CN109782305A - The method that receiver preference policy generates RTK message under more base conditions - Google Patents
The method that receiver preference policy generates RTK message under more base conditions Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The present invention provides the methods that receiver preference policy under a kind of more base conditions generates RTK message, can from more stage fiducial receivers of base station the preferred a reference source that is sent as carrier phase difference message of the reference receiver of a quality of data height and in stable condition index equilibrium, guarantee that movement station receives the optimal difference message of the quality of data, to guarantee the integrity of base station and the positioning accuracy of movement station and position success rate.The present invention realizes that a preferably stage fiducial receiver makes movement station be able to carry out RTK positioning as a reference source of carrier phase difference message on the hardware foundation for the base station that multiple reference receivers form, both the problem of having can solve integrity, movement station can be allow to carry out RTK positioning again, positioning accuracy is improved, preferably can improve effective ensure for the high accuracy positioning demand in aircraft landing or other industry field.
Description
Technical field
The present invention relates to a kind of preferred method of a reference source, belong to satellite navigation carrier phase high-precision relative positioning neck
Domain.
Background technique
The RTK positioning of general field can be realized using the configuration of base station and each receiver of movement station, but work as
When the reference receiver that integrity risk or base station occurs in navigation system breaks down, this kind of hardware configuration mode can then be led
The fixed rate and positioning accuracy for causing RTK positioning can have a greatly reduced quality, its station-keeping mode directly exits RTK positioning, positioning mould what is more
Formula degrades.But in the field closely bound up with life security such as the guidance of the scene of aircraft and landing, conventional configuration obviously can not
Meet the functional performances index such as integrity, availability and continuity.Therefore, the base station of more stage fiducial receivers composition meet the tendency of and
Raw (such as: LAAS and GBAS).The base station of this type externally broadcasts pseudo range difference enhancement information, carries out for movement station pseudo-
Away from Differential positioning.Although the base station of this type has the functional performances index such as integrity, continuity and availability,
It only has the ability for broadcasting pseudo range difference enhancing message, and pseudo range difference station-keeping mode precision is in meter level, it is clear that can not be with positioning
Precision is compared in the RTK station-keeping mode of sub-meter grade, in order to improve the positioning accuracy of movement station, the base of more stage fiducial receiver compositions
Quasi- station then will necessarily broadcast carrier phase difference message, but the problem of introducing is that more stage fiducial receivers all can under normal circumstances
By the monitoring and isolation of integrity algorithm, then how it is excellent in reference receiver in select it is excellent be used as carrier phase difference message
A reference source and how to avoid the problem that reference receiver it is unnecessary switching be one have to consider.
Summary of the invention
For overcome the deficiencies in the prior art, it is preferably square to provide a kind of more reference receivers of carrier phase difference by the present invention
Method a preferably quality of data height and in stable condition index equilibrium (can measure residual from more stage fiducial receivers of base station
Difference is better than preferably going out to search star scoring highest in mean value) a reference source that is sent as carrier phase difference message of reference receiver,
Guarantee that movement station receives the optimal difference message of the quality of data, to guarantee the integrity of base station and the positioning accuracy of movement station
And position success rate.
The technical solution adopted by the present invention to solve the technical problems the following steps are included:
1) SQM, DQM, MQM are carried out to each stage fiducial receiver respectively and residual error monitors, marks and corresponding failure is isolated
Satellite channel, the reference receiver for having 2 or more satellites labeled exit use；
2) judge that four frequency point of BDS/GPS dual system of every stage fiducial receiver searches star number whether not less than 4, such as
Lower than 4, then the receiver exits fruit；
3) judge the dual-frequency point of each navigation system search star number difference whether more than 3 satellites；If it exceeds 3, then
The receiver exits；
4) mean μ and standard deviation sigma that each dual-frequency point of BDS/GPS dual system searches star number are calculated, each reference receiver is counted
The μ of each navigation systemBDS-2σBDSAnd μGPS-2σGPS；
5) the residual error average value of single reference receiver locking satellite is calculatedWherein, n is the reference receiver locking satellite number, residualsat iFor
The residual values of the satellite；Calculate all available reference receiver residual error average valuesWherein, m is available reference receiver number；If certain reference receiver
Single reference receiver locking satellite residual error average value is greater than all available reference receiver residual error average values, then the receiver moves back
Out；
If 6) μBDS-2σBDSAnd μGPS-2σGPSMaximum value on the same reference receiver, then choose the benchmark reception
Machine；Otherwise, the μ of each reference receiver is soughtBDS-2σBDSWith μGPS-2σGPSThe sum of mean value and variance, be denoted as α and β respectively, and
α -2 β is calculated, the reference receiver of α -2 β maximum value is chosen；
7) if it is identical to exist simultaneously multiple reference receiver α -2 β maximum values for reference receiver, therefrom preferred locking satellite
The smallest reference receiver of residual error average value；
8) add up setting epoch number data, if therefrom preferably go out receiver can continue meet step 1)~
3), then do not switch reference receiver；Otherwise return step 1) reference receiver is selected again；
9) mean μ of each reference receiver α -2 β of real-time statisticsstateAnd standard deviation sigmastate；
10) after setting epoch number, it is assumed that mean μstateAnd standard deviation sigmastateMeet Gaussian Profile, normalizing is carried out to it
Change；
11) it is fallen in if the value after the normalization of each epoch and does not switch benchmark reception if standard gaussian is distributed in 2 sections σ
Machine, otherwise return step 1) again it is less preferred go out certain stage fiducial receiver.
The beneficial effects of the present invention are: realizing preferably one on the hardware foundation of the base station of multiple reference receivers composition
Stage fiducial receiver makes movement station be able to carry out RTK positioning as a reference source of carrier phase difference message, both can solve intact
Property the problem of, and movement station can be allow to carry out RTK positioning, improve positioning accuracy, can preferably for aircraft landing or its
The high accuracy positioning demand of his industry field improves effective ensure.
Detailed description of the invention
Fig. 1 is carrier phase difference message forming method schematic diagram；
Fig. 2 is the more reference receiver preferred method schematic diagrames of carrier phase difference；
Fig. 3 is reference receiver preference policy schematic diagram；
Fig. 4 is 300 meters of altitude location results of B1 pseudorange biases (no optimization method) schematic diagram；
Fig. 5 is altitude location result schematic diagram after strategy introduces；
Fig. 6 is 2 star addition carrier cycle number jumps, movement station positioning result schematic diagram；
Fig. 7 is altitude location result schematic diagram after strategy introduces.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention is based on a kind of differential reference stations of more stage fiducial receiver compositions, choose one from more stage fiducial receivers
Have excellent performance the preferred method in stable condition reference receiver as a reference source, and by the data of the stage fiducial receiver into
Row is packaged and broadcasts, and carries out carrier phase differential positioning (hereinafter referred to as: RTK positioning) for movement station.
The invention mainly comprises the contents of following several respects:
(1) carrier phase difference message forming method
Terrestrial reference station generate carrier phase difference message in the quality of data and comprising number of satellites for precision
Raising play an important role.The mechanism mainly includes integrity monitoring, residual error monitoring and is based on statistical preference policy three
A step, carrier phase difference message generting machanism are as shown in Figure 1.
A) integrity monitoring.
Integrity monitoring is carried out to the original observed quantity and ephemeris of the locking satellite of available reference receiver output, is used
Integrity algorithm be respectively signal quality monitoring (SQM), the quality of data monitoring (DQM) and measure quality-monitoring (MQM).
Wherein, the exception in signal quality monitoring (SQM) the GPS/BDS distance measuring signal that mainly detection and identification receive,
It is mainly consisted of three parts: relevant peaks monitoring, signal power monitoring and code carry disagreement monitoring.
Quality of data monitoring (DQM) is mainly the reliability of satellite navigation message data received by monitoring receiver.
The GPS satellite ephemeris and satellite of update mainly detect by quality of data monitoring algorithm in the data center of ground strengthening system
The correctness of clock data.
Measure quality-monitoring (MQM) mainly by the consistency using multiple epoch pseudoranges and carrier-phase measurement come
Measured value step and impact variation caused by monitoring because of clock exception and reference receiver failure, mainly include 3 parts:
The innovative of the monitoring of receiver locking time, the monitoring of carrier wave acceleration slope step and carrier smoothing code pseudorange monitors.
B) residual error monitors.
The accuracy of original observed quantity is monitored by calculating satellite residual error, if certain satellite residual error is greater than threshold value (250
Rice), then determine that this satellite of the receiver is unavailable.
Residual error (residual) calculation formula is as follows:
Wherein, r be very away from, ρ is pseudorange,It is satellite clock correction,It is reference receiver clock deviation.
C) Fault Isolation
As long as 3 kinds of QM monitorings and residual error monitoring have a kind of method to monitor that the correspondence satellite of corresponding frequency point is abnormal, should
The respective satellite of the corresponding frequency point of receiver is isolated, if the corresponding frequency point of each receiver has 2 or more satellites labeled
It is abnormal, then the correspondence frequency point of the receiver is determined as that the receiver is unavailable
D) it is based on statistical preference policy.
Star number is searched from more stage fiducial receivers preferably out one by the strategy mostly to make with the quality receiver of data
On the basis of, guarantee the RTK positioning accuracy and position success rate of movement station, which will be situated between in detail in this section second part
It continues.
e) switching inhibition strategy
The strategy can inhibit unnecessary switching between reference receiver.Due to the hardware of every stage fiducial receiver or its
His reason will lead to different receivers and have differences to the measured value with satellite same epoch, receive once benchmark occurs
The switching of machine, it is possible to which the carrier wave integer multiples for the dual-frequency carrier difference message for causing base station to be broadcast and small several weeks occur
Jump jumps so as to cause the positioning result of movement station, and serious situation can lead to positioning accuracy beyond target, therefore not only need to choose
Best performance is selected also to select in stable condition reference receiver.The switching inhibit strategy solve be exactly select it is in stable condition
The problem of reference receiver, is discussed in detail and sees this chapter Part III.If there is switching judging condition, then preferred plan can be jumped to
The slightly first step starts to execute.
(2) it is based on statistical preference policy
After integrity monitoring and residual error monitoring, the optimal reference receiver that preferably does well by correlated results is needed.This
One core point of patent is exactly to propose that corresponding strategy ensures that the reference receiver quality of data of selection is good and it is more to search star number.
For the ability of the more reference receiver operation GPS and BDS systems in comprehensive consideration terrestrial reference station, then in preferred reference
Need the quality for searching star situation and DATA REASONING of each reference receiver dual system of Comprehensive Evaluation when receiver, only BDS and
The double frequency of GPS is comprehensive to search star number mesh at most and the reference receiver of data optimal quality could be as the base position of RTK, and handle
The original observed quantity of the reference receiver is packaged as carrier phase difference message broadcasting to movement station.
It is as follows based on statistical preference policy:
1) four frequency point of BDS/GPS dual system respectively searches star number not less than 4；
2) difference that the dual-frequency point of each navigation system searches star number is no more than 3 satellites；
3) mean μ and standard deviation sigma that each dual-frequency point of BDS/GPS dual system searches star number are calculated, each reference receiver is counted
The μ of each navigation systemBDS-2σBDSAnd μGPS-2σGPS；
4) each the residual error average value of available reference receiver locking satellite is residual less than or equal to all available reference receivers
Poor average value；
The residual error mean value calculation of single reference receiver locking satellite is as follows:
Wherein, n is the reference receiver locking satellite number, residualsat iFor the residual values of the satellite, calculation formula
See that residual error monitors.
All available reference receiver residual error mean value calculations are as follows:
Wherein, m is available reference receiver number.
If 5) μBDS-2σBDSAnd μGPS-2σGPSMaximum value on the same reference receiver, then choose the benchmark reception
Machine；Conversely, then seeking the μ of each reference receiverBDS-2σBDSWith μGPS-2σGPSThe sum of mean value and variance, be denoted as α and β respectively,
And calculate α -2 β, then choose the reference receiver of α -2 β maximum value.
If 6) reference receiver exists simultaneously multiple reference receiver α -2 β maximum value same cases, therefrom preferred locking
The smallest reference receiver of residual error average value of satellite.
(3) more reference receiver switchings inhibit strategy
The base station of more stage fiducial receivers composition, every stage fiducial receiver device hardware or it is some other due to
Lead to different measurement errors, therefore every stage fiducial receiver carves at the same time in the presence of different the measurement result of each satellite.
Therefore, once the switching of reference receiver occurs, it is possible to the dual-frequency carrier difference message for causing base station to be broadcast
Carrier wave integer multiples and small several weeks jump, and jump so as to cause the positioning result of movement station, serious situation can lead to positioning
Precision is beyond target.
Above-mentioned steps (two) have highlighted the receiver for how selecting this moment state optimization, but in order to avoid need not
Carrier cycle slip caused by the reference receiver wanted switches, it should which the balanced benchmark for preferably doing well outstanding and in stable condition receives
A reference source of the machine as the carrier phase difference of earth station, the two, which complements each other, ensure that real time dynamic differential positions excellent essence
Spend index and integrity performance.Therefore how to avoid the unnecessary switching of more stage fiducial receivers is also another core of the invention
The heart.
Inhibit strategy:
1) at least 600 epoch of cumulative data (reference receiver output frequency: 1Hz), the reception preferably gone out within 600 epoch
Machine will not switch reference receiver if the satisfaction that can continue is based on 3 steps before statistical preference policy, and entrance is next
Step；Conversely, then skipping to preference policy step 1；
2) each reference receiver α -2 β of real-time statistics (calculation method is shown in based on statistical the 6th step of preference policy)
Mean μstateWith standard deviation sigma state；
3) after 600 epoch, it is assumed that the mean μ of third step statisticsstateAnd standard deviation sigmastateMeet Gaussian Profile, to it
It is normalized.
4) value after each epoch normalization falls in standard gaussian and is distributed in 2 sections σ then without switching, on the contrary then basis
Preference policy again it is less preferred go out certain stage fiducial receiver.
The embodiment of the present invention is related to the benchmark station equipment of more stage fiducial receiver compositions, and excellent from more stage fiducial receivers
The excellent reference receiver of the most steady integrated performance index of state optimization and state is selected as a reference source, then receives the benchmark
The data of machine are packaged and are broadcasted.
Implementation steps of the invention are as follows:
1) SQM, DQM, MQM are carried out to 4 stage fiducial receivers respectively and residual error monitorings carry out malfunction monitoring and isolation is corresponding
Fault satellites channel, then determine that the frequency point of the stage fiducial receiver is unavailable if there is 2 or more satellites are labeled, then
The receiver exits；Otherwise enter in next step；
2) judge that four frequency point of BDS/GPS dual system of every stage fiducial receiver searches whether star number is lower than 4, if low
In 4 then the receiver exit；Otherwise enter in next step；
3) judge the dual-frequency point of each navigation system search star number difference whether more than 3 satellites；If it exceeds 3, then
The receiver exits；Otherwise enter in next step；
4) mean μ and standard deviation sigma that each dual-frequency point of BDS/GPS dual system searches star number are calculated, each reference receiver is counted
The μ of each navigation systemBDS-2σBDSAnd μGPS-2σGPS；
5) each the residual error average value of available reference receiver locking satellite is residual less than or equal to all available reference receivers
Poor average value；If it is greater than all available reference receiver residual error average values, then the receiver exits；Otherwise enter in next step；
The residual error mean value calculation of single reference receiver locking satellite is as follows:
Wherein, n is the reference receiver locking satellite number, residualsat iFor the residual values of the satellite, calculation formula
See that residual error monitors.
All available reference receiver residual error mean value calculations are as follows:
Wherein, m is available reference receiver number.
If 6) μBDS-2σBDSAnd μGPS-2σGPSMaximum value on the same reference receiver, then choose the benchmark reception
Machine；Conversely, then seeking the μ of each reference receiverBDS-2σBDSWith μGPS-2σGPSThe sum of mean value and variance, be denoted as α and β respectively,
And calculate α -2 β, then choose the reference receiver of α -2 β maximum value；
If 7) reference receiver exists simultaneously multiple reference receiver α -2 β maximum value same cases, therefrom preferred locking
The smallest reference receiver of residual error average value of satellite；
8) at least 600 epoch of cumulative data (reference receiver output frequency: 1Hz), the reception preferably gone out within 600 epoch
Machine will not switch reference receiver if 3 steps before the satisfaction that can continue；Conversely, then selecting one again by preference policy
Reference receiver skips to step 1；
9) mean μ of each reference receiver α -2 β of real-time statisticsstateAnd standard deviation sigmastate；
10) after 600 epoch, it is assumed that mean μstateAnd standard deviation sigmastateMeet Gaussian Profile, it is normalized.
11) it falls in if standard gaussian is distributed in 2 sections σ if the value after the normalization of each epoch without switching, it is on the contrary
Then skip to step 1 less preferred certain stage fiducial receiver out again.
In the embodiment of the present invention, movement station remain stationary state, mobile station location be (34.2378728571,
108.909674311 388.0335).
Using 4 stage fiducial receiver (base station) He Yitai mobile receivers (movement station), if not adding preferred method,
And after the two star B1 frequency point pseudoranges locked to a reference source add+300 meters of deviations, that is, increase pseudorange residuals.
From fig. 4, it can be seen that the jump of about 2-3 meters of height.Station-keeping mode is counted, the success of RTK fixed solution
Rate is reduced to 98.22%, and the mean value and standard deviation of positioning are as shown in table 1
1 B1 pseudorange biases of table, 300 meters of longitude and latitude height positioning mean values and standard deviation
Using four stage fiducial receiver (base station) He Yitai mobile receivers (movement station).Before failure filling, benchmark is connect
Receipts machine 1 is the benchmark of RTK.+ 300 meters of deviations are added to two star B1 frequency point pseudoranges that reference receiver 1 locks, it can be seen that should
Reference receiver 1 is determined as exception by strategy, and simultaneous selection reference receiver 2 is the benchmark of carrier phase difference.Such as 2 institute of table
Show.
Reference receiver selection result after 2 strategy of table introduces
Under strategy proposed in this paper, by taking altitude location result as an example, the positioning result of movement station is as shown in Figure 5.
From fig. 5, it can be seen that height value does not jump.Station-keeping mode is counted, RTK fixed solution success rate is
100%, the mean value and standard deviation of positioning are as shown in table 3.
Mean value and standard deviation are positioned through latitude height after 3 strategy introducing of table
| Mean value | Standard deviation |
| 34.2378728306026 | 1.2108486574906E-8 |
| 108.909674274428 | 1.5773786094586E-8 |
| 388.0250883984521 | 0.0037271655203 |
When reference receiver switches, a degree of carrier cycle slip can be caused, simulate base to a reference source addition cycle slip thus
Quasi- receiver switch instances.
Release preferred method setting, add 2 stars at random to a reference source in complete cycle and small several weeks, wherein RTK fixed solution at
Power is 99.94%.General location result is as follows, wherein height is as shown in Figure 6.
4 movement station positioning result of table
| Mean | Standard Deviation |
| 34.237872858813 | 1.2090192902624E-7 |
| 108.9096742809958 | 1.3355133880312E-7 |
| 388.0163054695202 | 0.0366298572962 |
Starting preferred method logic, same failure charging method, simulation result are as shown in Figure 7.
From figure 7 it can be seen that height value does not jump.Station-keeping mode is counted, RTK fixed solution success rate is
100%, the mean value and standard deviation of positioning are as shown in table 5.
Mean value and standard deviation are positioned through latitude height after 5 strategy introducing of table
| Mean value | Standard deviation |
| 34.2378728306026 | 1.2108486574906E-8 |
| 108.909674274428 | 1.5773786094586E-8 |
| 388.0250883984521 | 0.0037271655203 |
By the more reference receiver preferred method of above-mentioned carrier phase difference, it ensure that and filter out shape under more base conditions
Then the excellent and steady most balanced reference receiver of state broadcasts as a reference source and carries out RTK positioning to movement station, guarantee the report of broadcast
Stationery keeps the positioning result of movement station relatively reliable and improves its positioning accuracy for certain integrity and precision.
Claims (1)
1. a kind of method that receiver preference policy generates RTK message under more base conditions, it is characterised in that include the following steps:
1) SQM, DQM, MQM are carried out to each stage fiducial receiver respectively and residual error monitors, marks and corresponding fault satellites is isolated
Channel, the reference receiver for having 2 or more satellites labeled exit use；
2) judge that four frequency point of BDS/GPS dual system of every stage fiducial receiver searches star number whether not less than 4, if low
In 4 then the receiver exit；
3) judge the dual-frequency point of each navigation system search star number difference whether more than 3 satellites；If it exceeds 3, then this connects
Receipts machine exits；
4) mean μ and standard deviation sigma that each dual-frequency point of BDS/GPS dual system searches star number are calculated, each reference receiver is counted and respectively leads
The μ of boat systemBDS-2σBDSAnd μGPS-2σGPS；
5) the residual error average value of single reference receiver locking satellite is calculatedIts
In, n is the reference receiver locking satellite number, residualsat iFor the residual values of the satellite；All available benchmark are calculated to connect
Receipts machine residual error average valueWherein, m is available reference receiver number；If
The single reference receiver locking satellite residual error average value of certain reference receiver is average greater than all available reference receiver residual errors
Value, then the receiver exits；
If 6) μBDS-2σBDSAnd μGPS-2σGPSMaximum value on the same reference receiver, then choose the reference receiver；It is no
Then, the μ of each reference receiver is soughtBDS-2σBDSWith μGPS-2σGPSThe sum of mean value and variance, be denoted as α and β respectively, and calculate α-
2 β choose the reference receiver of α -2 β maximum value；
7) if reference receiver exists simultaneously that multiple reference receiver α -2 β maximum values are identical, and therefrom preferred locking satellite is residual
The poor the smallest reference receiver of average value；
8) add up the data of setting epoch number, if the receiver therefrom preferably gone out persistently can meet step 1)~3),
Do not switch reference receiver；Otherwise return step 1) reference receiver is selected again；
9) mean μ of each reference receiver α -2 β of real-time statisticsstateAnd standard deviation sigmastate；
10) after setting epoch number, it is assumed that mean μstateAnd standard deviation sigmastateMeet Gaussian Profile, it is normalized；
11) it is fallen in if standard gaussian is distributed in 2 sections σ if the value after the normalization of each epoch and does not switch reference receiver, it is no
Then return step 1) again it is less preferred go out certain stage fiducial receiver.
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