CN110673180A - High-sea precision satellite relative positioning and navigation method based on Beidou short message and combined with RTS (request to send) data - Google Patents
High-sea precision satellite relative positioning and navigation method based on Beidou short message and combined with RTS (request to send) data Download PDFInfo
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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
- G01S19/38—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
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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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
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Abstract
The invention discloses a precision open-sea relative positioning method based on Beidou short messages, which comprises two aspects, wherein the first aspect is a method for simplifying GNSS pseudo-range, phase observation data and RTS data of a base station so as to realize effective transmission by utilizing the Beidou short messages, and the second aspect is that the GNSS data and the RTS data are combined so as to improve the positioning precision. Wherein the GNSS is a global navigation satellite system GNSS and the RTS is Real-time Service. The method has the advantages that the Beidou short message equipment is favorable for base station data transmission, real-time precise dynamic positioning in open sea is realized, positioning performance similar to that of data transmission by using a communication satellite is obtained, and cost is reduced.
Description
Technical Field
The invention belongs to the technical field of GNSS relative positioning in open sea, and relates to a technical method for realizing open sea precision navigation and positioning by combining Beidou short messages and RTS data.
Background
Global Navigation Satellite system gnss (global Navigation Satellite system). In order to realize precision navigation in open sea, GNSS data transmission is required. However, since the conventional mobile phone communication means, namely GPRS, can not be used in open sea, INTERNET service is not available, and only maritime satellite phone communication is available at present. But the cost of maritime satellite telephone communication is extremely expensive and cannot be borne by ordinary users.
The short message is a better means for far-sea communication, but the Beidou short message is used for data transmission, so that the Beidou short message has a problem that the sending amount is very limited, and a common user can only send 78 bytes each time and can only send the short message once every minute. To realize precise navigation, the two problems need to be overcome, otherwise, the practical application cannot be met.
Disclosure of Invention
The invention aims to send simplified GNSS data and RTS data through a Beidou short message to realize precision navigation and positioning in open sea.
The method has the advantages that the Beidou short message equipment is utilized to finally realize the navigation and positioning with centimeter-level precision, the positioning performance similar to the positioning performance of data transmission by utilizing a communication satellite is obtained, and the cost is reduced.
The main content of the invention comprises: a simplified method of GNSS data and RTS data; navigation and positioning method based on GNSS data and RTS data.
1. Method for simplifying GNSS data and RTS data
1) Method for simplifying base station GNSS pseudo-range observation data
The method for simplifying base station GNSS pseudo range observation data comprises the following steps:
first, pseudorange observations are corrected data are computed.
The pseudo-range correction data calculation method comprises the following steps:
in the above formula, the first and second carbon atoms are,
is the geometric distance from the receiver to the satellite;andis the satellite orbit and satellite clock error; tau isrIs the receiver clock error;
is tropospheric zenith delay;
is the ionospheric delay;
is a projection function;
is the observation noise;the pseudo range observation can be pseudo range observation of any frequency band, or observation of any combination of different frequency bands;
and secondly, selecting a certain satellite as a reference satellite, and subtracting the correction data of other satellites from the reference satellite or subtracting adjacent satellites to obtain correction data of inter-satellite differences. For multiple GNSS systems, different reference satellites may also be selected for each system;
and thirdly, selecting the corrected data with the largest absolute value and the maximum inter-satellite difference or non-difference, and rounding or performing other processing to obtain data which can be sent by a single byte or a few bytes and is marked as D. Dividing the other inter-satellite difference or non-difference correction data by D to obtain a quotient E;
and fourthly, multiplying the E by 100 or other numbers agreed with the rover, rounding and transmitting the E by using a single byte.
2) Method for simplifying base station GNSS phase observation data
The method for simplifying the phase observation data of the base station comprises the following steps:
in a first step, correction data for phase observations are calculated.
The carrier phase correction data calculation method is as follows:
in the above formula, the first and second carbon atoms are,
is the geometric distance from the receiver to the satellite;
and
is the satellite orbit and satellite clock error; tau isrIs the receiver clock error;is an ambiguity parameter; λ is the corresponding wavelength;
is tropospheric zenith delay;
is a projection function;
is the observation noise;
the phase observation can be phase observation of any wave band or frequency band, or observation of any combination of different wave bands or frequency bands;
and secondly, selecting a certain satellite as a reference satellite, and subtracting the correction data of other satellites from the reference satellite or subtracting adjacent satellites to obtain correction data of inter-satellite differences. For multiple GNSS systems, a different reference satellite may also be selected for each system.
The latter operation is mainly to correct data for inter-satellite differences, but can also be applied to non-difference corrected data;
and thirdly, changing the inter-satellite difference or non-difference phase correction data of the first epoch into data taking the week as a unit, and acquiring the latest whole week number of the inter-satellite difference or non-difference phase correction data. Subtracting the whole cycle number of the corresponding satellite from the correction data of all satellites of all epochs;
and fourthly, directly transmitting integer millimeter number by using a single byte if the absolute value of the inter-satellite difference or non-difference phase correction data obtained by the processing is less than 127 millimeters. Or selecting the inter-satellite difference or non-difference correction data with the largest absolute value, and rounding or performing other processing to obtain data which can be sent by a single byte or a few bytes and is marked as D. Other inter-satellite difference or non-difference corrected data are divided by D, and the quotient is denoted as E. Multiply E by 100 or other number and round and send with a single byte.
3) Method for simplifying RTS data
The method for simplifying RTS data comprises the following steps:
firstly, selecting data D as dividends, and dividing RTS corrected data by D respectively to obtain a quotient E;
second, multiply E by 100 or other number, and round up and send with a single byte.
4) GNSS data simplified processing method during broadcast ephemeris data block change or update
When the broadcast ephemeris data blocks used by the previous epoch and the next epoch are different or inconsistent, GNSS data correction or RTS data may be caused to generate a jump, which affects the processing results of the above-mentioned pseudorange, phase and RTS data simplification, and thus special processing is required. The processing method comprises the following steps:
first, when there is no change or update to the block of broadcast ephemeris data, the pseudorange, phase and RTS data are simplified by processing as described in parts 1 and 2 above;
secondly, when the broadcast ephemeris update occurs in the current epoch, the difference d between the pseudo range, the phase or the RTS correction data obtained by using the old ephemeris and the new ephemeris data block is calculated by using the method agreed with the rover1：
d1＝VNew ephemeris-VOld ephemeris
In the above formula, VNew ephemerisAnd VOld ephemerisRespectively obtaining pseudo range, phase or RTS correction data by using the new and old ephemeris data blocks;
thirdly, calculating the pseudo range and phase data change of the current epoch and the later epoch by using the new ephemeris data blockPositive or RTS data until the ephemeris data block is updated again. The correction difference d is subtracted from the corrections of these epochs1Then, the treatment is carried out according to the simplified method in the part 1 or 2;
fourthly, when the ephemeris data block is updated again, a new corrected difference d is calculated in accordance with the second step2；
And fifthly, calculating the pseudo range, the phase or RTS data correction of the current epoch and the later epoch by using the new ephemeris data block until the ephemeris data block is updated again. From the corrections of these epochs, the sum of the differences of all the corrections mentioned above, i.e. d, is subtracted1+d2Then, the treatment is carried out according to the simplified method in the part 1 or 2;
sixth, and so on, whenever an ephemeris data block update occurs, a new corrected difference d is calculated according to the second stepi. And calculating the pseudorange, phase or RTS data correction of the current epoch and the following epoch by using the new ephemeris data block until the ephemeris data block is updated again. From the corrections of these epochs, the sum of the differences of all the corrections is subtracted, i.e.
And then processed according to the simplified method of section 1 or 2.
2. Navigation and positioning method based on GNSS data and RTS data
The method comprises the following operation steps:
firstly, acquiring a precise position of an ocean carrier once per minute by utilizing GNSS correction data sent by Beidou short message equipment;
and secondly, obtaining the accurate positions at other moments by using RTS product data sent by Beidou short message equipment.
Drawings
FIG. 1 is a flow chart for implementing precision navigation in open sea;
fig. 2 is a structural diagram for realizing precision navigation in the open sea.
Detailed Description
1. Detailed description of the data reduction method
Specific embodiments of the data simplification method mainly include an embodiment of simplifying GNSS pseudo-range data, an embodiment of simplifying GNSS phase data, and an embodiment of simplifying RTS data.
1) The embodiment of the simplified base station GNSS pseudo range data comprises the following steps:
firstly, preprocessing base station data, calculating corrected data, and performing gross error detection and elimination;
secondly, calculating inter-satellite difference correction data;
selecting the inter-satellite difference or non-difference correction data with the largest absolute value, rounding or performing other processing to obtain data which can be sent by a single byte or a few bytes, marking the data as D, and sending the D in a short message;
fourthly, dividing the other inter-satellite difference or non-difference correction data by D to obtain a quotient E;
step five, multiplying E by 100 or other numbers agreed with the rover, rounding and sending by using a single byte;
and sixthly, the mobile station receives the base station data sent by the short message equipment, divides the data by 100 or other numbers, and then multiplies the data by the received D.
2) The embodiment of the phase data of the simplified base station GNSS is as follows:
firstly, preprocessing base station data, calculating phase correction data, and detecting and repairing cycle slip;
secondly, selecting a certain satellite as a reference satellite, and subtracting correction data of other satellites from the reference satellite to obtain correction data of inter-satellite differences;
and thirdly, changing the inter-satellite difference or non-difference phase correction data of the first epoch into data taking the week as a unit, and acquiring the latest whole week number of the inter-satellite difference or non-difference phase correction data. Subtracting the whole week number from the corrected data of all satellites in all epochs;
and fourthly, directly transmitting integer millimeter number by using a single byte if the absolute value of the inter-satellite difference or non-difference phase correction data obtained by the processing is less than 127 millimeters. Or selecting the inter-satellite difference or non-difference correction data with the largest absolute value, and rounding or performing other processing to obtain data which can be sent by a single byte or a few bytes and is marked as D. Other inter-satellite difference or non-difference corrected data are divided by D, and the quotient is denoted as E. Multiply E by 100 or other number and round and send with a single byte. And sending D in the short message;
and fifthly, the rover receives the base station data sent by the short message equipment, divides the base station data by 100 or other numbers, and multiplies the base station data by the received D.
3) The embodiment of the RTS data simplifying method comprises the following steps:
in the first step, one datum is selected as a dividend and is marked as D according to all RTS correction data of each epoch. One data may also be selected for location correction and time correction, respectively, as dividends. One data can be selected respectively for the correction in three position directions and the time correction to be used as dividends;
and secondly, dividing RTS correction data by the corresponding dividend D selected in the first step to obtain a quotient, multiplying the quotient by 100 or other numbers, rounding, and sending by using a short message.
4) And when the broadcast ephemeris data block changes or updates, the special data processing method comprises the following steps:
first, when there is no change or update to the block of broadcast ephemeris data, the pseudorange, phase or RTS data is simplified by processing as described in parts 1 and 2 above;
secondly, when the broadcast ephemeris update occurs in the current epoch, the difference d between the pseudo range, the phase or the RTS data correction obtained by using the old ephemeris and the new ephemeris data block is calculated by using the method agreed with the rover1：
d1＝VNew ephemeris-VOld ephemeris
In the above formula, VNew ephemerisAnd VOld ephemerisThe pseudorange, phase or RTS corrections obtained using the new and old ephemeris data blocks, respectively.
The appointment method can be as follows:
an observation distance from the satellite to the base station is agreed for each satellite and the corrected difference obtained using the new and old ephemeris data blocks is calculated therefrom. For example, for a GPS satellite, the agreed observation distance may be: 20200 km; for Galileo satellites, the agreed observation distance may be: 23600 km; for example, for a GLONASS satellite, the agreed observed distance may be: 19100 km; for example, for a Beidou geostationary satellite or an inclined high orbit, the agreed observation distance may be: 36000 kilometers; if for circle orbit satellite in big dipper, agreed observation distance can be: 21500 km;
and thirdly, calculating the pseudo range, the phase or RTS data correction of the current epoch and the later epoch by using the new ephemeris data block until the ephemeris data block is updated again. The correction difference d is subtracted from the corrections of these epochs1Then, the treatment is carried out according to the simplified method in the part 1 or 2;
fourthly, when the ephemeris data block is updated again, a new corrected difference d is calculated in accordance with the second step2；
And fifthly, calculating the pseudo range or phase data correction of the current epoch and the later epoch by using the new ephemeris data block until the ephemeris data block is updated again. From the corrections of these epochs, the sum of the differences of all the corrections mentioned above, i.e. d, is subtracted1+d2Then, the treatment is carried out according to the simplified method in the part 1 or 2;
sixth, and so on, whenever an ephemeris data block update occurs, a new corrected difference d is calculated according to the second stepi. And calculating the pseudorange, phase or RTS data correction of the current epoch and the following epoch by using the new ephemeris data block until the ephemeris data block is updated again. From the corrections of these epochs, the sum of the differences of all the corrections is subtracted, i.e.
And then processed according to the simplified method of section 1 or 2.
2. Specific implementation mode of navigation and positioning method based on GNSS data and RTS data
The navigation and positioning method based on GNSS data and RTS data is described in detail below with reference to specific embodiments.
Firstly, the marine carrier uses the received simplified base station data to carry out difference with GNSS data acquired by the carrier, so as to obtain the precise relative position of the marine carrier and the base station once per minute;
secondly, based on the received RTS product data, obtaining the relative displacement of the marine carrier of the adjacent epoch by using a time baseline method; and adding the accurate position once per minute obtained in the first step to obtain the accurate position of the ocean carrier at any moment.
The invention is not limited to sea, but also can be used in the case of no other network communication means on land. The application device is not limited to a geodetic GNSS receiver, but can also be applied to devices which can output original GNSS observation, such as a mobile phone, a tablet, U-Blox and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the present invention.
Claims (6)
1. The method for realizing the precision navigation and positioning in open sea based on the Beidou short message is characterized by comprising the following steps: the method for simplifying the GNSS data of the base station, as described in the four sections 2, 3, 4 and 5 of the following claims, enables efficient transmission of GNSS data; the accuracy of the positioning is improved by a method for positioning combining GNSS data and RTS data, as described in the section 6 of the following claim.
2. The method for simplifying GNSS data of a base station of claim 1, wherein: selecting a dividend, a pseudo range, a phase or an RTS correction number for all pseudo ranges and phase correction numbers of each epoch, dividing the dividend, the pseudo range, the phase or the RTS correction number by the pseudo range, the phase or the RTS correction number to obtain a quotient, multiplying the quotient by 100 or other numbers, rounding, and sending by using a Beidou short message; when the broadcast ephemeris data block changes or updates, calculating the corrected difference of pseudo range, phase or RTS obtained by using the new and old broadcast ephemeris data blocks by using a method appointed with the rover station, subtracting the corrected difference from the corrected difference of pseudo range, phase and RTS obtained later, and then carrying out the simplified processing; the simplified GNSS data is combined with RTS data for navigation and positioning, and the precision navigation of the open sea is finally realized; wherein GNSS is global navigation satellite system, RTS is Real-time Service correction data.
3. The method for simplifying GNSS pseudorange data for a base station of claim 1, comprising: selecting a dividend for all pseudo ranges of each epoch, dividing all pseudo range corrections of the epoch by the dividend to obtain a quotient, multiplying the quotient by 100 or other numbers, rounding, and transmitting by using a Beidou short message, wherein the method comprises the following steps:
firstly, calculating correction data of pseudo-range observation;
the method of calculating the corrected data for the pseudorange observations is as follows:
in the above formula, the first and second carbon atoms are,
is the geometric distance from the receiver to the satellite;and
is the satellite orbit and satellite clock error; tau isrIs the receiver clock error;
is tropospheric zenith delay;
is the ionospheric delay;
is a projection function;
is the observation noise;
the pseudo range observation can be pseudo range observation of any frequency band, or observation of any combination of different frequency bands;
secondly, selecting a certain satellite as a reference satellite, and subtracting correction data of other satellites from the reference satellite or subtracting correction data of adjacent satellites to obtain correction data of inter-satellite differences; for multiple GNSS systems, different reference satellites may also be selected for each system;
selecting the corrected data with the largest absolute value and rounding or other processing to obtain data which can be sent by a single byte or a few bytes and is marked as D; dividing the other inter-satellite difference or non-difference correction data by D to obtain a quotient E;
and fourthly, multiplying the E by 100 or other numbers agreed with the mobile station, rounding, and sending by the Beidou short message.
4. The method of simplifying GNSS phase data of a base station of claim 1, wherein: selecting a dividend for all phases of each epoch, dividing all phase correction numbers of the epoch by the dividend to obtain a quotient, multiplying the quotient by 100 or other numbers, rounding, and sending by using a Beidou short message, wherein the method comprises the following steps:
firstly, preprocessing base station data, calculating phase correction data, and detecting and repairing cycle slip;
secondly, selecting a certain satellite as a reference satellite, and subtracting correction data of other satellites from the reference satellite to obtain correction data of inter-satellite differences;
thirdly, changing the inter-satellite difference or non-difference phase correction data of the first epoch into data taking the week as a unit and acquiring the latest whole week number of the inter-satellite difference or non-difference phase correction data; subtracting the whole week number from the corrected data of all satellites in all epochs;
step four, obtaining the inter-satellite difference or non-difference phase correction data through the processing, and if the absolute value is less than 127 millimeters, directly sending integer millimeter number by using a single byte; or selecting the inter-satellite difference or non-difference correction data with the largest absolute value, and rounding or performing other processing to obtain data which can be sent by a single byte or a few bytes and is marked as D; dividing the other inter-satellite difference or non-difference correction data by D to obtain a quotient E; multiplying E by 100 or other numbers, rounding, and sending by using a Beidou short message; and D is sent in a short message.
5. According to claim 1, when the broadcast ephemeris data block changes or updates, the GNSS data of the base station needs to be specially processed, wherein: when the broadcast ephemeris data block changes or updates, calculating the corrected difference of the pseudo range, the phase or the RTS obtained by using the new and old broadcast ephemeris data blocks by using a method appointed by the rover station, subtracting the corrected difference from the corrected difference of the pseudo range, the phase or the RTS obtained later, and then carrying out the simplified processing, wherein the simplified processing comprises the following steps:
first, when there is no change or update to the block of broadcast ephemeris data, the pseudorange, phase or RTS data is simplified by processing as described in parts 1 and 2 above;
secondly, when the broadcast ephemeris update occurs in the current epoch, the difference d between the pseudo range, the phase or the RTS correction obtained by using the old ephemeris and the new ephemeris data block is calculated by using the method agreed with the rover1：
d1＝VNew ephemeris-VOld ephemeris
In the above formula, VNew ephemerisAnd VOld ephemerisRespectively obtaining pseudo range, phase or RTS positive by using new and old ephemeris data blocks;
thirdly, calculating pseudo range or phase data correction of the current epoch and the later epoch by using the new ephemeris data block until the ephemeris data block is updated again; the correction difference d is subtracted from the corrections of these epochs1Then, thenThen processing according to the simplified method in the part 1 or 2;
fourthly, when the ephemeris data block is updated again, a new corrected difference d is calculated in accordance with the second step2；
Fifthly, calculating pseudo range or phase data correction of the current epoch and the later epoch by using the new ephemeris data block until the ephemeris data block is updated again; from the corrections of these epochs, the sum of the differences of all the corrections mentioned above, i.e. d, is subtracted1+d2Then, the treatment is carried out according to the simplified method in the part 1 or 2;
sixth, and so on, whenever an ephemeris data block update occurs, a new corrected difference d is calculated according to the second stepi(ii) a Calculating pseudo range or phase data correction of the current epoch and the later epoch by using the new ephemeris data block until the ephemeris data block is updated again; from the corrections of these epochs, the sum of the differences of all the corrections is subtracted, i.e.
And then processed according to the simplified method of section 1 or 2.
6. A method for improving the accuracy of a position fix of a open sea carrier according to claim 1, characterized by combining base station GNSS data and RTS data, comprising the steps of:
firstly, the marine carrier uses the received simplified GNSS data to carry out difference with the GNSS data acquired by the carrier, so as to obtain the precise relative position of the marine carrier and the base station once per minute;
and secondly, acquiring the accurate positions of the marine carriers at other epoch moments by using a time baseline method or other methods based on the received RTS product data.
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| CN111896988A (en) * | 2020-07-28 | 2020-11-06 | 中国石油大学(华东) | Open sea real-time positioning method, system, medium, satellite navigation and positioning system |
| CN111896988B (en) * | 2020-07-28 | 2022-11-08 | 中国石油大学(华东) | Open sea real-time positioning method, system, medium, satellite navigation and positioning system |
| CN112083462A (en) * | 2020-09-14 | 2020-12-15 | 哈尔滨工程大学 | Ocean precise single-point positioning method |
| CN112083462B (en) * | 2020-09-14 | 2022-12-13 | 哈尔滨工程大学 | Ocean precise single-point positioning method |
| CN113267790A (en) * | 2021-06-22 | 2021-08-17 | 武汉大学 | Satellite orbit clock error correction number coding method based on Beidou global short message communication |
| CN113267790B (en) * | 2021-06-22 | 2023-10-24 | 武汉大学 | Satellite orbit clock correction coding method based on Beidou global short message communication |
| CN115144878A (en) * | 2022-07-13 | 2022-10-04 | 武汉大学 | Short-distance large-altitude-difference NRTK troposphere delay correction method based on PPP |
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