CN107422340A - A kind of multipoint location system receiving station positional error correction method - Google Patents

A kind of multipoint location system receiving station positional error correction method Download PDF

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CN107422340A
CN107422340A CN201710792011.1A CN201710792011A CN107422340A CN 107422340 A CN107422340 A CN 107422340A CN 201710792011 A CN201710792011 A CN 201710792011A CN 107422340 A CN107422340 A CN 107422340A
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msub
receiving station
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msup
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CN107422340B (en
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吴双
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Wuhu Huachuang Photoelectric Technology Co Ltd
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Wuhu Huachuang Photoelectric Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—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
    • G01S19/235—Calibration of receiver components

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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

The invention discloses a kind of multipoint location system receiving station positional error correction method, its method is (1) establishment of coordinate system；(2) function designs；(3) optimization method designs.Present invention reduces the workload that civil aviaton's multipoint location system initially installs test, it is not necessary to which the high-acruracy survey such as total powerstation equipment measures the positional information for receiving station antenna one by one, significantly reduces the workload of installation；After receiving station puts into operation, if indivedual receiving stations need changing position, the gps coordinate of position after acquisition variation is only needed, and the new position coordinates of receiving station is determined by software algorithm, reduces the workload of maintenance.After whole system work a period of time, on-line corrections quickly can be carried out to all kinds of errors such as site error accumulative in system operation using beacon, system accuracy is guaranteed in the process of running.

Description

A kind of multipoint location system receiving station positional error correction method
Technical field
The present invention relates to air traffic control technical field, especially a kind of multipoint location system receives station location and missed Difference correcting method.
Background technology
Air Service Market fast development, the use of the rapid growth of air transportation amount to spatial domain and airport propose higher It is required that.The high density magnitude of traffic flow is to the demand in spatial domain and the contradiction of available spatial domain inadequate resource.Civil aviaton's multiple spot Alignment system (Multilateration, being abbreviated as MLAT) can provide high accuracy, high covering, the monitoring service of High Data Rate, Meets the needs of air traffic services are to airport scene monitoring, it is ensured that air transportation safety, improve airspace capacity and airborne vehicle fortune Line efficiency.MLAT systems utilize multiple receiving stations, receive the 1090MHz answer signals of civil aviaton's vehicle launch, are believed by measuring The time of each receiving station number is reached, completes to determine civil aviaton's aircraft according to reaching time-difference (TDOA) between multiple receiving stations Position.
Requirement of the MLAT systems to positioning precision for airport scene monitoring is very high, and receiving station's site site error will be straight Connect and have influence on positioning precision.Generally, receiving station site position is in initial setup process, tests to obtain by total powerstation, entirely Instrument of standing can reach millimeter magnitude for the measurement accuracy of site position, meet requirement.When airport is larger, receive Quantity of standing can be relatively more, real time dynamic measurement positioning (Real-time kinematic, be abbreviated as RTK) is carried out test job Amount can be very big.In addition in system operation, if indivedual station locations that receive change, it is necessary to retest and connect Station site position is received, influences whether the normal operation of system.
Therefore, it is necessary to propose a kind of multipoint location system receiving station positional error correction method for above mentioned problem.
The content of the invention
The present invention seeks to overcome deficiency of the prior art, there is provided a kind of multipoint location system receives station location and missed Difference correcting method, it is simple and effective, the site position measurement workload during installation of MLAT systems is reduced, improves MLAT system operations Maintenance efficiency.
In order to solve the above-mentioned technical problem, the present invention is to be achieved through the following technical solutions：
A kind of multipoint location system receiving station positional error correction method, its method are (1) establishment of coordinate system；(2) function Design；(3) optimization method designs；Wherein optimization method design the step of be：
Step 1：Using the position of accurate 5 beacons of measurement of RTK equipment, the standard variance of position measurement for σ= 0.1m；
Step 2：Bigness scale amount, the standard variance σ of position measurement are carried out to all reception station locations using GPS =50m；
Step 3：By receiving station with 4 for one group, it is assumed that 20 receiving stations are arranged on airport, then are divided into 5 groups；For every One group, 4 receiving stations share 12 unknown coordinates variables；
Step 4：The optimizing successively of multivariable based on least cost function；
Step 5：Variable step iteration optimization is carried out again to step 4；
Step 6：To remaining each group receiving station, according to Step 4: five optimize, correspondingly received station can be equally acquired Exact position.
Preferably, the function sets receiving station's website number as M, and m-th of website coordinate is { xrm,yrm,zrm}；Beacon Positional number is K, and k-th of beacon position coordinate is { xk,yk,zk, it is defined as follows cost function：
Wherein, τm,1,kThe time difference of k-th of beacon signal is received for m-th of receiving station and the 1st receiving station.Obviously, it is public Formula (1) has single extremum property, and receiving station location for optimized search provides foundation.
Preferably, understood according to formula (1), allow the independent parties number of passes that cost function is zero to be that K (M-1) is individual；Meanwhile connect It is three-dimensional to receive the position at station, i.e., there are three unknown numbers in each receiving station, then the unknown number of M receiving station has 3M, in order that Obtaining equation has unique solution, then requires：
K·(M-1)≥3M (2)
Formula (2) is made as down conversion obtains
In formula (3), M ＞ 1 represent receiving station's number two stations and its more than, simultaneouslySet up, then beacon Quantity K meet relation：
K ＞ 3 (4)
In order to make system most simple, the quantity that we choose beacon herein is
K=4 (5)
Formula (5) is taken back into formula (2), can be obtained：
M≥4 (6)
With reference to formula (5), (6), deblurring when being solved for quadratic equation is, it is necessary to be further added by a beacon position, we The minimum optimization system of case is 5 beacons, 4 receiving stations.
Preferably, the step 4 utilizes accurate 5 accurate beacon positions, 4 initial reception station locations, to 12 Variable chess game optimization, corresponding process are one by one for individual variable progress：Variable 1 is optimized, wherein variable deviation scope according to Step 5 designs, while fixed variable 2 to 12, and by optimal value substitute variable 1；Then variable 2 is optimized, fixed more Variable 1 after new, and variable 3 to 12, and by optimal value substitute variable 2；By that analogy, an Optimizing Search to the end, i.e., Variable 12 is optimized, the variable 1 to 11 after fixed renewal, and by optimal value substitute variable 12.
Preferably, variable step iteration optimization described in step 5 includes big step iteration, middle step iteration and small step iteration.
Preferably, the big step iteration design variable deviation range is [- 3 σ:1:3 σ] m, it is preferred to carry out 100 iteration Ground, for the middle step iteration on the basis of big step-length optimum results, design variable deviation range is [- 3 σ:1:3 σ]/10m, then enter 100 iteration optimizations of row.
Preferably, the small step iteration：On the basis of middle step-length optimum results, design variable deviation range is [- 3 σ: 1:3 σ]/100m, 100 iteration optimizations are carried out, finally give the exact position of 4 receiving stations.
Beneficial effect of the present invention：
(1) workload that civil aviaton's multipoint location system initially installs test is reduced, it is not necessary to which total powerstation etc. is surveyed in high precision Amount equipment measures the positional information for receiving station antenna one by one, significantly reduces the workload of installation；
(2) after receiving station puts into operation, if indivedual receiving stations need changing position, position after acquisition variation is only needed The gps coordinate put, and the new position coordinates of receiving station is determined by software algorithm, reduce the workload of maintenance
(3) after whole system work a period of time, position of the beacon quickly to adding up in system operation can be utilized All kinds of errors such as error carry out on-line correction, system accuracy is guaranteed in the process of running.
Design, concrete structure and the caused technique effect of the present invention are described further below with reference to accompanying drawing, with It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the coordinate system schematic diagram of the present invention；
Fig. 2 is the cost function characteristic Simulation schematic diagram of the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims Implement with the multitude of different ways of covering.
Such as Fig. 1 and with reference to shown in Fig. 2, a kind of multipoint location system receiving station positional error correction method, its method is (1) Establishment of coordinate system；(2) function designs；(3) optimization method designs；Wherein optimization method design the step of be：
Step 1：Using the position of accurate 5 beacons of measurement of RTK equipment, the standard variance of position measurement for σ= 0.1m；Step 2：Bigness scale amount is carried out to all reception station location using GPS, the standard variance σ of position measurement= 50m；Step 3：By receiving station with 4 for one group, it is assumed that 20 receiving stations are arranged on airport, then are divided into 5 groups；For each group, 4 receiving stations share 12 unknown coordinates variables；Step 4：The optimizing successively of multivariable based on least cost function, step 5： Variable step iteration optimization is carried out again to step 4；Step 6：To remaining each group receiving station, according to Step 4: five optimize, together Sample can acquire the exact position at correspondingly received station.
Function sets receiving station's website number as M, and m-th of website coordinate is { xrm,yrm,zrm}；Beacon position number is K, the K beacon position coordinate is { xk,yk,zk, it is defined as follows cost function：
Wherein, τm,1,kThe time difference of k-th of beacon signal is received for m-th of receiving station and the 1st receiving station.Obviously, it is public Formula (1) has single extremum property, and receiving station location for optimized search provides foundation.
Understood according to formula (1), allow the independent parties number of passes that cost function is zero to be that K (M-1) is individual；Meanwhile receiving station Position is three-dimensional, i.e., there are three unknown numbers in each receiving station, then the unknown number of M receiving station has 3M, in order that obtaining equation There is unique solution, then require：
K·(M-1)≥3M (2)
Formula (2) is made as down conversion obtains
In formula (3), M ＞ 1 represent receiving station's number two stations and its more than, simultaneouslySet up, then beacon Quantity K meet relation：
K ＞ 3 (4)
In order to make system most simple, the quantity that we choose beacon herein is
K=4 (5)
Formula (5) is taken back into formula (2), can be obtained：
M≥4 (6)
With reference to formula (5), (6), deblurring when being solved for quadratic equation is, it is necessary to be further added by a beacon position, we The minimum optimization system of case is 5 beacons, 4 receiving stations.
Accurate 5 accurate beacon positions are utilized to step 4,4 initial reception station locations, 12 variables entered Variable chess game optimization, corresponding process are row one by one：Variable 1 is optimized, wherein variable deviation scope is come according to step 5 Design, while fixed variable 2 to 12, and by optimal value substitute variable 1；Then variable 2 is optimized, the change after fixed renewal Amount 1, and variable 3 to 12, and by optimal value substitute variable 2；By that analogy, an Optimizing Search to the end, i.e., to variable 12 Optimize, the variable 1 to 11 after fixed renewal, and by optimal value substitute variable 12.
Variable step iteration optimization includes big step iteration, middle step iteration and small step iteration, and the big step iteration is set It is [- 3 σ to count variable deviation scope:1:3 σ] m, carry out 100 iteration preferably, the middle step iteration optimizes in big step-length to be tied On the basis of fruit, design variable deviation range is [- 3 σ:1:3 σ]/10m, then carry out 100 iteration optimizations.The small step iteration It is on the basis of middle step-length optimum results, design variable deviation range is [- 3 σ:1:3 σ]/100m, 100 iteration optimizations are carried out, Finally give the exact position of 4 receiving stations.
Airport multipoint location system establishment of coordinate system mode is as shown in Figure 1.Using a certain reference terrestrial reference such as control tower in airport as seat Origin O is marked, is straight up Z axis to meeting that right-hand rule establishes rectangular coordinate system, 4 receiving stations, 5 are given in figure The arrangement signal of individual beacon, wherein receiving station 1 is located at the origin of coordinates.
In order to intuitively illustrate the monambiguity of cost function, Fig. 2 is given using the X of receiving station 1, Y-coordinate error as independent variable Cost function graphics Simulation result, wherein minimum point corresponds to the actual position of receiving station 1.
The equation group that formula (1) provides is nonlinear.The method for solving of Nonlinear System of Equations mainly has Newton method, prolongs support Method, steepest descent method, nonlinear least square method etc., above method all respectively has advantage and disadvantage.For example traditional Newton method has office The advantages of portion's essence search and fast convergence rate, it can be saved under conditions of certain positioning precision is met and calculate the time, but ox Whether iterative method of pausing restrains and its convergence rate is relevant with the selection of initial value.According to this feature, we have proposed a kind of base It is final to realize accurate correction in receiving station's site bigness scale amount, station site error's bearing calibration of variable search, variable step optimization one by one The position of each receiving station.
This invention is directed in MLAT system installation and operation maintenance processes to receiving station location high-acruracy survey demand, is carried Go out a kind of simple and effective receiving station's location measurement method, this method uses the beacon of a few known exact position, receives Station location can first pass through GPS and obtain roughly, afterwards using a kind of optimization algorithm, be accurately obtained the position of receiving station Put, realize the correction to whole system receiving station site error.This method needs only to carry out essence to a few beacon position Really measurement, it is not necessary to measured to each receiving station, substantially reduce the workload of installation test；In operation maintenance process In, error correction can be carried out in the process of running, not influence the operation of whole system.
Beneficial effect of the present invention：
(1) workload that civil aviaton's multipoint location system initially installs test is reduced, it is not necessary to which total powerstation etc. is surveyed in high precision Amount equipment measures the positional information for receiving station antenna one by one, significantly reduces the workload of installation；
(2) after receiving station puts into operation, if indivedual receiving stations need changing position, position after acquisition variation is only needed The gps coordinate put, and the new position coordinates of receiving station is determined by software algorithm, reduce the workload of maintenance
(3) after whole system work a period of time, position of the beacon quickly to adding up in system operation can be utilized All kinds of errors such as error carry out on-line correction, system accuracy is guaranteed in the process of running.
Embodiment one：By taking the actual receiving station site error correction on certain airport as an example, here from 4 receiving stations, connect The position at station is received, including true value is shown in Table 2 with measured value, the standard variance σ=50m measured in table 2 receiving station location； Consider 5 beacons, its position true value is provided with measured value by table 1, measurement standard variances sigma=0.1m of beacon position.Using this Item invention, under conditions of beacon position error is considered, i.e., from " measurement position " in table 1, to the site error of 4 receiving stations Correction situation is shown in Table 3, and initial worst error is 118m, and receiving station's site error after optimization meets work in 1m or so The requirement that journey uses.
The position of 15 beacons of table
The position of 24 receiving stations of table
Table 3 corrects to the site error of 4 receiving stations
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Technical scheme, all should be in the protection domain being defined in the patent claims.

Claims (8)

  1. A kind of 1. multipoint location system receiving station positional error correction method, it is characterised in that：Its method is that (1) coordinate system is built It is vertical；(2) function designs；(3) optimization method designs；Wherein optimization method design the step of be：
    Step 1：The position of 5 beacons is accurately measured using RTK equipment, the standard variance of position measurement is σ=0.1m；
    Step 2：Bigness scale amount is carried out to all reception station location using GPS, the standard variance σ of position measurement= 50m；
    Step 3：By receiving station with 4 for one group, it is assumed that 20 receiving stations are arranged on airport, then are divided into 5 groups；For each group, 4 receiving stations share 12 unknown coordinates variables；
    Step 4：The optimizing successively of multivariable based on least cost function；
    Step 5：Variable step iteration optimization is carried out again to step 4；
    Step 6：To remaining each group receiving station, according to Step 4: five optimize, the essence at correspondingly received station can be equally acquired True position.
  2. A kind of 2. multipoint location system receiving station as claimed in claim 1 positional error correction method, it is characterised in that：It is described Function sets receiving station's website number as M, and m-th of website coordinate is { xrm,yrm,zrm}；Beacon position number is K, k-th of beacon Position coordinates is { xk,yk,zk, it is defined as follows cost function：
    <mrow> <mi>&amp;zeta;</mi> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>k</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>K</mi> </munderover> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>m</mi> <mo>=</mo> <mn>2</mn> </mrow> <mi>M</mi> </munderover> <msup> <mrow> <mo>|</mo> <mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>k</mi> </msub> <mo>-</mo> <msub> <mi>x</mi> <mrow> <mi>r</mi> <mi>m</mi> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mi>k</mi> </msub> <mo>-</mo> <msub> <mi>y</mi> <mrow> <mi>r</mi> <mi>m</mi> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>z</mi> <mi>k</mi> </msub> <mo>-</mo> <msub> <mi>z</mi> <mrow> <mi>r</mi> <mi>m</mi> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <mo>-</mo> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>k</mi> </msub> <mo>-</mo> <msub> <mi>x</mi> <mrow> <mi>r</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mi>k</mi> </msub> <mo>-</mo> <msub> <mi>y</mi> <mrow> <mi>r</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>z</mi> <mi>k</mi> </msub> <mo>-</mo> <msub> <mi>z</mi> <mrow> <mi>r</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <mo>-</mo> <mi>c</mi> <mo>&amp;CenterDot;</mo> <msub> <mi>&amp;tau;</mi> <mrow> <mi>m</mi> <mo>,</mo> <mn>1</mn> <mo>,</mo> <mi>k</mi> </mrow> </msub> </mrow> <mo>|</mo> </mrow> <mn>2</mn> </msup> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
    Wherein, τm,1,kThe time difference of k-th of beacon signal is received for m-th of receiving station and the 1st receiving station.Obviously, formula (1) With single extremum property, receive station location for optimized search and provide foundation.
  3. A kind of 3. multipoint location system receiving station as claimed in claim 2 positional error correction method, it is characterised in that：According to Formula (1) is understood, allows the independent parties number of passes that cost function is zero to be that K (M-1) is individual；Meanwhile the position of receiving station be it is three-dimensional, There are three unknown numbers in i.e. each receiving station, then the unknown number of M receiving station has 3M, in order that obtaining equation has unique solution, then Ask：
    K·(M-1)≥3M (2)
    Formula (2) is made as down conversion obtains
    <mrow> <mi>K</mi> <mo>&amp;GreaterEqual;</mo> <mfrac> <mrow> <mn>3</mn> <mi>M</mi> </mrow> <mrow> <mi>M</mi> <mo>-</mo> <mn>1</mn> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
    In formula (3), M ＞ 1 represent receiving station's number two stations and its more than, simultaneouslySet up, then the number of beacon Amount K meets relation：
    K ＞ 3 (4)
    In order to make system most simple, the quantity that we choose beacon herein is
    K=4 (5)
    Formula (5) is taken back into formula (2), can be obtained：
    M≥4 (6)
    With reference to formula (5), (6), deblurring when being solved for quadratic equation, it is necessary to be further added by a beacon position, this programme Minimum optimization system is 5 beacons, 4 receiving stations.
  4. A kind of 4. multipoint location system receiving station as claimed in claim 1 positional error correction method, it is characterised in that：It is described Step 4 utilizes 5 accurate beacon positions, 4 initial reception station locations, it is excellent that 12 variables is carried out with variable search one by one Change, corresponding process is：Variable 1 is optimized, wherein variable deviation scope designs according to step 5, while fixed variable 2 to 12, and by optimal value substitute variable 1；Then variable 2 is optimized, the variable 1 after fixed renewal, and variable 3 to 12, and by optimal value substitute variable 2；By that analogy, an Optimizing Search to the end, i.e., optimize to variable 12, it is fixed more Variable 1 to 11 after new, and by optimal value substitute variable 12.
  5. A kind of 5. multipoint location system receiving station as claimed in claim 1 positional error correction method, it is characterised in that：Step The five variable step iteration optimizations include big step iteration, middle step iteration and small step iteration.
  6. A kind of 6. multipoint location system receiving station as claimed in claim 5 positional error correction method, it is characterised in that：It is described Big step iteration design variable deviation range is [- 3 σ：1：3 σ] m, 100 iteration optimizations are carried out, wherein σ is to receiving station site Measurement error.
  7. A kind of 7. multipoint location system receiving station as claimed in claim 5 positional error correction method, it is characterised in that：It is described For middle step iteration on the basis of big step-length optimum results, design variable deviation range is [- 3 σ：1：3 σ]/10m, then carry out 100 times Iteration optimization.
  8. A kind of 8. multipoint location system receiving station as claimed in claim 5 positional error correction method, it is characterised in that：It is described Small step iteration：On the basis of middle step-length optimum results, design variable deviation range is [- 3 σ：1：3 σ]/100m, carry out 100 times Iteration optimization, finally give the exact position of 4 receiving stations.
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