CN110058273A - A kind of poor observation GPS carrier multi-path correction method of list - Google Patents
A kind of poor observation GPS carrier multi-path correction method of list Download PDFInfo
- Publication number
- CN110058273A CN110058273A CN201910328905.4A CN201910328905A CN110058273A CN 110058273 A CN110058273 A CN 110058273A CN 201910328905 A CN201910328905 A CN 201910328905A CN 110058273 A CN110058273 A CN 110058273A
- Authority
- CN
- China
- Prior art keywords
- model
- poor
- path correction
- list
- threshold
- 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.)
- Pending
Links
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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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 poor observation GPS carrier multi-path correction method of list, mainly for static short baseline GPS relative positioning high-precision applications, the defects of hard -threshold and soft-threshold denoising model are effectively solved using adaptive threshold Wavelet Denoising Method model, improve denoising precision, the accuracy and algorithm stability of multi-path jamming model of Wavelet Denoising Method model, in multi-path correction sidereal day filtering algorithm, the accuracy rate of the multipath error calibration model of extraction can be improved in the model, provides sound assurance to subsequent multipath fading.Simultaneously, the defect of monorail repetition period transition strategy and single elevation angle azimuth transition strategy can be effectively avoided in double reference transfer strategies that this method proposes, both the EA model established under high-resolution had been avoided, the problem of effectively preventing caused track repetition period method failure motor-driven by satellite again, and the model can guarantee the real-time of algorithm and the complexity of calculating is effectively reduced.
Description
Technical field
The invention belongs to satellite navigation positioning technical fields, and in particular to a kind of based on adaptive threshold wavelet transformation and double
The poor observation GPS carrier multi-path correction method of the list of reference transfer strategy.
Background technique
For GPS navigation positioning system, carrier wave multi-path jamming is always the main of influence high-precision positioning precision
One of factor, is primarily due to the particularity of multi-path jamming itself, and error cannot be disappeared by difference or intrinsic model
It removes.Currently, existing GPS carrier filtering multi-path correction algorithm is broadly divided into two classes, be respectively time domain method based on the sidereal day and
Based on the azimuthal spatial domain method of elevation angle.Wherein, time domain method includes: correction method based on FIR filtering, adaptive-filtering denoises
Correction method is based on SNR and wavelet basis Denoising Algorithm etc..It and is mainly resolution ratio based on the azimuthal airspace rule of elevation angle
Difference, 1 × 1 degree of calibration model etc. proposed such as 5 × 2 degree of calibration models that Wanninger is proposed, Iwabuchi.However, above-mentioned
Method has respective Pros and Cons respectively, if time domain rule has the influence motor-driven vulnerable to satellite, so as to cause correction essence
Degree is deteriorated, and efficiency reduces.And the precision of spatial domain method is compared with the resolution ratio for depending on Stack Model, and by observation data sampling rate
It is affected.Therefore, this project proposes that double reference transfer strategies based on space-time bidomain model, the strategy can both guarantee algorithm
Real-time and lower computation complexity, while can turn again to avoid track repetition period transition strategy and elevation angle azimuth
Move the defect of strategy.This algorithm than existing algorithm more can effectively attenuated carrier multipath effect, to improve determining for algorithm
Position precision.
In addition, existing wavelet basis Denoising Algorithm is mainly based upon the denoising of soft-threshold and hard -threshold.However, being based on hard threshold
The method of value denoising is shaken when will lead to signal reconstruction, because wavelet coefficient is discontinuous at threshold value.And it uses soft
When Threshold Denoising Method, although wavelet coefficient continuity is relatively good, it will appear deviation between original wavelet coefficients estimating,
It is undesirable so as to cause signal reconstruction.In order to further increase precision, urgent need one kind can be efficiently against hard -threshold
With the defect of soft-threshold denoising model, to improve the precision of Wavelet Denoising Method model and the algorithm of algorithm stability.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of based on adaptive threshold Noise Elimination from Wavelet Transform and double references
The poor observation GPS carrier multi-path correction method of the list of transition strategy.This method is high-precision mainly for static short baseline GPS relative positioning
Degree application.The adaptive threshold Wavelet Denoising Method model that this method proposes can effectively solve in hard -threshold and soft-threshold denoising model
Defect, the denoising precision of Wavelet Denoising Method model, the accuracy and algorithm stability of multi-path jamming model can be effectively improved.More
Diameter corrects in sidereal day filtering algorithm, which can be improved the accuracy rate of the multipath error calibration model of extraction, to subsequent more
Diameter decaying provides sound assurance.Meanwhile monorail repetition can be effectively avoided in double reference transfer strategies that this method proposes
The defect of period transition strategy and single elevation angle azimuth transition strategy, had both avoided the EA established under high-resolution
(Elevation and Azimuth) model, and effectively prevent by the satellite failure of track repetition period method caused by motor-driven
Problem, and the model can guarantee the real-time of algorithm and the complexity of calculating is effectively reduced.
Based on this, the present invention adopts the following technical scheme:
A kind of poor observation GPS carrier multi-path correction method of list, comprising the following steps:
Step 1: the reference day under processing static schema observes data, it is based on integer ambiguity and Baseline solution, is intended after finding out
Close double difference residual error；
Step 2: turning single differential mode type based on double difference, double difference residual error obtained in the first step is converted into single poor residual error,
Step 3: according to adaptive threshold Wavelet Denoising Method model it is poor to the list in reference day observation data between receiver under
Observed quantity denoised, extract multi-path correction model；
Step 4: multi-path correction is carried out to subsequent observational day data according to double reference transfer strategies,
Double reference transfer strategies are as follows: corresponding multi-path correction epoch is determined using the track repetition period, comparison is worked as
The elevation of satellite azimuth model value and the elevation angle azimuth model value of reference day lower epoch of preceding epoch, if the two phase
Together, then multi-path correction is carried out to current epoch observation using the multipath error calibration model under the epoch-making moment, if the two
Difference then searches for nearest EA model, finds optimum matching point；
Step 5: the poor observation of the list that the 4th step is obtained carries out double difference combination, the double difference observation after being corrected leads to
It crosses least-squares estimation or Kalman Filter Estimation obtains final coordinate solution.
Compared with prior art, the present invention have it is following the utility model has the advantages that
Bearing calibration of the present invention has used adaptive threshold Wavelet Denoising Method model, can efficiently against hard -threshold and
The defects of soft-threshold denoising model improves the denoising precision and algorithm stability of Wavelet Denoising Method model, can accurately take out
Multipath error calibration model is taken, to provide sound assurance for subsequent multipath fading.Meanwhile double references that the invention uses turn
The defect of track repetition period transition strategy and EA transition strategy can be effectively avoided in shifting formwork type, and can effectively guarantee
The real-time of algorithm and lower complexity.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the flow chart of bearing calibration of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
As shown in Figure 1, a kind of poor observation GPS of list based on adaptive threshold Wavelet Denoising Method and double reference transfer strategies is carried
Wave multi-path correction method: the following steps are included:
Step 1: the reference day under processing static schema observes data, based on the integer ambiguity and baseline resolved
Solution is fitted double difference residual error after finding out.At this point, the double difference residual error only includes carrier wave multipath error and random noise error.
Step 2: turning single differential mode type based on double difference, double difference residual error obtained in the first step is converted into single poor residual error, until
This, available every satellite receives the poor residual error of list of parts to two.
The transition matrix of the model is as follows:
Wherein, wiIt is the weighting coefficient of every satellite.In view of multi-path jamming of the satellite at low clearance angle is larger, herein
Using height angle weighting coefficient.It is the poor residual error of list between two receivers,It is that two satellites respectively make receiver
The double difference to be formed is made the difference again after list is poor.It is Changeover constraint condition.By above-mentioned conversion formula, only included
Single satellite multipath error and the poor residual error of the list of random noise error.
Step 3: the adaptive threshold Wavelet Denoising Method model extraction multipath error calibration model proposed through the invention.Benefit
It is denoised with observed quantity of the model under poor to the list between receiver in reference day, to extract accurate multi-path correction mould
Type.Its threshold function table is expressed as:
Wherein, λ is function threshold, and J is the wavelet decomposition number of plies.As can be seen that if original wavelet coefficients are small from function
In the threshold value λ of setting, then 0. is set in addition, the threshold function table has continuation property by the wavelet coefficient of estimation, therefore can be with
Avoid the Pseudo-Gibbs artifacts occurred in hard -threshold model.During actual denoising, with the increase of wavelet decomposition layer, make an uproar
The wavelet coefficient of sound often decreases.Therefore, it in order to avoid useful coefficient is filtered during wavelet decomposition, then needs
Lesser threshold coefficient is used in high level decomposes.Therefore, the method that this algorithm uses adaptive threshold, not according to decomposition layer
Different threshold values is set together, expression is as follows:
Wherein, NJIt is the data length of current decomposition layer, J is the current decomposition number of plies.σJIt is current decomposition layer signal to be decomposed
Noise criteria it is poor, accordingly, it is considered to arrive specific multipath signal feature and Stratified Strategy, the σ of current layerJIt can be according to Donoho
Et al. (1994) is calculated, and is specifically expressed as follows:
σJ=median | NJ|}/0.6745
Wherein, ' median ' is the mediant for taking current layer wavelet coefficient.
Step 4: carrying out multi-path correction to subsequent observational day using double reference transfer strategies proposed by the present invention.Firstly, I
The track repetitive displacement period is calculated by broadcast ephemeris, while establishing the elevation angle azimuth school under single satellite corresponding epoch
Positive model.The basic thought of its double reference transfer strategy is: determining first with the strategy of track repetition period corresponding more
Diameter corrects epoch, then the elevation angle azimuth model for comparing the elevation of satellite azimuth of current epoch and establishing under reference day
Value.If the two is identical, multipath is carried out to current epoch observation using the multipath error calibration model under the epoch-making moment
Correction, if it is different, then searching for nearest EA model, finds optimum matching point.
Step 5: the poor observation of the list that the 4th step is obtained carries out double difference combination, the double difference observation after being corrected.It is logical
It crosses least-squares estimation or Kalman Filter Estimation obtains final coordinate solution.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (3)
1. a kind of poor observation GPS carrier multi-path correction method of list, which comprises the steps of:
Step 1: the reference day under processing static schema observes data, it is based on integer ambiguity and Baseline solution, is fitted after finding out double
Poor residual error；
Step 2: turning single differential mode type based on double difference, double difference residual error obtained in the first step is converted into single poor residual error,
Step 3: the sight according to adaptive threshold Wavelet Denoising Method model under poor to the list between receiver in reference day observation data
Measurement is denoised, and multi-path correction model is extracted；
Step 4: multi-path correction is carried out to subsequent observational day data according to double reference transfer strategies,
Double reference transfer strategies are as follows: corresponding multi-path correction epoch is determined using the track repetition period, comparison is currently gone through
The elevation of satellite azimuth model value and the elevation angle azimuth model value of reference day lower epoch of member, if the two is identical,
Multi-path correction is carried out to current epoch observation using the multipath error calibration model under the epoch-making moment, if the two is different,
Nearest EA model is then searched for, optimum matching point is found；
Step 5: the poor observation of the list that the 4th step is obtained carries out double difference combination, the double difference observation after being corrected, by most
Small two multiply estimation or Kalman Filter Estimation obtains final coordinate solution.
2. the poor observation GPS carrier multi-path correction method of list according to claim 1, which is characterized in that
In step 2, double difference turns the transition matrix of single differential mode type are as follows:
Wherein, wiIt is the weighting coefficient of every satellite,It is the poor residual error of list between two receivers,It is two satellites point
It is other to receiver do it is single it is poor after make the difference the double difference to be formed again；It is Changeover constraint condition.
3. the poor observation GPS carrier multi-path correction method of list according to claim 1, which is characterized in that
In step 3, threshold function table expresses formula are as follows:
Wherein, λ is function threshold, and J is the wavelet decomposition number of plies；
Adaptive thresholding value expression are as follows:
Wherein, NJIt is the data length of current decomposition layer, J is the current decomposition number of plies, σJIt is making an uproar for current decomposition layer signal to be decomposed
Sound standard deviation, is specifically expressed as follows:
σJ=median | NJ|}/0.6745
Wherein, median is the mediant of current layer wavelet coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328905.4A CN110058273A (en) | 2019-04-23 | 2019-04-23 | A kind of poor observation GPS carrier multi-path correction method of list |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328905.4A CN110058273A (en) | 2019-04-23 | 2019-04-23 | A kind of poor observation GPS carrier multi-path correction method of list |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110058273A true CN110058273A (en) | 2019-07-26 |
Family
ID=67320329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910328905.4A Pending CN110058273A (en) | 2019-04-23 | 2019-04-23 | A kind of poor observation GPS carrier multi-path correction method of list |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110058273A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531386A (en) * | 2019-08-15 | 2019-12-03 | 辽宁生态工程职业学院 | GNSS satellite clock deviation data preprocessing method based on WMAD |
| CN111323795A (en) * | 2020-03-20 | 2020-06-23 | 湖南联智科技股份有限公司 | Multi-path error weakening method in Beidou deformation monitoring |
| CN112230254A (en) * | 2020-10-29 | 2021-01-15 | 新乡医学院三全学院 | Method and device for correcting multipath errors of GPS carrier phase |
| CN112572845A (en) * | 2020-11-26 | 2021-03-30 | 哈尔滨工程大学 | Satellite maneuvering rapid detection method based on wavelet transformation |
| CN112764058A (en) * | 2020-12-29 | 2021-05-07 | 杭州电子科技大学 | Carrier-to-noise ratio based adaptive hierarchical wavelet packet transformation multipath suppression method and system |
| CN113449263A (en) * | 2020-03-26 | 2021-09-28 | 太原理工大学 | Multi-path error correction method, system and equipment based on sparsity-promoted regularization |
| CN114355421A (en) * | 2021-12-22 | 2022-04-15 | 杭州电子科技大学 | Flood detection method based on Beidou satellite L4 and CMC combined observation value |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060282216A1 (en) * | 1994-01-03 | 2006-12-14 | Robbins James E | Differential GPS corrections using virtual stations |
| US7679554B1 (en) * | 2006-03-06 | 2010-03-16 | Rockwell Collins, Inc. | Communications link time transfer to improve navigation system accuracy |
| CN102998690A (en) * | 2012-11-26 | 2013-03-27 | 哈尔滨工程大学 | Attitude angle direct resolving method based on global position system (GPS) carrier wave double-difference equation |
| CN103648159A (en) * | 2009-03-17 | 2014-03-19 | 高通股份有限公司 | Position location using multiple carriers |
| CN109061687A (en) * | 2018-07-31 | 2018-12-21 | 太原理工大学 | It is a kind of based on adaptive threshold and double with reference to the multipaths restraint method for translating strategy |
-
2019
- 2019-04-23 CN CN201910328905.4A patent/CN110058273A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060282216A1 (en) * | 1994-01-03 | 2006-12-14 | Robbins James E | Differential GPS corrections using virtual stations |
| US7679554B1 (en) * | 2006-03-06 | 2010-03-16 | Rockwell Collins, Inc. | Communications link time transfer to improve navigation system accuracy |
| CN103648159A (en) * | 2009-03-17 | 2014-03-19 | 高通股份有限公司 | Position location using multiple carriers |
| CN102998690A (en) * | 2012-11-26 | 2013-03-27 | 哈尔滨工程大学 | Attitude angle direct resolving method based on global position system (GPS) carrier wave double-difference equation |
| CN109061687A (en) * | 2018-07-31 | 2018-12-21 | 太原理工大学 | It is a kind of based on adaptive threshold and double with reference to the multipaths restraint method for translating strategy |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531386A (en) * | 2019-08-15 | 2019-12-03 | 辽宁生态工程职业学院 | GNSS satellite clock deviation data preprocessing method based on WMAD |
| CN110531386B (en) * | 2019-08-15 | 2022-03-29 | 辽宁生态工程职业学院 | WMAD-based GNSS satellite clock error data preprocessing method |
| CN111323795A (en) * | 2020-03-20 | 2020-06-23 | 湖南联智科技股份有限公司 | Multi-path error weakening method in Beidou deformation monitoring |
| CN111323795B (en) * | 2020-03-20 | 2022-03-22 | 湖南联智科技股份有限公司 | Multi-path error weakening method in Beidou deformation monitoring |
| CN113449263A (en) * | 2020-03-26 | 2021-09-28 | 太原理工大学 | Multi-path error correction method, system and equipment based on sparsity-promoted regularization |
| CN112230254A (en) * | 2020-10-29 | 2021-01-15 | 新乡医学院三全学院 | Method and device for correcting multipath errors of GPS carrier phase |
| CN112230254B (en) * | 2020-10-29 | 2024-05-14 | 新乡医学院三全学院 | Correction method and device for GPS carrier phase multipath error |
| CN112572845A (en) * | 2020-11-26 | 2021-03-30 | 哈尔滨工程大学 | Satellite maneuvering rapid detection method based on wavelet transformation |
| CN112764058A (en) * | 2020-12-29 | 2021-05-07 | 杭州电子科技大学 | Carrier-to-noise ratio based adaptive hierarchical wavelet packet transformation multipath suppression method and system |
| CN112764058B (en) * | 2020-12-29 | 2023-12-08 | 杭州电子科技大学 | Adaptive hierarchical wavelet packet transformation multipath inhibition method and system based on carrier-to-noise ratio |
| CN114355421A (en) * | 2021-12-22 | 2022-04-15 | 杭州电子科技大学 | Flood detection method based on Beidou satellite L4 and CMC combined observation value |
| CN114355421B (en) * | 2021-12-22 | 2023-08-18 | 杭州电子科技大学 | Flood detection method based on Beidou satellite L4 and CMC combined observation value |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110058273A (en) | A kind of poor observation GPS carrier multi-path correction method of list | |
| CN109709591B (en) | GNSS high-precision positioning method for intelligent terminal | |
| CN109581453B (en) | GNSS segmentation smoothing filtering method based on cycle slip detection and repair | |
| CN110058282B (en) | PPP high-precision positioning method based on dual-frequency GNSS smart phone | |
| CN110412638A (en) | A kind of low cost triantennary GNSS RTK positioning and survey attitude positioning method | |
| CN112285745B (en) | Three-frequency ambiguity fixing method and system based on Beidou third satellite navigation system | |
| CN109884679B (en) | Cross-frequency point mixed double-difference RTK resolving method of single-mode GNSS system | |
| Yuan et al. | Multipath parameters estimation of weak GPS signal based on new colored noise unscented Kalman filter | |
| CN107576974B (en) | A kind of Multipath Errors extracting method based on adaptive semisoft shrinkage wavelet transformation | |
| CN112230254B (en) | Correction method and device for GPS carrier phase multipath error | |
| CN111562594A (en) | Beidou precision time transfer method based on interstation single difference and ambiguity fixation | |
| CN102508265B (en) | Signal separation estimation theory-based satellite navigation signal multipath interference suppression method | |
| CN112198540B (en) | Multimode multi-frequency carrier phase positioning method based on dynamic network base station | |
| CN113009537B (en) | Inertial navigation assisted defensive navigation relative positioning single epoch part ambiguity solving method | |
| CN109507696B (en) | GNSS pseudo-range multipath elimination method based on adaptive filtering | |
| CN113805212A (en) | Self-adaptive GNSS carrier phase differential landslide monitoring method | |
| CN110727008B (en) | GNSS integer ambiguity rapid resolving method | |
| CN105652299B (en) | A kind of satellite navigation locating method based on maximal correlation signal energy | |
| CN115173925B (en) | Inter-satellite single difference ionosphere delay determination method and system | |
| CN110082797B (en) | Multi-system GNSS data static post-processing high-dimensional ambiguity fixing method | |
| CN115343734B (en) | GNSS deformation monitoring method based on bilinear interpolation hemisphere model | |
| Ye et al. | How NLOS Signals affect GNSS relative positioning | |
| CN115856945A (en) | Precise single-point time service method, device and medium suitable for GNSS multi-frequency point | |
| CN113534221B (en) | High-precision high-frequency receiver resolving method, resolving system and navigation receiver | |
| CN112764058B (en) | Adaptive hierarchical wavelet packet transformation multipath inhibition method and system based on carrier-to-noise ratio |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190726 |
|
| RJ01 | Rejection of invention patent application after publication |