites, the influence on errors of a troposphere and an ionosphere can be reduced, in relative positioning, more than 4 satellites are needed to perform relative positioning calculation, and therefore more than 5 satellites are selected as the candidate satellites, and the calculation accuracy of relative positioning accuracy factors is improved.
In an alternative embodiment, referring to fig. 4, setting 4 satellites with the smallest relative positioning accuracy factor as front reference satellites and front main satellites further includes the following steps:
s1121: if the relative positioning accuracy factor is larger than a preset threshold value, after waiting for a preset time, recalculating the relative positioning accuracy factors of any 4 satellites in the alternative satellites;
s1122: and setting the 4 satellites with the minimum relative positioning accuracy factor before and after the preset time as a reference satellite and a main satellite.
The preset threshold is an accuracy value to be satisfied as the relative positioning accuracy of the reference star and the main star, and may be specifically 10. After calculating the relative positioning accuracy factors of any 4 satellites in the alternative satellites, judging whether the relative positioning accuracy factors are larger than a preset threshold value, if so, waiting for a preset time, recalculating the relative positioning accuracy factors of the alternative satellites, and taking a group of satellites with the minimum relative positioning accuracy factors calculated twice before and after the preset time as a reference satellite and a main satellite. In the embodiment, the relative positioning accuracy factors of the candidate satellites are calculated for multiple times, so that the set relative positioning accuracy factors of the reference satellite and the main satellite are ensured to be minimum as much as possible, and the positioning accuracy is improved. If so, the relative positioning accuracy factor of the alternative satellite does not need to be recalculated.
In an alternative embodiment, after waiting for a preset time and recalculating the relative positioning accuracy factors of any 4 satellites in the candidate satellites, the method includes the following steps:
if the calculated relative positioning accuracy factors of any 4 satellites are larger than a preset threshold before and after the alternative star is in the preset time, the number range of the alternative star is expanded;
calculating relative positioning precision factors of any 4 satellites in the alternative satellites after the range is expanded;
and setting 4 satellites with the smallest relative positioning accuracy factor and less than or equal to a preset threshold value as a reference satellite and a main satellite.
After waiting for a preset time, recalculating the relative positioning accuracy factors of any 4 satellites in the candidate satellites, for the candidate satellites, if the relative positioning accuracy factors of any 4 satellites calculated twice are greater than a preset threshold, expanding the number range of the candidate satellites, for example, if the number of the candidate satellites determined at the beginning is 5, expanding the number range to 7, then calculating the relative positioning accuracy factors of any 4 satellites in the candidate satellites with the expanded range, if 4 satellites with the relative positioning accuracy factors less than or equal to the preset threshold exist, and if the relative positioning accuracy factors of the 4 satellites in the candidate satellites with the expanded range are the minimum, setting the 4 satellites as reference satellites and main satellites. If the range is expanded, the relative positioning precision factor of the alternative satellite still can not meet the precision requirement, the range of the alternative satellite can be continuously expanded, and the calculation is continuously carried out. However, the number range of the alternative stars is not infinite, because the larger the number range of the alternative stars is, the larger the calculation amount is, and therefore, an appropriate number of alternative stars should be selected from all the available common view stars to perform relative positioning calculation according to the precision index requirement and the processing capacity of the platform.
The integer ambiguity (also called integer of whole cycle) is an integer unknown corresponding to a first observed value of a phase difference between a carrier phase and a reference phase when a carrier phase of a global positioning system technology is measured, and is a very important and necessary problem to be solved in the carrier phase measurement of the global positioning system. In an alternative embodiment, searching for integer ambiguity of carrier phases for the reference star and the primary star includes the steps of:
and searching the optimal integer ambiguity of the carrier phase in a plurality of epochs, and calculating a baseline vector according to the optimal integer ambiguity.
An epoch is a time unit, and in astronomy, an epoch is a certain specific time defined for specifying celestial coordinates or orbit parameters. In astronomy and satellite positioning, the time instants to which the acquired data correspond are also referred to as epochs. In this embodiment, the optimal integer ambiguity in one or more epochs can be searched and then the baseline vector can be calculated based on the optimal integer ambiguity. The optimal carrier phase ambiguity is determined by fully utilizing the integer ambiguity information of the carrier phase in the multi-epoch, so that the accuracy of the carrier phase integer ambiguity can be improved, and the accuracy of orientation is ensured.
Preferably, referring to fig. 5, searching for the optimal integer ambiguity of the carrier phase over a number of epochs comprises the steps of:
s131: acquiring the integer ambiguity with the largest occurrence frequency in a preset epoch number as a first ambiguity;
s132: acquiring the integer ambiguity with the second most occurrence times in the preset epoch number as a second ambiguity;
s133: calculating a residual error between the first ambiguity and the second ambiguity;
s134: and if the residual error is larger than a threshold value, determining that the first ambiguity is the optimal ambiguity.
If a whole-cycle ambiguity is detected to occur multiple times within a predetermined number of epochs, for example within 6 epochs, searching the integer ambiguity of the carrier phase of the reference satellite, searching the integer ambiguity of the carrier phase of the reference satellite for 13 weeks in the 1 st, 3 rd and 5 th epochs, the integer ambiguity of the carrier phase of the reference satellite searched in the 2 nd and 4 th epochs is 14 weeks, the integer ambiguity of the carrier phase of the reference satellite searched in the 6 th epoch is 12 weeks, the integer ambiguity of 13 is shown to occur 3 times, the integer ambiguity of 14 is shown to occur 2 times for the first ambiguity, the integer ambiguity of 12 is shown to occur 1 time for the second ambiguity, the residual error between the first ambiguity and the second ambiguity is calculated, if the residual error is larger than the threshold value, the integer ambiguity of 13 weeks can be determined to be the optimal ambiguity for the carrier phase of the reference star. The residual may be calculated as follows:wherein epsilon is residual error, i is ith satellite, n is nth satellite, and X12Is a baseline vector, N12Is the integer ambiguity vector.
In one embodiment, after constructing the double-difference observation equation according to the carrier phase and the integer ambiguity, the method comprises the following steps:
and acquiring the continuously measured carrier phase, and performing cycle slip detection and cycle slip repair to confirm whether a cycle slip error exists in the carrier phase.
In the process of continuous carrier phase measurement of an observation satellite by a signal receiving device, a whole-cycle counting error may occur due to some reason, so that a whole-cycle skip appears in a carrier phase observation value compared with a carrier phase normal value, which is called a cycle skip error, and the generation of the cycle skip error will destroy the continuity of the carrier phase observation value and cause a batch of whole-cycle bias to subsequent carrier phase observation values. In the carrier phase measurement, whether a cycle slip error occurs in the carrier phase observation value can be detected in real time through cycle slip detection, if the cycle slip error occurs, cycle slip repair is carried out, the carrier phase observation value is repaired, and the continuity and accuracy of the orientation result are ensured. Specifically, the TurboEdit algorithm can be adopted for cycle slip detection and cycle slip repair, that is, a wide term combination and an ionized layer combination are jointly used for cycle slip detection and cycle slip repair.
And after the carrier phase, the integer ambiguity and the relative positioning accuracy factor are measured, calculating a formed baseline vector of the signal receiving equipment according to an observation equation. The observation equations include a single-difference observation equation, a double-difference observation equation, and a triple-difference observation equation. In one embodiment, the step of calculating a baseline vector based on the carrier phase, the integer ambiguity, and the relative positioning accuracy factor comprises:
measuring pseudo ranges of a reference satellite and a main satellite through signal receiving equipment;
a double-difference observation equation is constructed according to the carrier phase and the integer ambiguity according to the following modes:
Φ12＝AX12+N12+ε12
wherein,
Φ12carrier phases obtained for the signal receiving apparatus 1 and the signal receiving apparatus 2, a is a coefficient matrix, λ is a carrier wavelength, r(n)Unit direction vector, epsilon, for signal receiving equipment to satellite n12Double-difference observation error vector, X, for signal receiving apparatus 1 and signal receiving apparatus 212A base line vector formed for the signal receiving apparatus 1 and the signal receiving apparatus 2, N12The integer ambiguity vector measured by the signal receiving equipment 1 and the signal receiving equipment 2;
calculating a baseline vector X based on the carrier phase, the integer ambiguity, and the relative positioning accuracy factor in the following manner12Least squares solution of (c):
X12＝(ATPA)-1ATP(Φ12-N12)
X12is a baseline vector, (A)TPA)-1P is the pseudorange for the relative positioning accuracy factor value.
The pseudorange is a distance between a satellite and a signal receiving device obtained by multiplying an optical speed by a time taken for a ranging signal transmitted by the satellite to reach the signal receiving device, but in a signal propagation process, an actual observed distance and a true distance of the satellite to the signal receiving device are not equal due to influences of errors such as a receiver clock error, a satellite clock error, an ionospheric refraction error, a tropospheric refraction error and the like, so that the pseudorange is called a pseudorange.
Φ12The carrier phases acquired by the signal receiving apparatus 1 and the signal receiving apparatus 2 are a column vector, which is a carrier phase double-difference observation value of other observation satellites except the reference satellite. N is a radical of12The whole-cycle ambiguity vector acquired by the signal receiving apparatus 1 and the signal receiving apparatus 2 is a column vector representing the whole-cycle ambiguity vectors of observation satellites other than the reference satellite.
Knowing the carrier phase and the integer ambiguity, combining a relative positioning accuracy factor according to a least squares solution of the baseline vector available from the double-difference observation equation, wherein the relative positioning accuracy factor (A)TPA)-1Related to pseudorange, by formula X12＝(ATPA)- 1ATP(Φ12-N12) A baseline vector is calculated. When two or more signal receiving devices synchronously observe the same satellite, the observed quantities such as the measured carrier phase, the measured integer ambiguity and the measured pseudorange can be influenced by some errors, such as satellite orbit errors, satellite clock errors, receiver clock errors, ionosphere errors and stratosphere errors, and the like, and the influences of the errors on the observed quantities have certain correlation.
According to the orientation method of the satellite navigation equipment, the satellite navigation equipment is provided with the signal receiving equipment, the satellite navigation equipment is oriented by positioning and representing the signal receiving equipment, firstly, an observation satellite determined by a base line formed by the signal receiving equipment is obtained, a group of satellites with the smallest relative positioning precision factors are calculated to be used as a reference satellite and a main satellite, then, the carrier phases of the reference satellite and the main satellite are continuously measured through the signal receiving equipment, the whole-cycle ambiguity of the carrier phases of the reference satellite and the main satellite is searched, finally, a base line vector formed by the signal receiving equipment is calculated according to the carrier phases, the whole-cycle ambiguity and the relative positioning precision factors, and after the base line vector is obtained, the direction angle of the signal receiving equipment can be obtained, so that the satellite navigation equipment is oriented. The orientation method of the satellite navigation equipment determines the reference star and the main star by combining the relative positioning precision factor, has high positioning precision, and is beneficial to accurately calculating the baseline vector formed by the signal receiving equipment, thereby accurately orienting the satellite navigation equipment.
The following describes a specific embodiment of the orientation device of the satellite navigation apparatus according to the present invention.
In one embodiment, referring to fig. 6, an orientation device of a satellite navigation apparatus includes:
the reference satellite and main satellite determining module is used for acquiring a group of satellites with the minimum relative positioning precision factors as a reference satellite and a main satellite;
the carrier phase measuring module is used for measuring the carrier phases of the reference satellite and the main satellite through the signal receiving equipment;
the integer ambiguity searching module is used for searching the integer ambiguity of the carrier phases of the reference star and the main star;
and the baseline vector calculation module is used for calculating a baseline vector according to the carrier phase, the integer ambiguity and the relative positioning precision factor.
In one embodiment, the baseline vector calculation module comprises:
the pseudo-range measurement module is used for measuring pseudo-ranges of the reference satellite and the main satellite through the signal receiving equipment;
the double-difference observation equation building module is used for building a double-difference observation equation according to the carrier phase and the integer ambiguity in the following mode:
Φ12＝AX12+N12+ε12
wherein,
Φ12carrier phases obtained for the signal receiving apparatus 1 and the signal receiving apparatus 2, a is a coefficient matrix, λ is a carrier wavelength, r(n)Unit direction vector, epsilon, for signal receiving equipment to satellite n12Double-difference observation error vector, X, for signal receiving apparatus 1 and signal receiving apparatus 212Is a baseline vector, N12Is an integer ambiguity vector;
a baseline vector least squares solution calculation module for calculating a baseline vector X based on the carrier phase, the integer ambiguity, and the relative positioning accuracy factor in the following manner12Least squares solution of (c):
X12＝(ATPA)-1ATP(Φ12-N12)
wherein, X12Is a baseline vector, (A)TPA)-1P is the pseudorange for the relative positioning accuracy factor value.
In one embodiment, the reference star and primary star determination module comprises:
the alternate satellite determining module is used for acquiring a satellite with the largest pitch angle as an alternate satellite according to the base line; wherein the number of alternative stars is greater than or equal to 5;
and the relative positioning precision factor calculation module is used for calculating the relative positioning precision factors of any 4 satellites in the alternative satellites and setting the 4 satellites with the minimum relative positioning precision factors as a reference satellite and a main satellite.
In one embodiment, the relative positioning accuracy factor calculation module includes:
the identification module is used for recalculating the relative positioning accuracy factors of any 4 satellites in the alternative satellites after waiting for a preset time if the relative positioning accuracy factors are greater than a preset threshold value;
and the comparison module is used for setting the 4 satellites with the minimum relative positioning precision factors before and after the preset time as a reference satellite and a main satellite.
In one embodiment, the comparison module comprises:
the alternative satellite range expansion module is used for expanding the number range of the alternative satellites if the calculated relative positioning accuracy factors of any 4 satellites are larger than a preset threshold before and after the alternative satellites are in the preset time;
the expansion calculation module is used for calculating the relative positioning precision factors of any 4 satellites in the alternative satellites after the range is expanded;
and the determining module is used for setting 4 satellites with the minimum relative positioning precision factor and less than or equal to a preset threshold value as a reference satellite and a main satellite.
In one embodiment, the integer ambiguity search module comprises:
and the optimal integer ambiguity searching module is used for searching the optimal integer ambiguity of the carrier phase in a plurality of epochs and calculating a baseline vector according to the optimal integer ambiguity.
In one embodiment, the optimal integer ambiguity search module comprises:
the first ambiguity acquiring module is used for acquiring the integer ambiguity with the largest occurrence frequency in the preset epoch number as a first ambiguity;
the second ambiguity acquiring module is used for acquiring the integer ambiguity with the second most occurrence times in the preset epoch number as a second ambiguity;
the residual error calculation module is used for calculating the residual error between the first ambiguity and the second ambiguity;
and the first ambiguity confirming module is used for confirming that the first ambiguity is the optimal integer ambiguity if the residual error is larger than a threshold value.
In one embodiment, the double difference observation equation building block comprises:
and the detection and repair module is used for acquiring the continuously measured carrier phase, and performing cycle slip detection and cycle slip repair to determine whether a cycle slip error exists in the carrier phase.
In one embodiment, referring to fig. 7, a satellite navigation apparatus includes:
the reference satellite and main satellite determining equipment is used for acquiring a group of satellites with the minimum relative positioning accuracy factors as a reference satellite and a main satellite;
the carrier phase measuring equipment is used for measuring the carrier phases of the reference satellite and the main satellite through the signal receiving equipment;
the integer ambiguity searching equipment is used for searching the integer ambiguity of the carrier phases of the reference star and the main star;
and the baseline vector calculation device is used for calculating a baseline vector according to the carrier phase, the integer ambiguity and the relative positioning precision factor.
The satellite navigation equipment and the orientation device thereof correspond to the orientation method of the satellite navigation equipment one to one, and the technical characteristics and the beneficial effects described in the embodiment of the orientation method of the satellite navigation equipment are both suitable for the embodiment of the satellite navigation equipment and the orientation device thereof, so the technical characteristics and the beneficial effects are declared.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express a few embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A method of orienting a satellite navigation device, comprising:
acquiring a group of satellites with the minimum relative positioning accuracy factor as a reference satellite and a main satellite;
measuring carrier phases of a reference satellite and a main satellite through signal receiving equipment;
searching the integer ambiguity of the carrier phases of the reference satellite and the main satellite;
calculating a baseline vector according to the carrier phase, the integer ambiguity and the relative positioning precision factor;
searching the integer ambiguity of the carrier phases of the reference satellite and the main satellite, wherein the step of searching the optimal integer ambiguity of the carrier phases in a plurality of epochs comprises the step of calculating the baseline vector according to the carrier phases, the integer ambiguity and the relative positioning precision factor, and the step of calculating the baseline vector by using the optimal integer ambiguity;
wherein, searching for the optimal integer ambiguity of the carrier phase in the plurality of epochs comprises: acquiring the integer ambiguity with the largest occurrence frequency in a preset epoch number as a first ambiguity;
acquiring the integer ambiguity with the second most occurrence times in the preset epoch number as a second ambiguity;
calculating a residual error between the first ambiguity and the second ambiguity;
and if the residual error is larger than a threshold value, determining that the first ambiguity is the optimal ambiguity.
2. The method of claim 1, wherein the step of calculating a baseline vector based on carrier phase, integer ambiguity, and the relative positioning accuracy factor comprises:
measuring pseudo ranges of a reference satellite and a main satellite through signal receiving equipment;
a double-difference observation equation is constructed according to the carrier phase and the integer ambiguity according to the following modes:
Φ12＝AX12+N12+ε12
wherein,
Φ12carrier phases obtained for the signal receiving apparatus 1 and the signal receiving apparatus 2, a is a coefficient matrix, λ is a carrier wavelength, r(n)Unit direction vector, epsilon, for signal receiving equipment to satellite n12Double-difference observation error vector, X, for signal receiving apparatus 1 and signal receiving apparatus 212A base line vector formed for the signal receiving apparatus 1 and the signal receiving apparatus 2, N12For signal receiving apparatus 1 and signal receivingReceiving the integer ambiguity vector measured by the device 2;
calculating a baseline vector X based on the carrier phase, the integer ambiguity, and the relative positioning accuracy factor in the following manner12Least squares solution of (c):
X12＝(ATPA)-1ATP(Φ12-N12)
wherein, X12Is a baseline vector, (A)TPA)-1P is the pseudorange for the relative positioning accuracy factor value.
3. The method of orienting a satellite navigation device according to claim 1, wherein the step of acquiring a group of satellites with the smallest relative positioning accuracy factor as a reference star and a main star comprises:
acquiring a satellite with the largest pitch angle as an alternative satellite according to the base line; wherein the number of alternative stars is greater than or equal to 5;
and calculating relative positioning accuracy factors of any 4 satellites in the alternative satellites, and setting the 4 satellites with the minimum relative positioning accuracy factors as a reference satellite and a main satellite.
4. The method for orienting a satellite navigation device according to claim 3, wherein 4 satellites with the smallest relative positioning accuracy factor are set before the reference satellite and the main satellite, and the method comprises the following steps:
if the relative positioning accuracy factor is larger than a preset threshold value, after waiting for a preset time, recalculating the relative positioning accuracy factors of any 4 satellites in the alternative satellites;
and setting the 4 satellites with the minimum relative positioning accuracy factor before and after the preset time as a reference satellite and a main satellite.
5. The method for orienting a satellite navigation device according to claim 4, wherein after waiting for a preset time and recalculating the relative positioning accuracy factors of any 4 satellites in the alternative satellites, the method comprises the following steps:
if the calculated relative positioning accuracy factors of any 4 satellites are larger than a preset threshold before and after the alternative star is in the preset time, the number range of the alternative star is expanded;
calculating relative positioning precision factors of any 4 satellites in the alternative satellites after the range is expanded;
and setting 4 satellites with the smallest relative positioning accuracy factor and less than or equal to a preset threshold value as a reference satellite and a main satellite.
6. The method for orienting a satellite navigation device according to claim 2, wherein the method comprises the following steps after constructing the double difference observation equation according to the carrier phase and the integer ambiguity:
and acquiring the continuously measured carrier phase, and performing cycle slip detection and cycle slip repair to confirm whether a cycle slip error exists in the carrier phase.
7. An orientation device for a satellite navigation apparatus, comprising:
the reference satellite and main satellite determining module is used for acquiring a group of satellites with the minimum relative positioning precision factors as a reference satellite and a main satellite;
the carrier phase measuring module is used for measuring the carrier phases of the reference satellite and the main satellite through the signal receiving equipment;
the integer ambiguity searching module is used for searching the integer ambiguity of the carrier phases of the reference star and the main star;
the baseline vector calculation module is used for calculating a baseline vector according to the carrier phase, the integer ambiguity and the relative positioning precision factor;
searching the integer ambiguity of the carrier phases of the reference satellite and the main satellite, wherein the step of searching the optimal integer ambiguity of the carrier phases in a plurality of epochs comprises the step of calculating the baseline vector according to the carrier phases, the integer ambiguity and the relative positioning precision factor, and the step of calculating the baseline vector by using the optimal integer ambiguity;
wherein, searching for the optimal integer ambiguity of the carrier phase in the plurality of epochs comprises: acquiring the integer ambiguity with the largest occurrence frequency in a preset epoch number as a first ambiguity;
acquiring the integer ambiguity with the second most occurrence times in the preset epoch number as a second ambiguity;
calculating a residual error between the first ambiguity and the second ambiguity;
and if the residual error is larger than a threshold value, determining that the first ambiguity is the optimal ambiguity.
8. A satellite navigation device, comprising:
the reference satellite and main satellite determining equipment is used for acquiring a group of satellites with the minimum relative positioning accuracy factors as a reference satellite and a main satellite;
the carrier phase measuring equipment is used for measuring the carrier phases of the reference satellite and the main satellite through the signal receiving equipment;
the integer ambiguity searching equipment is used for searching the integer ambiguity of the carrier phases of the reference star and the main star;
a baseline vector calculation device for calculating a baseline vector based on the carrier phase, the integer ambiguity, and the relative positioning accuracy factor;
searching the integer ambiguity of the carrier phases of the reference satellite and the main satellite, wherein the step of searching the optimal integer ambiguity of the carrier phases in a plurality of epochs comprises the step of calculating the baseline vector according to the carrier phases, the integer ambiguity and the relative positioning precision factor, and the step of calculating the baseline vector by using the optimal integer ambiguity;
wherein, searching for the optimal integer ambiguity of the carrier phase in the plurality of epochs comprises: acquiring the integer ambiguity with the largest occurrence frequency in a preset epoch number as a first ambiguity;
acquiring the integer ambiguity with the second most occurrence times in the preset epoch number as a second ambiguity;
calculating a residual error between the first ambiguity and the second ambiguity;
and if the residual error is larger than a threshold value, determining that the first ambiguity is the optimal ambiguity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611208417.2A CN106526629B (en) | 2016-12-23 | 2016-12-23 | Satellite navigation and its orientation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611208417.2A CN106526629B (en) | 2016-12-23 | 2016-12-23 | Satellite navigation and its orientation method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106526629A CN106526629A (en) | 2017-03-22 |
| CN106526629B true CN106526629B (en) | 2019-01-22 |
Family
ID=58338685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611208417.2A Active CN106526629B (en) | 2016-12-23 | 2016-12-23 | Satellite navigation and its orientation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106526629B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106959456B (en) * | 2017-03-27 | 2019-04-26 | 中国电建集团西北勘测设计研究院有限公司 | A kind of GNSS SURVEYING CONTROL NETWORK Accuracy Estimation |
| CN107561565B (en) * | 2017-10-19 | 2021-03-05 | 中国科学院空间应用工程与技术中心 | Processing method for satellite change of low-orbit spacecraft satellite-borne GNSS differential relative navigation |
| CN108181630B (en) * | 2017-11-30 | 2020-11-03 | 东南大学 | Beidou double-antenna rotation rapid orientation method |
| CN110673178B (en) * | 2018-07-03 | 2022-03-04 | 中移物联网有限公司 | Self-checking method, device, equipment and storage medium for satellite navigation positioning |
| CN110161546B (en) * | 2019-05-23 | 2021-04-16 | 杭州中科微电子有限公司 | Satellite orientation device and method using iterative weighted ambiguity function method |
| CN111522042A (en) * | 2020-05-08 | 2020-08-11 | 广东电网有限责任公司电力科学研究院 | Orientation device and orientation method based on double-satellite positioning module |
| CN111504304A (en) * | 2020-05-13 | 2020-08-07 | 天津云遥宇航科技有限公司 | Navigation satellite selection method for satellite-borne double antennas |
| CN115480274A (en) * | 2021-05-31 | 2022-12-16 | 千寻位置网络有限公司 | Reference satellite selection method and device and receiver |
| CN116520376B (en) * | 2023-07-05 | 2023-09-08 | 中国科学院空天信息创新研究院 | Clock-assisted high-orbit Beidou receiver positioning and resolving method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2863123B1 (en) * | 2003-12-01 | 2006-04-28 | Cit Alcatel | PROCESS FOR ACQUIRING SATELLITE DATA |
| CN103454664B (en) * | 2013-08-20 | 2016-02-24 | 中国人民解放军国防科学技术大学 | A kind of GNSS carrier phase ambiguity method for solving information constrained based on gyro to measure |
| CN105372692B (en) * | 2014-08-13 | 2018-05-25 | 北京和协导航科技有限公司 | A kind of Big Dipper surveys the quick integer ambiguity method of appearance receiver |
| CN105510950B (en) * | 2015-12-01 | 2016-08-17 | 中国人民解放军国防科学技术大学 | A kind of real-time accurate method for determining posture based on common clock receiver |
| CN105510946B (en) * | 2015-12-28 | 2017-10-31 | 辽宁工程技术大学 | A kind of BDS satellite carriers Phase integer ambiguity fast resolution algorithm |
-
2016
- 2016-12-23 CN CN201611208417.2A patent/CN106526629B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106526629A (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106526629B (en) | Satellite navigation and its orientation method and device | |
| CN105158783B (en) | A kind of real time dynamic differential localization method and its equipment | |
| CA2541173C (en) | Method for using three gps frequencies to resolve carrier-phase integer ambiguities | |
| US6127968A (en) | On-the-fly RTK positioning system with single frequency receiver | |
| Cai et al. | Precise point positioning with quad-constellations: GPS, BeiDou, GLONASS and Galileo | |
| US5831576A (en) | Integrity monitoring of location and velocity coordinates from differential satellite positioning systems signals | |
| JP5421903B2 (en) | Partial search carrier phase integer ambiguity determination | |
| CN107703526B (en) | Baseline direction finding method, device and system | |
| CN108196281A (en) | A kind of single-frequency dynamic cycle-slip detection and repair method based on position field curve constraint | |
| CN105974440B (en) | A kind of method and apparatus obtaining observation noise | |
| CN109031356B (en) | Method for monitoring autonomous integrity of characteristic slope weighted least square residual receiver | |
| CN105158778B (en) | Multisystem combined implementation carrier phase difference fault satellites elimination method and its system | |
| GB2487256A (en) | Location fix from an unknown position | |
| CN113138402B (en) | RTK-based ambiguity fixing method and device and storage medium | |
| EP2037291A1 (en) | Integrity monitoring method for GNSS navigation based on historical information | |
| CN106324622B (en) | Local area augmentation system integrity monitoring and real-time positioning augmentation method | |
| US20190004181A1 (en) | Method and apparatus applicable to positioning in nlos environment | |
| CN112146557A (en) | GNSS-based real-time bridge deformation monitoring system and method | |
| CN111856513A (en) | Satellite observation value acquisition method and device, computer equipment and storage medium | |
| CN114488235A (en) | Double-antenna satellite orientation method, system, storage medium and electronic equipment | |
| CN104749587B (en) | Receiver pseudorange fault monitoring method and receiver | |
| CN110568464A (en) | BDS/GNSS (broadband navigation satellite system/global navigation satellite system) multi-mode chip-based precision positioning method and device | |
| RU2624268C1 (en) | Method of determining mutual position of objects by signals of global navigation satellite systems | |
| CN100371731C (en) | GPS and pseudo-satellite combined positioning method | |
| RU2446410C1 (en) | Method of angular orientation of object by signals of satellite radio-navigation systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |