CN112596088A - High-precision positioning method and device applied to land measurement and storage medium - Google Patents
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- 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
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Abstract
The application provides a high-precision positioning method, a high-precision positioning device and a storage medium applied to land surveying, wherein the method is based on GNSS satellite positioning and comprises the following steps: calculating the single-difference ambiguity between the satellites in real time based on an observation model of the single-difference between the satellites, and fixing the single-difference ambiguity between the satellites; calculating the obtained observation data of multiple systems by using a multiple-system single-point precise algorithm through a multi-frequency multiple-system positioning module; and performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate state parameters related to the GNSS and improve the positioning precision.
Description
Technical Field
The application relates to the technical field of high-precision positioning measurement, in particular to a high-precision positioning method and device applied to land measurement and a storage medium.
Background
With the development of the modern scientific and technical level, the land utilization tends to adopt a scientific management method more and more, and particularly, the accurate collection and storage of data such as land area, altitude, gradient and the like are required.
At present, the existing land and cultivated land area mapping method mainly comprises the following steps: based on a tape measure or an infrared ruler, the method is easy to implement, but a large amount of manpower and material resources are consumed when the measurement area is large, and in addition, the measurement in the areas with inconvenient traffic in mountainous areas is dangerous; the method is convenient and simple, but generally depends on the accuracy of the drawing, and needs a large amount of operation; the land surveying instrument for land surveying according to the GPS positioning technology becomes a relatively convenient and high-tech surveying tool in the market, the land surveying instrument can provide real-time navigation and positioning information such as longitude and latitude by adopting a GPS global satellite positioning system, coordinates of each point are obtained by utilizing the positioning function of the GPS, and data such as distance and area are calculated by a mathematical method. However, because the positioning of the GPS has certain errors, and the errors are mostly limited by the weather and the sheltering of high-rise buildings on the ground, especially for the land measurement of a small area, the errors are larger, and therefore, the positioning accuracy is a main factor affecting the measurement accuracy of the land measurement tool.
Disclosure of Invention
The application aims to provide a high-precision positioning method and device applied to land surveying and a storage medium, which are used for effectively overcoming the technical defect that the positioning precision of a positioning module is not high in the prior art.
In a first aspect, an embodiment of the present application provides a high-precision positioning method applied to land surveying, where the method is based on GNSS satellite positioning, and the method includes: calculating the single-difference ambiguity between the satellites in real time based on an observation model of the single-difference between the satellites, and fixing the single-difference ambiguity between the satellites; calculating the obtained observation data of multiple systems by using a multiple-system single-point precise algorithm through a multi-frequency multiple-system positioning module; and performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate the state parameters related to the GNSS.
With reference to the first aspect, in a first possible implementation manner, the inter-satellite single difference ambiguity is resolved in real time based on an observation model of the inter-satellite single difference, and fixing the inter-satellite single difference ambiguity includes: obtaining GNSS observation data in M GNSS observation stations, wherein M is an integer greater than 1; the GNSS observation data in each GNSS observation station are classified in sequence and subjected to averaging operation, and the uncalibrated phase delay parameter of the satellite-side single difference is calculated based on the observation model of the single difference between the satellites and the observation data averaged station by station; and determining an integer fixed solution of the single-difference ambiguity between the satellites according to the obtained uncalibrated phase delay parameter of the single difference between the satellites at the satellite terminal.
With reference to the first aspect, in a second possible implementation manner, the performing, by using a multi-system single-point precise algorithm, an operation on the obtained multi-system observation data by using a multi-frequency multi-system positioning module includes: through many system location of multifrequency module, obtain the observation data that corresponds with every system in a plurality of systems, wherein, many system location of multifrequency module includes: GPS, GLONASS, GALILEO and beidou satellite navigation systems; and operating the obtained observation data of the multiple systems by using a multiple-system single-point precise algorithm, wherein the expression of the multiple-system single-point precise algorithm is as follows:
in the formula, G, R, E, C represents GPS, GLONASS, GALILEO and Beidou satellite navigation system respectively; j represents a satellite number; r represents an observation station;
the geometric distance between the observation station r and the satellite j;
a combined pseudorange observation for the ionosphere;
for integer ambiguity, in the ionosphere-free combined observation equation, this value does not have integer property; c is the speed of light in vacuum; dTj,RIs the satellite clock error; dtrIs the receiver clock error;
is tropospheric delay error;
and
respectively, the sum of other errors of the pseudo range and the carrier phase observed value;
is the intersystem bias of the GLONASS satellites with respect to GPS;
is a constant independent of the satellite.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner, performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by using kalman filtering to estimate a state parameter related to the GNSS includes: determining a precise single-point positioning random model and a state vector dynamic model; based on a precise single-point positioning random model and a state vector dynamic model, calculating observation data which are subjected to multi-system single-point precise algorithm operation and correspond to each system in a plurality of systems by adopting a Kalman filtering algorithm, wherein the Kalman filtering algorithm mainly comprises the following expressions:
xi(k+1)＝Aixi(k)+Biui(k)+wi
yi(k)＝Hixi(k)+vi
in the formula, i is 1-4 and represents 4 GNSS satellite navigation positioning systems; x is a state variable; u is the system input; w is white noise; a is a state transition matrix; b is an input matrix; y is the result of each satellite positioning reception; h is an observation matrix of each system; v is the random positioning error; obtaining a predicted value of a GNSS satellite navigation positioning system corresponding to each system in a plurality of systems, and determining a function expression of the sum of a plurality of system performance functions to estimate state parameters related to the GNSS, wherein the function expression is as follows:
in the formula, xiThe predicted values are respectively 4 GNSS satellite navigation positioning systems, xi is an estimated value of the GNSS satellite navigation positioning system, and P is a covariance matrix of x.
With reference to the first aspect, in a fourth possible implementation manner, before the real-time resolving of the inter-satellite single difference ambiguity based on the inter-satellite single difference observation model and the fixing of the inter-satellite single difference ambiguity, the method further includes: obtaining GNSS positioning related data in N GNSS observers, wherein N is an integer greater than 1, and the GNSS positioning related data comprises: satellite precision orbit, real-time clock correction number, phase and code deviation real-time products and real-time flow observation data of a GNSS monitoring station; and establishing an observation model based on the single difference between the satellites based on the obtained GNSS positioning related data.
In a second aspect, the present application provides a high-precision positioning device for land surveying, and the device includes: the first processing module is used for resolving the single-difference ambiguity between the satellites in real time based on an observation model of the single-difference between the satellites and fixing the single-difference ambiguity between the satellites; the second processing module is used for calculating the obtained observation data of the multiple systems by using a multiple-system single-point precise algorithm through the multi-frequency multiple-system positioning module; and the system is also used for performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate the state parameters related to the GNSS. In a third aspect, the present application provides a storage medium, where a computer program is stored on the storage medium, and the computer program is executed by a computer to execute the method for high-precision positioning applied to land surveying provided by the first aspect and any possible implementation manner of the first aspect.
Compared with the prior art, the invention has the beneficial effects that: on the one hand, the technical scheme in the embodiment of the application integrates the current four GNSS systems: the GPS, GLONASS, GALILEO and Beidou satellite navigation systems have the characteristics of mutual verification and combined positioning among all navigation positioning systems, when the number of visible satellites is small due to the influence of the environment where a single system is located, the combined system can provide the number of satellites in more multiples, high-precision positioning can be continuously obtained under the condition that the satellite signal environment is poor, the hardware cost is not increased, and convenience is provided for users in field operation. On the other hand, after the multi-system precise point positioning method is adopted, the time of first positioning and positioning convergence can be shortened.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a high-precision positioning method applied to land surveying according to an embodiment of the present application;
fig. 2 is a structural block diagram of a high-precision positioning device applied to land surveying provided by the embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
GNSS (Global Navigation Satellite System) is a space-based radio Navigation positioning System that can provide users with all-weather three-dimensional coordinates, speed, and time information at any location on the surface of the earth or in near-earth space. The GNSS includes: the space part comprises a plurality of satellites, and the ground control system consists of a monitoring station, a main control station and a ground antenna, namely, the ground control system is a large system formed by splicing a plurality of satellite navigation positioning and enhancement systems thereof.
Referring to fig. 1, in an embodiment of the present application, a high-precision positioning method for land surveying is provided, and the method is based on GNSS satellite positioning, and includes: s11, S12, and S13.
S11: calculating the single-difference ambiguity between the satellites in real time based on an observation model of the single-difference between the satellites, and fixing the single-difference ambiguity between the satellites;
s12: calculating the obtained observation data of multiple systems by using a multiple-system single-point precise algorithm through a multi-frequency multiple-system positioning module;
s13: and performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate the state parameters related to the GNSS.
The specific implementation flow of the high-precision positioning method for land surveying will be described in detail below.
S11: and (4) calculating the single-difference ambiguity between the satellites in real time based on the observation model of the single-difference between the satellites, and fixing the single-difference ambiguity between the satellites. In detail, the method for implementing positioning based on GNSS includes: the GNSS standard single-Point Positioning, the GNSS relative Positioning, and the Precision Point Positioning (PPP) are integrated, and the technical advantages of the GNSS standard single-Point Positioning and the GNSS relative Positioning are integrated in the precision single-Point Positioning. To realize high-precision positioning based on a precise single-point positioning method, a fixed solution of medium-non-differential ambiguity needs to be solved.
Before S11, the method further includes: obtaining GNSS positioning related data in N GNSS observers, wherein N is an integer greater than 1, and the GNSS positioning related data comprises: satellite precision orbit, real-time clock correction number, phase and code deviation real-time products and real-time flow observation data of a GNSS monitoring station; and establishing an observation model based on the single difference between the satellites based on the obtained GNSS positioning related data. It should be noted that, the number of GNSS observers around the world already exceeds 500, and the value of N is 500.
In detail, obtaining GNSS observation data in M GNSS observation stations, where M is an integer greater than 1; the GNSS observation data in each GNSS observation station are classified in sequence and subjected to averaging operation, and the uncalibrated phase delay parameter of the satellite-side single difference is calculated based on the observation model of the single difference between the satellites and the observation data averaged station by station; and determining an integer fixed solution of the single-difference ambiguity between the satellites according to the obtained uncalibrated phase delay parameter of the single difference between the satellites at the satellite terminal. In the embodiment of the present application, the value of M is 180.
And (3) realizing a fixed solution of the single-difference ambiguity between the satellites by using an Uncalibrated Phase Delay (UPD) method. Numbering 180 global GMSS observation stations which are collection objects from one to 180, averaging the GNSS observation data of the 180 GMSS observation stations station by station to calculate the UPD of the single difference between satellites at the satellite end, and determining an integer fixed solution of the single difference ambiguity between the satellites, thereby realizing high-precision positioning of the fixed single difference ambiguity between the satellites.
And applying the solved integer fixed solution of the single-difference ambiguity between the stars to PPP of different sites, and performing precision analysis on the positioning result, wherein the analysis result shows that: the method realizes the fixed solution of the single-difference ambiguity among the stars by adopting a non-calibration phase delay method, can reliably fix the independent ambiguity of more than 80 percent, and improves the positioning precision by about 30 percent compared with a real solution method of non-differential ambiguity after adopting the ambiguity fixing method.
S12: and calculating the obtained observation data of the multiple systems by using a multiple-system single-point precise algorithm through a multiple-frequency multiple-system positioning module.
On the basis of solving the problem of high-precision single-point positioning, the fixed solution performance of the high-precision single-point positioning is further improved by using multi-system observation data acquired by a multi-frequency multi-system positioning module. In detail, the observation data corresponding to each system of the plurality of systems is obtained by a multi-frequency multi-system positioning module, wherein the multi-frequency multi-system positioning module includes: GPS, GLONASS, GALILEO and beidou satellite navigation systems; and operating the obtained observation data of the multiple systems by using a multiple-system single-point precise algorithm, wherein the expression of the multiple-system single-point precise algorithm is as follows:
in the formula, G, R, E, C represents GPS, GLONASS, GALILEO and Beidou satellite navigation system respectively; j represents a satellite number; r represents an observation station;
the geometric distance between the observation station r and the satellite j;
and
respectively obtaining combined pseudo range observation values of the deionization layers of different navigation systems;
and
respectively the integer ambiguity of different navigation systems, and the value has no integer characteristic in the combined observation equation without the ionosphere; c is the speed of light in vacuum; dTj,R、dTj,G、dTj,EAnd dTj,CSatellite clock differences of different navigation systems respectively; dtrIs the receiver clock error;
is tropospheric delay error;
respectively, the sum of other errors of the pseudo range and the carrier phase observed value;
is the intersystem bias of the GLONASS satellites with respect to GPS;
is a constant independent of the satellite. Among them, the GLONASS navigation satellite system adopts the frequency division multiple access signal structure, which causes the frequency deviation delay of each satellite to be inconsistent.
The observation values of multiple systems are added to provide more redundant information for high-precision single-point positioning, the system has stronger gross error resistance, the time required by the first fixation of the high-precision single-point positioning fixation solution can be reduced by about 10-30%, and a new way is provided for eliminating the ionosphere high-order term errors.
S13: and performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate the state parameters related to the GNSS.
In detail, a precise single-point positioning random model and a state vector dynamic model are determined; based on a precise single-point positioning random model and a state vector dynamic model, calculating observation data which are subjected to multi-system single-point precise algorithm operation and correspond to each system in a plurality of systems by adopting a Kalman filtering algorithm, wherein the Kalman filtering algorithm mainly comprises the following expressions:
xi(k+1)＝Aixi(k)+Biui(k)+wi
yi(k)＝Hixi(k)+vi
in the formula, i is 1-4 and represents 4 GNSS satellite navigation positioning systems; x is a state variable; u is the system input; w is white noise; a is a state transition matrix; b is an input matrix; y is the result of each satellite positioning reception; h is an observation matrix of each system; v is the random positioning error.
On the basis of the above expression, the predicted value of the individual system state x can be obtained by the following expression:
xi(k)＝xi(k-1)+Kgi(k)(yi(k)-Hixi(k-1))
Pi(k)＝(I-Kgi(k)Hi)Pi(k-1)
in the formula, Kg is Kalman gain; p is a covariance matrix of x; r is a covariance matrix of v; h' is the transpose of H; i is a matrix of 1.
And setting the estimated value of the system state x as xi, and optimizing the following performance functions:
J＝(x1-ξ,x2-ξ,x3-ξ,x4-ξ)TP-1×(x1-ξ,x2-ξ,x3-ξ,x4-ξ)
in the formula, x1、x2、x3And x4Respectively 4 GNSS positioning system predicted values; p is a co-correlation matrix of x; since 4 systems are uncorrelated, the above equation can be rewritten as the sum of the individual system performance functions:
after the multi-system precise point positioning technology is adopted, the positioning convergence time is obviously reduced, and the precise point positioning results of the four systems, namely the GPS system, the GLONASS system, the GALILEO system and the Beidou satellite navigation system, are more stable.
Referring to fig. 2, the present embodiment provides a high-precision positioning device 10 for land surveying, where the high-precision positioning device 10 for land surveying includes:
the first processing module 110 is configured to perform real-time solution on the inter-satellite single difference ambiguity based on an observation model of the inter-satellite single difference, and fix the inter-satellite single difference ambiguity;
the second processing module 120 is configured to perform operations on the obtained multi-system observation data by using a multi-system single-point precise algorithm through the multi-frequency multi-system positioning module; and the system is also used for performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate the state parameters related to the GNSS.
Some possible embodiments of the present application provide a storage medium, which is a computer-readable storage medium configured to store computer-executable instructions that, when executed, perform the operations of the high-precision positioning method applied to land surveying provided by any one of the above embodiments.
The functions in the above embodiments, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
To sum up, the embodiment of the present application provides a high precision positioning method applied to land surveying, the method is based on GNSS satellite positioning, and the method includes: calculating the single-difference ambiguity between the satellites in real time based on an observation model of the single-difference between the satellites, and fixing the single-difference ambiguity between the satellites; calculating the obtained observation data of multiple systems by using a multiple-system single-point precise algorithm through a multi-frequency multiple-system positioning module; and performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate the state parameters related to the GNSS.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. A high-precision positioning method applied to land surveying, the method is based on GNSS multi-system satellite navigation positioning, and the method is characterized by comprising the following steps:
calculating the single-difference ambiguity between the satellites in real time based on an observation model of the single-difference between the satellites, and fixing the single-difference ambiguity between the satellites;
calculating the obtained observation data of multiple systems by using a multiple-system single-point precise algorithm through a multi-frequency multiple-system positioning module;
and performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate the state parameters related to the GNSS.
2. A high-precision positioning method applied to land surveying according to claim 1, wherein the observation model based on single-difference between stars performs real-time solution on single-difference between stars ambiguity, and fixing the single-difference between stars ambiguity comprises:
obtaining GNSS observation data in M GNSS observation stations, wherein M is an integer greater than 1;
the GNSS observation data in each GNSS observation station are classified in sequence and subjected to averaging operation, and the uncalibrated phase delay parameter of the satellite-side single difference is calculated based on the observation model of the single difference between the satellites and the observation data averaged station by station;
and determining an integer fixed solution of the single-difference ambiguity between the satellites according to the obtained uncalibrated phase delay parameter of the single difference between the satellites at the satellite terminal.
3. A high accuracy positioning method applied to land surveying as claimed in claim 1 wherein said operating the obtained multi-system observation data using a multi-system single point refinement algorithm with a multi-frequency multi-system positioning module comprises:
through multifrequency multisystem location module obtains the observation data that corresponds with every system in a plurality of systems, wherein, multifrequency multisystem location module includes: GPS, GLONASS, GALILEO and beidou satellite navigation systems;
and operating the obtained observation data of the multiple systems by using a multiple-system single-point precise algorithm, wherein the expression of the multiple-system single-point precise algorithm is as follows:
in the formula, G, R, E, C represents GPS, GLONASS, GALILEO and Beidou satellite navigation system respectively; j represents a satellite number; r represents an observation station;
the geometric distance between the observation station r and the satellite j;
a combined pseudorange observation for the ionosphere;
for integer ambiguity, in the ionosphere-free combined observation equation, this value does not have integer property; c is the speed of light in vacuum; dTj，RIs the satellite clock error; dtrIs the receiver clock error;
is tropospheric delay error;
respectively, the sum of other errors of the pseudo range and the carrier phase observed value;
is the intersystem bias of the GLONASS satellites with respect to GPS;
is a constant independent of the satellite.
4. A high-precision positioning method applied to land surveying as defined by claim 3, wherein the performing a precise single-point positioning operation on the obtained multi-system observation data subjected to the multi-system single-point precise algorithm operation by using Kalman filtering to estimate the state parameters related to the GNSS comprises:
determining a precise single-point positioning random model and a state vector dynamic model;
based on the precise single-point positioning random model and the state vector dynamic model, calculating observation data which are corresponding to each system in the multiple systems and are subjected to multi-system single-point precise algorithm calculation by adopting a Kalman filtering algorithm, wherein the Kalman filtering algorithm mainly comprises the following expressions:
xi(k+1)＝Aixi(k)+Biui(k)+wi
yi(k)＝Hixi(k)+vi
in the formula, i is 1-4 and represents 4 GNSS satellite navigation positioning systems; x is a state variable; u is the system input; w is white noise; and is a state transition matrix; b is an input matrix; y is the result of each satellite positioning reception; h is an observation matrix of each system; v is the random positioning error; obtaining a predicted value of a GNSS satellite navigation positioning system corresponding to each system in a plurality of systems, and determining a function expression of the sum of a plurality of system performance functions to estimate state parameters related to the GNSS, wherein the function expression is as follows:
in the formula, xiThe predicted values are respectively 4 GNSS satellite navigation positioning systems, xi is an estimated value of the GNSS satellite navigation positioning system, and P is a covariance matrix of x.
5. A high-precision positioning method applied to land surveying according to claim 1, characterized in that before the observation model based on single-difference between stars solves the single-difference between stars ambiguity in real time, and fixes the single-difference between stars ambiguity, the method further comprises:
obtaining GNSS positioning related data in N GNSS observers, wherein N is an integer greater than 1, and the GNSS positioning related data comprises: satellite precision orbit, real-time clock correction number, phase and code deviation real-time products and real-time flow observation data of a GNSS monitoring station;
and establishing an observation model based on the single difference between the satellites based on the obtained GNSS positioning related data.
6. A high precision positioning device for land surveying, the device comprising:
the first processing module is used for resolving the single-difference ambiguity between the satellites in real time based on an observation model of the single-difference between the satellites and fixing the single-difference ambiguity between the satellites;
the second processing module is used for calculating the obtained observation data of the multiple systems by using a multiple-system single-point precise algorithm through the multi-frequency multiple-system positioning module; and also for
And performing precise single-point positioning operation on the obtained multi-system observation data subjected to multi-system single-point precise algorithm operation by adopting Kalman filtering so as to estimate the state parameters related to the GNSS.
7. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a computer, performs a high-precision positioning method for land surveying as claimed in any one of claims 1-5.
Priority Applications (1)
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