CN114002718A - System and method for improving positioning precision of satellite positioning terminal - Google Patents

System and method for improving positioning precision of satellite positioning terminal Download PDF

Info

Publication number
CN114002718A
CN114002718A CN202111252026.1A CN202111252026A CN114002718A CN 114002718 A CN114002718 A CN 114002718A CN 202111252026 A CN202111252026 A CN 202111252026A CN 114002718 A CN114002718 A CN 114002718A
Authority
CN
China
Prior art keywords
positioning
terminal
time
area
calculating
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
Application number
CN202111252026.1A
Other languages
Chinese (zh)
Inventor
张岩
张晓远
张志韬
彭朝亮
周瑾
尹鹏
孙晨
周鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Research Design And Experiment Center Co Ltd Of Tonghao Engineering Bureau Group
CRSC Engineering Group Co Ltd
Original Assignee
Beijing Research Design And Experiment Center Co Ltd Of Tonghao Engineering Bureau Group
CRSC Engineering Group Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Research Design And Experiment Center Co Ltd Of Tonghao Engineering Bureau Group, CRSC Engineering Group Co Ltd filed Critical Beijing Research Design And Experiment Center Co Ltd Of Tonghao Engineering Bureau Group
Priority to CN202111252026.1A priority Critical patent/CN114002718A/en
Publication of CN114002718A publication Critical patent/CN114002718A/en
Pending legal-status Critical Current

Links

Images

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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • 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

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 invention discloses a system for improving the positioning precision of a satellite positioning terminal, which comprises the positioning terminal: the terminal is internally provided with a high-precision antenna and used for receiving Beidou dual-frequency signals and GPS dual-frequency signals, extracting measurement information such as satellite navigation messages, time, pseudo-range, carrier phase and the like in real time and transmitting the information to the data processing unit through a network; a data processing unit: the system is used for receiving, uploading and processing positioning information, and is internally composed of a power supply module, a calculation module, a main control chip, a router and a communication interface thereof, the received positioning information uploaded by a positioning terminal is collected and analyzed, positioning deviation is calculated through a processing algorithm, and the corrected latest position of the terminal is sent to a background server; the invention utilizes big data principle, based on network interconnection and data calculation, and corrects the positioning error of the positioning terminal by statistical analysis of the positioning error of a certain area, thereby achieving the purposes of improving positioning accuracy and reducing cost.

Description

System and method for improving positioning precision of satellite positioning terminal
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a system and a method for improving positioning accuracy of a satellite positioning terminal.
Background
The current satellite positioning system mainly comprises a GPS system, a Beidou navigation system, a Glonass system and a Galileo system, most of civil positioning terminals generally have the positioning accuracy of about 5 meters at present, and the principle of the positioning system is mainly that the positioning terminals receive signals of geosynchronous satellites, the distances between the positioning terminals and the satellites are calculated according to the phase difference or time delay of the signals, and the positions of the terminals on the earth are calculated through a plurality of satellites.
The other method for improving the positioning accuracy mainly adopts a differential station mode, and a differential reference station is deployed on the ground to correct the positioning error of a positioning area, so that the positioning accuracy is improved.
Disclosure of Invention
The present invention is directed to a system and a method for improving positioning accuracy of a satellite positioning terminal, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a system for improving the positioning accuracy of a satellite positioning terminal comprises
Positioning a terminal: the terminal is internally provided with a high-precision antenna and used for receiving Beidou dual-frequency signals and GPS dual-frequency signals, extracting measurement information such as satellite navigation messages, time, pseudo-range, carrier phase and the like in real time and transmitting the information to the data processing unit through a network; the antenna adopts a high-precision measurement type antenna, and meter-level measurement precision is met.
A data processing unit: the system is used for receiving, uploading and processing positioning information, and is internally composed of a power supply module, a calculation module, a main control chip, a router and a communication interface thereof, the received positioning information uploaded by a positioning terminal is collected and analyzed, positioning deviation is calculated through a processing algorithm, and the corrected latest position of the terminal is sent to a background server;
a background server; receiving the terminal correction position calculated by the data processing unit, converting the longitude and latitude information by a coordinate system and sending the result to a display platform;
a display platform: and summarizing all the position information of the positioning terminal and displaying the position information on a map.
A method for improving the positioning accuracy of a satellite positioning terminal, using the system of claim 1, comprising the steps of:
step 1, assuming that the radius of a positioning correction area is R, and the position of a positioning terminal to be corrected is Dn;
and step 2, reporting the measured positioning by all the positioning terminals which do not move within a certain time T within the radius R of the positioning area through a network, wherein the positioning comprises a position group and the latest real-time positioning within the time T.
And 3, respectively calculating correction errors by the data processing unit according to the data of the terminal, wherein the correction errors are equal to the vector difference between the calculation center of the position obtained in a certain past time T of the positioning terminal and the real-time positioning value.
And 4, summarizing all the reported information in the area by the data processing unit, further calculating the weighted average in the area, calculating the weight of each positioning terminal according to the weight of each positioning terminal and the position of the center of the positioning area, wherein the weight of each positioning terminal is in inverse proportion to the distance L between the positioning terminal and the positioning center point.
And 5, correcting the terminal position information in the positioning area, and finally calculating the corrected final position according to the measured real-time position and the vector correction value returned by the data processing unit.
As a further calculation scheme of the invention, the process of determining the radius R of the resolving area is as follows: assuming that the number of positioning terminals in the area is N (N is more than or equal to 3), taking the real-time returned longitude and latitude of any 3 terminals D as D respectively1(x1，y1)，D2(x2，y2)，D3(x3，y3) Constructing an initial coordinate system and calculating an initial origin O1Then O is1(x0，y0) In
Figure BDA0003321930380000021
Solving the maximum x and y values of all other terminals in four quadrants of a coordinate system 0, calculating to obtain an external rectangle, and taking the central point of the rectangle as the final origin Or(xr，yr) The length of the diagonal line of the rectangle is referred to as the radius of the correction area as R.
As a further technical solution of the present invention, the process of calculating the correction error Δ d of each positioning terminal is as follows: respectively calculating the terminal equipment within the radius R of the positioning area and reporting the measured positioning center O thereof through the network within a certain time Tn(xno，yno) In the same way as in step 1, and then calculates the position D measured in real timen(xnd，ynd) And a center point OnIs recorded as the correction error deltadn，ΔdnThe vector difference between the mathematical statistic value of the position obtained by the positioning terminal within a certain past time T and the currently obtained real-time positioning value is equal to:
Figure BDA0003321930380000031
real-time reporting position D of computing terminal equipmentnAnd a center point OnAngle therebetween
Figure BDA0003321930380000032
Figure BDA0003321930380000033
According to what is obtained
Figure BDA0003321930380000034
Calculating the probability of each angle to finally obtain the expected value of each angle
Figure BDA0003321930380000035
Wherein xkIs composed of
Figure BDA0003321930380000036
The value of (c):
Figure BDA0003321930380000037
as a further technical solution of the present invention, the process of obtaining the final error d after calculating the error weight of each terminal is as follows: the network server collects all reported delta d in the areak(k＝1，2，3)And then according to its actual position Dk(xk，yk) And the center of the positioning area Or(xr，yr) The weighted average value in the area is calculated, the weight of the weighted average value is in inverse proportion to the distance l between the weighted average value and the positioning center point, and the final error d in the final determined area is calculated:
Figure BDA0003321930380000038
as a further technical solution of the present invention, recalculating the actual position of each terminal according to the calculated correction error specifically includes: correcting the positioning terminals D in all the areas, and finally calculating the corrected final positions according to the measured real-time positions and the vector correction values returned by the server
Figure BDA0003321930380000039
Compared with the prior art, the invention has the beneficial effects that: the invention utilizes big data principle, based on network interconnection and data calculation, and corrects the positioning error of the positioning terminal by statistical analysis of the positioning error of a certain area, thereby achieving the purposes of improving positioning accuracy and reducing cost. The method needs the positioning terminals to have network intercommunication, and meanwhile, in a certain positioning area, the more the number of the existing positioning terminals is, the more obvious the effect of improving the positioning precision is.
Drawings
Fig. 1 is a schematic diagram of the present invention.
Fig. 2 is a system configuration diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, example 1: a method for improving the positioning accuracy of a satellite positioning terminal, using the system of claim 1, comprising the steps of:
step 1, assuming that the radius of a positioning correction area is R, and the position of a positioning terminal to be corrected is Dn;
and step 2, reporting the measured positioning by all the positioning terminals which do not move within a certain time T within the radius R of the positioning area through a network, wherein the positioning comprises a position group and the latest real-time positioning within the time T.
And 3, respectively calculating correction errors by the data processing unit according to the data of the terminal, wherein the correction errors are equal to the vector difference between the calculation center of the position obtained in a certain past time T of the positioning terminal and the real-time positioning value.
And 4, summarizing all the reported information in the area by the data processing unit, further calculating the weighted average in the area, calculating the weight of each positioning terminal according to the weight of each positioning terminal and the position of the center of the positioning area, wherein the weight of each positioning terminal is in inverse proportion to the distance L between the positioning terminal and the positioning center point.
And 5, correcting the terminal position information in the positioning area, returning a calculation amount correction value according to the measured real-time position and the data processing unit, and finally calculating the corrected final position.
Example 2: the respective algorithms in example 1 are detailed as follows:
the determination of the radius of the solution area R proceeds as follows: assuming that the number of positioning terminals in the area is N (N is more than or equal to 3), taking the real-time returned longitude and latitude of any 3 terminals D as D respectively1(x1，y1)，D2(x2，y2)，D3(x3，y3) Constructing an initial coordinate system and calculating an initial origin O1Then O is1(x0，y0) In
Figure BDA0003321930380000051
Solving the maximum x and y values of all other terminals in four quadrants of a coordinate system 0, calculating to obtain an external rectangle, and taking the central point of the rectangle as the final origin Or(xr，yr) The length of the diagonal line of the rectangle is referred to as the radius of the correction area as R.
The procedure for calculating the correction error Δ d of each positioning terminal is as follows: respectively calculating the terminal equipment within the radius R of the positioning area and reporting the measured positioning center O thereof through the network within a certain time Tn(xno，yno) In the same way as in step 1, and then calculates the position D measured in real timen(xnd，ynd) And a center point OnIs recorded as the correction error deltadn，ΔdnThe vector difference between the mathematical statistic value of the position obtained by the positioning terminal within a certain past time T and the currently obtained real-time positioning value is equal to:
Figure BDA0003321930380000052
real-time reporting position D of computing terminal equipmentnAnd a center point OnAngle therebetween
Figure BDA0003321930380000053
Figure BDA0003321930380000054
According to what is obtained
Figure BDA0003321930380000055
Calculating the probability of each angle to finally obtain the expected value of each angle
Figure BDA0003321930380000056
Wherein xkIs composed of
Figure BDA0003321930380000057
The value of (c):
Figure BDA0003321930380000058
the process of obtaining the final error d after calculating the error weight of each terminal is as follows: the network server collects all reported delta d in the areak(k=1，2，3)And then according to its actual position Dk(xk，yk) And the center of the positioning area Or(xr，yr) The weighted average value in the area is calculated, the weight of the weighted average value is in inverse proportion to the distance l between the weighted average value and the positioning center point, and the final error d in the final determined area is calculated:
Figure BDA0003321930380000059
recalculating the actual position of each terminal according to the calculated correction error specifically comprises: correcting the positioning terminals D in all the areas, and finally calculating the corrected final positions according to the measured real-time positions and the vector correction values returned by the server
Figure BDA00033219303800000510
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (6)

1. A system for improving the positioning accuracy of a satellite positioning terminal comprises
Positioning a terminal: the terminal is internally provided with a high-precision antenna and used for receiving Beidou dual-frequency signals and GPS dual-frequency signals, extracting measurement information such as satellite navigation messages, time, pseudo-range, carrier phase and the like in real time and transmitting the information to the data processing unit through a network;
a data processing unit: the system is used for receiving, uploading and processing positioning information, and is internally composed of a power supply module, a calculation module, a main control chip, a router and a communication interface thereof, the received positioning information uploaded by a positioning terminal is collected and analyzed, positioning deviation is calculated through a processing algorithm, and the corrected latest position of the terminal is sent to a background server;
a background server; receiving the terminal correction position calculated by the data processing unit, converting the longitude and latitude information by a coordinate system and sending the result to a display platform;
a display platform: and summarizing all the position information of the positioning terminal and displaying the position information on a map.
2. A method for improving the positioning accuracy of a satellite positioning terminal, using the system of claim 1, comprising the steps of:
step 1, assuming that the radius of a positioning correction area is R, and the position of a positioning terminal to be corrected is Dn;
and step 2, reporting the measured positioning by all the positioning terminals which do not move within a certain time T within the radius R of the positioning area through a network, wherein the positioning comprises a position group and the latest real-time positioning within the time T.
And 3, respectively calculating correction errors by the data processing unit according to the data of the terminal, wherein the correction errors are equal to the vector difference between the calculation center of the position obtained in a certain past time T of the positioning terminal and the real-time positioning value.
And 4, summarizing all the reported information in the area by the data processing unit, further calculating the weighted average in the area, calculating the weight of each positioning terminal according to the weight of each positioning terminal and the position of the center of the positioning area, wherein the weight of each positioning terminal is in inverse proportion to the distance L between the positioning terminal and the positioning center point.
And 5, correcting the terminal position information in the positioning area, and finally calculating the corrected final position according to the measured real-time position and the vector correction value returned by the data processing unit.
3. The method of claim 2, wherein the determining the radius of the calculation region R is performed as follows: assuming that the number of positioning terminals in the area is N (N is more than or equal to 3), taking the real-time returned longitude and latitude of any 3 terminals D as D respectively1(x1，y1),D2(x2，y2),D3(x3，y3) Constructing an initial coordinate system and calculating an initial origin O1Then O is1(x0，y0) In
Figure FDA0003321930370000021
Solving the maximum x and y values of all other terminals in four quadrants of a coordinate system O, calculating to obtain an external rectangle, and taking the central point of the rectangle as the final origin Or(xr,yr) In a rectangular shapeThe length of the diagonal line of (2) is referred to as a correction area radius R.
4. The method according to claim 2, wherein the calculation of the correction error Δ d for each positioning terminal is as follows: respectively calculating the positioning center o measured by the terminal equipment within the radius R of the positioning area and reporting the positioning center o to the terminal equipment through the network within a certain time Tn(xno，yno) In the same way as in step 1, and then calculates the position D measured in real timen(xnd，ynd) And a center point OnIs recorded as the correction error deltadn，ΔdnThe vector difference between the mathematical statistic value of the position obtained by the positioning terminal within a certain past time T and the currently obtained real-time positioning value is equal to:
Figure FDA0003321930370000022
real-time reporting position D of computing terminal equipmentnAnd a center point OnAngle therebetween
Figure FDA0003321930370000023
Figure FDA0003321930370000024
According to what is obtained
Figure FDA0003321930370000025
Calculating the probability of each angle to finally obtain the expected value of each angle
Figure FDA0003321930370000026
Wherein xkIs composed of
Figure FDA0003321930370000027
The value of (c):
Figure FDA0003321930370000028
5. the method according to claim 2, wherein the final error d obtained after calculating the error weight of each terminal is as follows: the network server collects all reported delta d in the areak(k＝1,2,3)And then according to its actual position Dk(xk，yk) And the center of the positioning area Or(xr,yr) The weighted average value in the area is calculated, the weight of the weighted average value is in inverse proportion to the distance l between the weighted average value and the positioning center point, and the final error d in the final determined area is calculated:
Figure FDA0003321930370000029
6. the method according to claim 2, wherein the recalculating the actual position of each terminal based on the calculated correction error comprises: correcting the positioning terminals D in all the areas, and finally calculating the corrected final positions according to the measured real-time positions and the vector correction values returned by the server
Figure FDA0003321930370000031
CN202111252026.1A 2021-10-26 2021-10-26 System and method for improving positioning precision of satellite positioning terminal Pending CN114002718A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111252026.1A CN114002718A (en) 2021-10-26 2021-10-26 System and method for improving positioning precision of satellite positioning terminal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111252026.1A CN114002718A (en) 2021-10-26 2021-10-26 System and method for improving positioning precision of satellite positioning terminal

Publications (1)

Publication Number Publication Date
CN114002718A true CN114002718A (en) 2022-02-01

Family

ID=79924311

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111252026.1A Pending CN114002718A (en) 2021-10-26 2021-10-26 System and method for improving positioning precision of satellite positioning terminal

Country Status (1)

Country Link
CN (1) CN114002718A (en)

Similar Documents

Publication Publication Date Title
CN111045034B (en) GNSS multi-system real-time precise time transfer method and system based on broadcast ephemeris
RU2327303C2 (en) Positioning of wireless communication terminal device in mixed positioning system
EP3410144B1 (en) High-precision, real-time satellite positioning device and method thereof
CN112327340B (en) Terminal positioning accuracy evaluation method, device, equipment and medium
CN107765275A (en) GPS wide area differential GPS localization method, device, terminal and computer-readable recording medium
CN111694030A (en) BDS local difference method and system based on grid virtual observation value
US8462045B2 (en) Satellite based position of a cellular terminal
CN110072187B (en) Method and device for distributing and receiving differential data
CN112034489A (en) Global ionized layer grid generation method based on multi-source data fusion
CN107861131A (en) The acquisition methods and system of a kind of wrong path footpath ionosphere delay
US11906638B2 (en) High-accuracy satellite positioning method, positioning terminal, and positioning system
US11693120B2 (en) System and method for providing GNSS corrections
CN113791431B (en) Peer-to-peer security satellite high-precision network enhancement method constructed based on P2P technology
CN113325446A (en) Multi-mode common-frequency GNSS carrier phase time transfer method and system
CN113848569B (en) Positioning verification method of virtual reference station, storage medium and electronic equipment
CN116166680B (en) Automatic updating and maintaining method and system for railway Beidou reference station control network
CN110794433B (en) Vector ionosphere delay correction method based on Beidou system
CN114002718A (en) System and method for improving positioning precision of satellite positioning terminal
CN114527500B (en) Indoor and outdoor integrated positioning method, equipment, medium and product
CN114355420B (en) PPP product positioning method and device for distributed Beidou position service center
CN113176596B (en) Pneumatic high-elevation constraint positioning method
US11686850B2 (en) Ionosphere grid history and compression for GNSS positioning
CN111766614B (en) Sub-nanosecond real-time comparison method for joint networking of time keeping laboratory
CN114355400A (en) Ionosphere modeling method based on ionosphere radial variation characteristics
CN112485813A (en) Method and system for correcting frequency offset of non-combined ranging codes between GLONASS measuring stations

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