CN109031363B - Beidou satellite selection method based on satellite signal energy and spatial orientation information - Google Patents
Beidou satellite selection method based on satellite signal energy and spatial orientation information Download PDFInfo
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- CN109031363B CN109031363B CN201810967764.6A CN201810967764A CN109031363B CN 109031363 B CN109031363 B CN 109031363B CN 201810967764 A CN201810967764 A CN 201810967764A CN 109031363 B CN109031363 B CN 109031363B
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
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Abstract
The invention discloses a Beidou satellite selection method based on satellite signal energy and space azimuth information, and solves the satellite selection problem under the condition that a shelter and the like exist at the extreme. The invention comprises the following steps: firstly, the strength of each satellite carrier signal captured by a terminal is obtained through a blind separation model
Secondly, the strength of the satellite carrier signal
Substituting the weight into a direction cosine matrix of the satellite relative geocentric coordinate system to generate a matrix G of the azimuth and the intensity; and finally, solving a geometric precision factor GDOP by the matrix G of the azimuth and the intensity, and solving a satellite combination corresponding to the minimum GDOP value, namely the satellite combination to be selected. The invention solves the problem that the prior art can not complete the satellite selection process in a specific scene, and obviously improves the positioning calculation precision.
Description
Technical Field
The invention relates to the field of Beidou navigation, in particular to a Beidou satellite selection method based on satellite signal energy and space azimuth information.
Background
At present, the GPS is widely applied to the fields of navigation positioning of airplanes, ships and vehicles, geodetic and atmospheric measurement and the like, along with the great increase of the number of captured visible satellites, too much redundant information can not only greatly improve the positioning precision of the satellites, but also can lead the navigation calculation amount to be increased by dozens of times, seriously influences the real-time performance of navigation positioning calculation, also improves the requirements on the number of channels and the processing speed of a multi-system receiver in engineering, and can greatly increase the hardware design difficulty and the cost of the receiver. Therefore, it is very important to select a suitable satellite navigation system from the captured visible satellites, so that the positioning accuracy is ensured and the real-time performance is good. The GDOP is one of the main factors affecting the positioning accuracy of the satellite, the positioning constellation is composed of the satellite with the minimum GDOP value, and in order to achieve the optimal positioning accuracy, the visible star in the space must be selected to obtain the constellation combination with the minimum GDOP value.
The existing method only considers the optimal spatial position of the satellite: i.e. preferentially selecting the satellite with the largest elevation angle. We have obtained the strength of each satellite carrier signal by a blind separation model. Generally speaking, the stronger the satellite carrier signal, the stronger the noise immunity of the signal acquired by the receiver, and the accuracy of the positioning solution can be significantly improved. Therefore, the space position of the satellite cannot be considered in the satellite selection process, and the strength of the satellite carrier signal also needs to be considered, which is significant in some scene applications. For example, in a city, a satellite signal with the largest elevation angle is likely to be influenced by a tall building, so that a signal received by a receiver is weak, and accurate positioning cannot be achieved even in a place with poor signal reception in a mountain area.
Disclosure of Invention
The invention provides a Beidou satellite selection method based on satellite signal energy and space azimuth information, aiming at overcoming the satellite selection problem under the condition that a shelter exists in the prior art.
The present invention aims to solve the above technical problem at least to some extent.
In order to solve the technical problems, the technical scheme of the invention is as follows:
s1: by passingObtaining the strength of each satellite carrier signal captured by the terminal by the blind separation model
Represents the carrier signal strength of the ith satellite;
s2: the strength of the satellite carrier signal
Substituting the weight into a direction cosine matrix of the satellite relative geocentric coordinate system to generate a matrix G of the azimuth and the intensity;
s3: and solving a geometric precision factor GDOP by the matrix G of the azimuth and the intensity, and solving a satellite combination corresponding to the minimum GDOP value, namely the satellite combination to be selected.
Preferably, the matrix G of orientation and intensity in S2 is:
wherein phi isiIndicating the elevation angle, ψ, of the ith satelliteiIndicates the azimuth of the ith satellite and N indicates the number of satellites acquired by the terminal.
Preferably, the solving formula of the geometric precision factor GDOP in S3 is:
trace represents tracing the matrix.
Preferably, the solution of the GDOP is by a traversal method, i.e. selecting 4 satellites from the N satellites acquired
And substituting the strength, the elevation angle and the azimuth angle of the carrier signals of the selected four satellites into a matrix G of the azimuth and the strength to calculate to obtain the minimum GDOP value, wherein the corresponding four satellites are the satellite combination to be selected.
Where ε represents the number of satellites selected, i.e., the order of the matrix.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: according to the satellite selection method, the intensity of the carrier signal is used as the weight to modify the G matrix, the satellite selection model based on the satellite signal energy and the space azimuth information is established, and the positioning accuracy in an extreme scene is improved.
Drawings
FIG. 1 is a flow chart of the algorithm of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, the present invention comprises the steps of:
s1: obtaining the strength of each satellite carrier signal captured by the terminal through a blind separation model
Represents the carrier signal strength of the ith satellite;
s2: the strength of the satellite carrier signal
Substituting the weight into a direction cosine matrix of the satellite relative geocentric coordinate system to generate a matrix G of the azimuth and the intensity;
wherein the matrix of orientation and intensity G:
g represents the direction cosines of the N captured visible satellites relative to the geocentric coordinate system, namely a, b and G respectively represent included angles with x, y and z of geocentric coordinate axes, the value can be obtained from C/A codes of the satellites after the satellites are captured, and the parameter G can be determined through a large amount of actual data and simulation. Without loss of generality, the parameter g is 1, and N represents the number of satellites captured by the terminal.
The above equation is converted into elevation and azimuth form:
s3: and solving a geometric precision factor GDOP by the matrix G of the azimuth and the intensity, and solving a satellite combination corresponding to the minimum GDOP value, namely the satellite combination to be selected.
Wherein:
trace represents tracing the matrix.
Selecting four satellites from the acquired N satellites for navigation, for a total of C4NAnd (3) secondary combination, namely sequentially solving the geometric precision factor value of each combination number by using a traversal method, selecting the visible star combination with the minimum geometric precision factor value for navigation, wherein a combination optimization model is as follows:
where ε represents the number of satellites selected, i.e., the order of the matrix.
The experimental results were verified by two sets of experimental data:
the experimental data are tabulated below:
| satellite serial number | Elevation angle (phi)N) | Depression angle (psi)N) | Amplitude of signal AN |
| L1 | 80.7 | 129.3 | 18.14 |
| L2 | 49.5 | 40.6 | 14.41 |
| L3 | 41.4 | 38.9 | 12.85 |
| L4 | 36.5 | 301.4 | 11.45 |
| L5 | 34.2 | 155.1 | 9.09 |
| L6 | 24.3 | 42.7 | 8.10 |
| L7 | 19.6 | 194.7 | 7.22 |
| L8 | 9.3 | 288.5 | 5.74 |
The experimental results were obtained as follows:
when the data of the satellite in the extreme case with the obstruction is calculated according to the above steps to be compared with the data in the first case, the signal data of the satellite in the extreme case is shown in the following table:
the following satellite selection results were obtained:
the satellite selection effect is better when the GDOP value is smaller, so that the satellite selection method based on the Beidou satellite signal intensity weight optimization model is superior to the traditional satellite selection method based on the optimal geometric precision factor no matter in a general environment or an extreme condition in comparison with the satellite selection effect or calculated amount.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (3)
1. A Beidou satellite selection method based on satellite signal energy and space azimuth information is characterized by comprising the following steps:
s1: obtaining the strength of each satellite carrier signal captured by the terminal through a blind separation model
Represents the carrier signal strength of the ith satellite;
s2: the strength of the satellite carrier signal
Substituting the weight into a direction cosine matrix of the satellite relative geocentric coordinate system to generate a matrix G of the azimuth and the intensity; the matrix G of the orientation and the intensity is as follows:
wherein phi isiIndicating the elevation angle, ψ, of the ith satelliteiThe azimuth angle of the ith satellite is shown, and N shows the number of satellites captured by the terminal;
by varying the strength of the satellite carrier signal
As a matrix G for weight modification of azimuth and strength, establishing a satellite selection model based on satellite signal energy and space azimuth information;
s3: solving a geometric precision factor GDOP by a matrix G of the azimuth and the intensity, and solving a satellite combination corresponding to the minimum GDOP value as the satellite combination to be selected;
the solution of the GDOP is realized by a traversal method, namely four satellites are selected from the captured N satellites, the strength, the elevation angle and the azimuth angle of carrier signals of the four selected satellites are substituted into the matrix G of the azimuth and the strength to calculate the minimum GDOP value, and the four corresponding satellites are the combination of the satellites to be selected.
2. The method of claim 1, wherein the S3 is configured to solve the GDOP minimum by combining optimization models and using a traversal method to select 4 satellites from the N captured satellites
And substituting the strength, the elevation angle and the azimuth angle of the carrier signals of the selected four satellites into a matrix G of the azimuth and the strength to calculate:
wherein epsilon represents the number of selected satellites, namely the order number of the matrix, and trace represents the tracing of the matrix.
3. The Beidou satellite selection method based on satellite signal energy and spatial bearing information according to claim 1, characterized in that: the solving formula of the geometric precision factor GDOP is as follows:
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