CN116449403A - Method and device for realizing precise single-point positioning and GNSS receiver - Google Patents
Method and device for realizing precise single-point positioning and GNSS receiver Download PDFInfo
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- 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
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- 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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- 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 application discloses a method and a device for realizing precise single-point positioning and a GNSS receiver, which are used for correcting the precise data of precise single-point positioning services corresponding to satellite navigation systems according to the type of precise single-point positioning services which can be decoded by the GNSS receiver, wherein the observation values from different satellite navigation systems are respectively corrected by adopting the precise data of the precise single-point positioning services corresponding to the satellite navigation systems, so that the precise data broadcast by a plurality of precise single-point positioning services are fused as much as possible, more satellites participate in precise single-point positioning calculation, and the performance of precise single-point positioning is greatly improved. The more satellite systems participating in precise single-point positioning, the better the satellite distribution is, the faster the convergence time is, and the availability and the precision of the precise single-point positioning are improved.
Description
Technical Field
The present disclosure relates to, but not limited to, precise satellite navigation technology, and more particularly, to a method and apparatus for achieving precise single point positioning and a GNSS receiver.
Background
Currently, there are five global satellite navigation and positioning systems (GNSS, global Navigation Satellite System) in wide use, namely the global positioning system (GPS, global Positioning System) in the united states, the russian gnus system or the global navigation satellite system (GLONASS), the chinese BeiDou satellite navigation system (BDS, beiDou Navigation Satellite System), the Galileo satellite navigation system (Galileo) in the european union, and the Quasi-zenith satellite system (QZSS, quasi-Zenith Satellite System) in japan. The satellite positioning system has high precision and covers the whole world, and is widely applied to a plurality of fields such as navigation, measurement and mapping, fine agriculture, intelligent robots, unmanned aerial vehicles and the like. Among them, applications such as survey and mapping, fine agriculture, intelligent robot, intelligent driving, and unmanned plane often require positioning services with centimeter-level accuracy, and technologies capable of providing centimeter-level satellite positioning services mainly include Real-Time Kinematic (RTK) technology and precision single point positioning (PPP, precise Point Positioning) technology.
RTK technology is a high-precision satellite positioning technology that is currently widely used. The RTK technology needs the support of a base station, and the mobile station eliminates or weakens errors such as satellite orbit, satellite clock error, ionosphere, troposphere and the like through the observation value of the base station by utilizing the error correlation between measuring stations, so that the centimeter-level positioning precision is achieved. The satellite clock difference is irrelevant to the distance between the measuring stations and can be completely eliminated; the satellite orbit, ionosphere and troposphere errors are related to the distance between the stations, the closer the distance between the base station and the mobile station is, the stronger the error correlation is, the smaller the residual error is after the single difference between the mobile station and the observed value of the base station is, and the farther the distance is, the weaker the correlation is. After the distance between the base station and the mobile station exceeds a certain distance, such as 30 km, the atmosphere residual error can reach the decimeter level, and double-difference ambiguity is difficult to fix, so that centimeter-level positioning cannot be realized. In order to meet the requirements of large-scale high-precision applications such as fine agriculture, intelligent driving, unmanned aerial vehicles and the like, a plurality of base stations are generally required to be established, and services are provided for clients through a network RTK mode. RTK techniques require the reception of base station data and thus the support of communications is required by the user. In addition, the service range of a single base station is limited, and in the network RTK service mode, the client is also required to upload the position of the client. For users without communication functions or users who are unwilling to upload their own locations because of privacy, sophisticated single point location techniques may be selected.
The precise single point positioning technology (PPP, precise Point Positioning) adopts a single receiver of global navigation satellite system (GNSS, global Navigation Satellite System, GNSS also known as global satellite navigation system), and can realize millimeter to decimeter level high-precision positioning based on carrier phase observations by using precise ephemeris and satellite clock differences provided by the international GNSS service organization (IGS, international GNSS Service). The precise single-point positioning service can broadcast satellite precise orbit and clock error data to users, and can broadcast ionosphere and troposphere data which are irrelevant to the positions of the clients, so that the satellite positioning equipment can realize precise single-point positioning on the basis of not adding peripheral equipment and uploading the positions of the satellite positioning equipment.
The user utilizes the satellite precise orbit and clock error data broadcast by the precise single-point positioning service to eliminate satellite orbit and clock error in broadcast ephemeris, eliminates ionosphere error by multi-frequency combination, and can estimate troposphere error by parameters. Some sophisticated single point location services may also broadcast ionosphere, troposphere data, which may also be used to attenuate ionosphere and troposphere errors. In the related art, free precise single-point positioning data, such as China Beidou precise single-point service, can be broadcast through a satellite, and the precise single-point positioning data can be broadcast through a B2B frequency point; the Galileo precise single-point service of the European Union broadcasts precise single-point positioning data through an E6 frequency point; the QZSS precision single point service in japan broadcasts precision single point positioning data through L6 frequency points. However, these three services for broadcasting precise single-point positioning data through the satellite base are mainly focused on improving the positioning accuracy of the navigation system, so that the correction of broadcasting satellites of the navigation system is mainly used. In the related art, how to improve convergence time and positioning accuracy of a precise single-point positioning service so as to improve availability of the precise single-point positioning service to meet requirements of users is a problem to be solved.
Disclosure of Invention
The application provides a method and device for realizing precise single-point positioning and a GNSS receiver, which can improve the performance of precise single-point positioning.
The embodiment of the invention provides a method for realizing precise single-point positioning, which comprises the following steps:
receiving observations from different satellite navigation systems and precision data broadcast from more than one precision single-point positioning service;
according to the type of the precise single-point positioning service which can be decoded, correcting the observed values from different satellite navigation systems by respectively adopting precise data of the precise single-point positioning service corresponding to the satellite navigation systems;
and adopting the receiver clock error corrected by the precision data of different precision single point positioning services to carry out precision single point positioning calculation.
Embodiments of the present application also provide a computer-readable storage medium storing computer-executable instructions for performing the method for achieving precise single point positioning described in any one of the above.
The embodiment of the application further provides a device for realizing precise single-point positioning, which comprises a memory and a processor, wherein the memory stores the following instructions executable by the processor: a step for performing the method of achieving precise point positioning of any of the above.
The embodiment of the application also provides a device for realizing precise single-point positioning, which comprises: the device comprises a receiving module, a correction module and a processing module; wherein,,
the receiving module is used for receiving the observed values from different satellite navigation systems and the precise data broadcasted by more than one precise single-point positioning service;
the correction module is used for correcting the observed values from different satellite navigation systems by adopting the precision data of the precision single-point positioning service corresponding to the satellite navigation system according to the precision single-point positioning service type which can be decoded by the correction module;
and the processing module is used for carrying out precise single-point positioning calculation by adopting receiver clock errors corrected by the precise data of different precise single-point positioning services.
The embodiment of the application further provides a GNSS receiver, which comprises the device for realizing precise single-point positioning.
According to the method for realizing precise single-point positioning, which is provided by the embodiment of the application, the GNSS receiver corrects the observed values from different satellite navigation systems by adopting the precise data of the precise single-point positioning service corresponding to the satellite navigation system according to the type of the precise single-point positioning service which can be decoded by the GNSS receiver, so that the precise data broadcasted by a plurality of precise single-point positioning services are fused as much as possible, more satellites participate in precise single-point positioning calculation, and the performance of precise single-point positioning is greatly improved. The more satellite systems participating in precise single-point positioning, the better the satellite distribution is, the faster the convergence time is, and the availability and the precision of the precise single-point positioning are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the technical aspects of the present application, and are incorporated in and constitute a part of this specification, illustrate the technical aspects of the present application and together with the examples of the present application, and not constitute a limitation of the technical aspects of the present application.
FIG. 1 is a flow chart of a method for implementing precise single point positioning in an embodiment of the present application;
fig. 2 is a schematic diagram of a composition structure of a device for implementing precise single-point positioning in an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in detail hereinafter with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be arbitrarily combined with each other.
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Examples of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It is to be understood that the terms "first," "second," and the like, as used herein, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
It is to be understood that in the following embodiments, "connected" is understood to mean "electrically connected", "communicatively connected", etc., if the connected circuits, modules, units, etc., have electrical or data transfer between them.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. Also, the term "and/or" as used in this specification includes any and all combinations of the associated listed items.
Precise single point positioning requires a certain time to converge to decimeter accuracy, typically 10-20 minutes. The convergence time of the precise single point positioning is related to the precision of the precise data and the distribution of satellites involved in the precise single point positioning, and the latter is related to the satellite system contained in the precise data broadcast by the system. The more satellite systems that participate in precise single point positioning, the better the satellite distribution and the faster the convergence time. The availability and accuracy of precise single point positioning is also related to the number of satellites involved in precise single point positioning. The current high-precision receiver can track satellites of five navigation systems such as BDS, GPS, galileo, GLONASS, QZSS and the like, can decode precision data of three precision single-point positioning services of B2B, E6 and L6, and the precision single-point positioning of two navigation systems provided by only one service is inferior to the precision single-point positioning of more navigation systems in convergence time, availability and precision. Such as: the China Beidou precise single-point positioning service broadcasts precise single-point positioning data of two navigation systems, namely BDS and GPS through a B2B frequency point; and the following steps: the precise single-point service of Galileo of European Union broadcasts precise single-point positioning data of the Galileo and the GPS through an E6 frequency point; another example is: the accurate single-point service of QZSS in Japan broadcasts the accurate single-point positioning data of two navigation systems of QZSS and GPS through L6 frequency point. The inventors have found that although the coordinate frame used by the precise single point positioning data broadcast by each satellite navigation system is the international earth reference system (ITRF, international Terrestrial Reference Frame), the time reference used by the precise single point positioning data broadcast by each satellite navigation system is not the same. Therefore, most GNSS receivers cannot mix and use three kinds of precise single-point positioning data even though they can decode the three kinds of precise single-point positioning data broadcast by the precise single-point positioning service at the same time. That is, the receiver in the related art can only use one of the precise single point location data broadcast by the precise single point location service alone. At most, only two navigation systems participate in the precise single point location solution. For a receiver capable of simultaneously tracking a plurality of navigation satellite systems such as BDS, GPS, galileo, GLONASS, QZSS, even if three kinds of precise single-point positioning service data B2B, E6 and L6 can be decoded simultaneously, only about half of satellites participate in precise single-point positioning calculation. Because the precision, availability and convergence time of the precise single-point positioning are all related to the number of satellites involved in the positioning, if the precise single-point positioning data broadcasted by three precise single-point positioning services can be used in a fused manner, four navigation satellite systems such as BDS, GPS, galileo, QZSS and the like can be involved in the precise single-point positioning, so that the performance of the precise single-point positioning can be greatly improved.
In order to improve the performance of precise single-point positioning, the embodiment of the application provides a method for realizing precise single-point positioning, which utilizes the principle that in the estimation of precise single-point positioning parameters, the clock difference of a receiver is estimated for each system independently, fuses precise single-point positioning data broadcasted by a plurality of precise single-point services, expands the number of satellites participating in precise single-point positioning settlement, and improves the performance of precise single-point positioning.
FIG. 1 is a method for implementing precise single point positioning in an embodiment of the present application, as shown in FIG. 1, including:
step 100: observations from different satellite navigation systems are received, as well as precision data broadcast from more than one precision single point location service.
In one illustrative example, the different satellite navigation systems include one or any combination of the following: BDS, GPS, galileo, QZSS navigation satellite system;
in one illustrative example, the one or more precision single point location services include one or any combination of the following: B2B precise single point location service, E6 precise single point location service, L6 precise single point location service.
In the process of tracking a certain satellite signal, the GNSS receiver can generate two kinds of observed values, namely a pseudo-range observed value and a carrier observed value. The observed values include satellite orbit errors, satellite clock error, ionosphere errors, troposphere errors and receiver clock error. The satellite orbit error and the satellite clock error can be eliminated by the satellite precise orbit and clock error correction in the precise single-point positioning data from the precise single-point positioning service, that is, the satellite precise orbit and clock error in the broadcast ephemeris can be eliminated by utilizing the satellite precise orbit and clock error data broadcasted by the precise single-point positioning service. Ionospheric errors can be eliminated by dual-frequency ionosphere combinations and troposphere can be eliminated by model plus parameter estimation.
Because the time reference is different for each satellite navigation system, the hardware delay of the GNSS receiver is different for each system signal, and thus the GNSS receiver clock difference is different for each system. The formula (1) and the formula (2) respectively represent pseudo-range and carrier observation equations after correction of satellite precise orbit and clock correction in precise single-point positioning data:
in the formula (1) and the formula (2), k represents a frequency point identifier, and k can be 1, 2, 3, 4 and 5; s represents a navigation system identification, s may be any one of BDS, GPS, galileo, QZSS systems; p represents a precise single point positioning system identifier, and p can be any one of B2B, E6 and L6; i represents a satellite identification;a pseudo-range observation value which indicates that a satellite i frequency point k is corrected by precise data of a system p; />A carrier observation value which indicates that a satellite i frequency point k is corrected by precise data of a system p; ρ i Representing the geometrical distance between the receiver and satellite i; c represents the speed of light in vacuum; dT (dT) s,p Representing the receiver clock error of the navigation system s after the precision data correction by the precision single point positioning service p; trop (Trop) i Representing tropospheric errors contained in the observations; iono i Representing ionospheric errors contained in the observations; />Respectively representing the signal frequencies of the first frequency point and the kth frequency pointThe square of the rate, k, can be 1, 2, 3, 4, 5; lambda (lambda) k The carrier wavelength representing frequency point k, k may be 1, 2, 3, 4, 5; />Indicating the integer ambiguity contained in the carrier observation; />Representing pseudorange observation noise; />Representing carrier observation noise.
As can be seen from the observation equations shown in the formula (1) and the formula (2), the receiver clock difference dT of the observation value of the same satellite after the correction of the precise data of different precise single point positioning services s,p Is different. For example, for a satellite of the GPS, the receiver clock difference after the correction of B2B is dT GPS,B2b The receiver clock difference after the correction of E6 is dT GPS,E6 . That is, for observations of the same satellite navigation system, the precise data of different precise single point positioning services cannot be mixed, otherwise two different receiver clock differences will result.
Step 101: and correcting the observed values from different satellite navigation systems by adopting the precise data of the precise single-point positioning service corresponding to the satellite navigation system according to the type of the precise single-point positioning service which can be decoded.
In an exemplary embodiment, in the precise single-point positioning calculation, a receiver clock difference is estimated for each satellite navigation system separately, and in the embodiment of the present application, based on the principle that each satellite navigation system estimates the receiver clock difference separately, the observations of different satellite navigation systems are corrected by using corresponding precise data from different precise single-point positioning services. In one embodiment, the precise single point location service corresponding to the satellite navigation system may include: the precise single-point positioning service corresponding to BDS can be B2B precise single-point positioning service, the precise single-point positioning service corresponding to Galileo can be E6 precise single-point positioning service, the precise single-point positioning service corresponding to QZSS can be L6 precise single-point positioning service, and the precise single-point positioning service corresponding to GPS can be B2B precise single-point positioning service, E6 precise single-point positioning service or L6 precise single-point positioning service.
In one embodiment, such as in a single fix solution, where the GNSS receiver corrects the observations from the GPS using precision data from the B2B precision single point location service, the receiver clock difference for the GPS observations is dT GPS,B2b For observations from Galileo, which can be corrected using precision data from the E6 precision Single Point location service, the receiver clock error for Galileo observations is dT Galileo,E6 。
In an exemplary embodiment, when the GNSS receiver decodes the precise data of multiple precise single-point positioning services at the same time, for a satellite navigation system corresponding to the precise data of a certain precise single-point positioning service, the precise data from the precise single-point positioning service is directly used to correct the observation value of the satellite navigation system. In one embodiment, when the GNSS receiver is able to simultaneously receive the precise data of the three B2B, E6, and L6 precise single point positioning services, the GNSS receiver corrects the observed value from the BDS with the receiver clock difference of dT of the observed value from the B2B precise single point positioning service BDS,B2b The method comprises the steps of carrying out a first treatment on the surface of the The observations from Galileo can be corrected using the precision data from the E6 precision Single Point location service, with receiver clock skew of Galileo being dT Galileo,E6 The method comprises the steps of carrying out a first treatment on the surface of the The observed value from QZSS can be corrected by using the precision data from the L6 precision single point positioning service, and the receiver clock error of the observed value of QZSS is dT QZSS,L6 。
In one illustrative example, when a GNSS receiver decodes precise data for multiple precise single-point positioning services simultaneously, a satellite navigation system that provides precise data for all of the multiple precise single-point positioning services selects a precise single-point positioning service that enables more satellites of the satellite navigation system to participate in precise single-point positioning resolution to correct observations of the satellite navigation. For coming fromThe GPS observations may be corrected using precision data from one of the three B2B, E6, or L6 precision single point location services. In one embodiment, the GPS observations are corrected using precision data from the B2B precision single point location service, the GPS observations have a receiver clock difference dT GPS,B2b The method comprises the steps of carrying out a first treatment on the surface of the GPS observations are corrected using precision data from E6 precision single point positioning service, and GPS observations receiver clock difference is dT GPS,E6 The method comprises the steps of carrying out a first treatment on the surface of the GPS observations are corrected using precision data from the L6 precision single point location service, and GPS observations are receiver clock-biased to dT GPS,L6 . In one embodiment, in practical application, the GNSS receiver corrects the precise data of which precise single-point positioning service is adopted by the GPS observation value, and may be determined according to the number of GPS satellites included in the precise data provided by different precise single-point positioning services, and in one embodiment, the precise single-point positioning service with the largest number of GPS satellites included in the precise data may be selected as the corresponding precise single-point positioning service, that is, the precise single-point positioning service that enables more GPS satellites to participate in the subsequent precise single-point positioning solution may be selected.
In an exemplary embodiment, when the GNSS receiver decodes precision data of multiple precision single-point positioning services at the same time, the method for implementing precision single-point positioning provided in the embodiment of the present application fuses precision data of multiple precision single-point positioning services, so that more satellite navigation systems participate in precision single-point positioning calculation, shortening convergence time of precision single-point positioning, and improving precision and usability of precision single-point positioning. In one embodiment, when the GNSS receiver can decode the precise data of the three precise single-point positioning services B2B, E6 and L6, the four satellite navigation systems GPS, BDS, galileo, QZSS can participate in the subsequent precise single-point positioning solution, and because the precision, availability and convergence time of the precise single-point positioning are all related to the number of satellites involved in the positioning, the method for implementing the precise single-point positioning provided by the embodiment of the present application will have more satellites involved in the precise single-point positioning solution, so that the performance of the precise single-point positioning can be greatly improved.
Step 102: and adopting the receiver clock error corrected by the precision data of different precision single point positioning services to carry out precision single point positioning calculation.
In an illustrative example, the GNSS receiver is a receiver capable of simultaneously tracking BDS, GPS, galileo, QZSS four navigation system satellites, and when the GPS observations use the precise data from the B2B precise single point positioning service to correct for satellite orbit and clock error, the state vector estimated by the GNSS receiver is as shown in equation (3):
[x,y,z,dT GPS,B2b ,dT BDS,B2b ,dT Galileo,E6 ,dT QZSS,L6 ,ztd,N](3)
in equation (3), X, Y, and Z represent the state components of the position of the GNSS receiver in the X direction, the Y direction, and the Z direction, respectively. dT (dT) GPS,B2b ,dT BDS,B2b ,dT Galileo,E6 ,dT QZSS,L6 The receiver clock differences after the GPS system of the GNSS receiver is corrected by the precision data of the B2B precision single-point positioning service, the receiver clock differences after the observation value of the BDS system is corrected by the precision data of the B2B precision single-point positioning service, the receiver clock differences after the observation value of the Galileo system is corrected by the precision data of the E6 precision single-point positioning service, and the receiver clock differences after the observation value of the QZSS system is corrected by the precision data of the L6 precision single-point positioning service are respectively represented. Ztd the model-compensated residual for tropospheric delay in the zenith direction of the GNSS receiver can be estimated by parameters, N representing the ambiguity vector, including the ambiguity parameters for all carrier observations involved in fine single-point positioning.
In an illustrative example, the GNSS receiver is a receiver capable of simultaneously tracking BDS, GPS, galileo, QZSS four navigation system satellites, and when the GPS observations use the precise data from the E6 precise single point positioning service to correct for satellite orbit and clock error, the state vector estimated by the GNSS receiver is as shown in equation (4):
[x,y,z,dT GPS,E6 ,dT BDS,B2b ,dT Galileo,E6 ,dT QZSS,L6 ,ztd,N](4)
in formula (4), dT GPS,E6 The receiver clock error of the observed value of the GPS system of the GNSS receiver after the correction of the precise data of the E6 precise single point positioning service is represented.
In an illustrative example, the GNSS receiver is a receiver capable of simultaneously tracking BDS, GPS, galileo, QZSS four navigation system satellites, and when the GPS observations use the precise data from the L6 precise single point positioning service to correct for satellite orbit and clock error, the state vector estimated by the GNSS receiver is as shown in equation (5):
[x,y,z,dT GPS,L6 ,dT BDS,B2b ,dT Galileo,E6 ,dT QZSS,L6 ,ztd,N](5)
in formula (5), dT GPS,L6 Receiver clock error, which represents the correction of the observed value of the GPS system of the GNSS receiver by the precision data of the L6 precision single point positioning service.
In an exemplary embodiment, if the GNSS receiver can only decode the precise data of two of the three precise single point positioning services B2B, E6, and L6, then the satellite navigation system that separately provides the precise single point data for the two services directly uses the precise data that provides the services to correct its observations. For a GPS system that provides precision single point services for both services, in one embodiment, one may choose the type of precision single point location service that allows more GPS satellites to participate in subsequent precision single point location solutions. For example, when the GNSS receiver can only decode the precise data of two precise single point positioning services, B2B and E6, the observed value of the BDS is corrected by using the precise data of the B2B precise single point positioning service; the observed value of Galileo is corrected by adopting precise data of E6 precise single-point positioning service; the GPS observation value adopts the precise single-point positioning service in B2B and E6, which can enable more GPS satellites to participate in the precise single-point positioning calculation. Thus, the present embodiment has a total of GPS, BDS, galileo three navigation systems involved in the precise single point location solution.
In one illustrative example, when a GNSS receiver can only decode precise data of one precise single point positioning service, the precise data of the precise single point positioning service is directly used to correct observations of all satellite navigation systems contained in the precise single point positioning service. In one embodiment, if the GNSS receiver can only decode the precise data of one of the three B2B, E6, L6 precise single point positioning services, the precise data provided by such services is directly used to correct the observations. For example, only the precise data of the B2B precise single point positioning service can be decoded, then only the observations of the two navigation systems of the GPS and the BDS can be corrected, that is, in this embodiment, only the two navigation systems of the GPS and the BDS can participate in the precise single point positioning solution, and the other navigation systems cannot.
According to the method for realizing precise single-point positioning, which is provided by the embodiment of the application, the GNSS receiver corrects the observed values from different satellite navigation systems by respectively adopting the precise data of the precise single-point positioning service corresponding to the satellite navigation system according to the type of the precise single-point positioning service which can be decoded by the GNSS receiver, so that the precise data broadcasted by a plurality of precise single-point positioning services are fused as much as possible, more satellites participate in precise single-point positioning calculation, and the performance of precise single-point positioning is greatly improved. The more satellite systems participating in precise single-point positioning, the better the satellite distribution is, the faster the convergence time is, and the availability and the precision of the precise single-point positioning are improved.
In one illustrative example, when the number of simultaneous decoding of multiple precision single point location services by a GNSS receiver varies and still decodes precision data of multiple precision single point location services, a selection is made as described above for the simultaneous decoding of precision data of multiple precision single point location services by a GNSS receiver.
The present application also provides a computer readable storage medium storing computer executable instructions for performing the method of achieving precise point positioning of any one of the above.
The application further provides a device for realizing precise single point positioning, which comprises a memory and a processor, wherein the memory stores the following instructions executable by the processor: a step for performing the method of achieving precise point positioning of any of the above.
Fig. 2 is a schematic structural diagram of an apparatus for implementing precise single point positioning in an embodiment of the present application, as shown in fig. 2, may include: the device comprises a receiving module, a correction module and a processing module; wherein,,
the receiving module is used for receiving the observed values from different satellite navigation systems and the precise data broadcasted by one or more precise single-point positioning services;
the correction module is used for correcting the observed values from different satellite navigation systems by adopting the precision data of the precision single-point positioning service corresponding to the satellite navigation system according to the precision single-point positioning service type which can be decoded by the correction module;
and the processing module is used for carrying out precise single-point positioning calculation by adopting receiver clock errors corrected by the precise data of different precise single-point positioning services.
In one illustrative example, a precise single point location service corresponding to a satellite navigation system may include: the precise single-point positioning service corresponding to BDS can be B2B precise single-point positioning service, the precise single-point positioning service corresponding to Galileo can be E6 precise single-point positioning service, the precise single-point positioning service corresponding to QZSS can be L6 precise single-point positioning service, and the precise single-point positioning service corresponding to GPS can be B2B precise single-point positioning service, E6 precise single-point positioning service or L6 precise single-point positioning service.
In one illustrative example, the correction module may be configured to:
meanwhile, decoding the precision data of various precision single-point positioning services, and correcting the observation value of a satellite navigation system corresponding to the precision data of a certain precision single-point positioning service by adopting the precision data from the precision single-point positioning service.
In one embodiment, the satellite navigation system capable of simultaneous tracking may include BDS, GPS, galileo, QZSS four navigation system satellites. The plurality of precision single point location services may include one or any combination of the following: B2B precise single point location service, E6 precise single point location service, L6 precise single point location service.
In one illustrative example, the correction module may be configured to:
meanwhile, the precise data of various precise single-point positioning services are decoded, and for a satellite navigation system which provides precise data for various precise single-point positioning services, the precise single-point positioning service which enables more satellites of the satellite navigation system to participate in precise single-point positioning calculation is selected to correct the observation value of the satellite navigation. In one embodiment, a satellite navigation system that provides precision data for a variety of precision single point location services may include a GPS system. The plurality of precision single point location services may include one or any combination of the following: B2B precise single point location service, E6 precise single point location service, L6 precise single point location service.
In one illustrative example, the correction module may be configured to:
meanwhile, decoding the precision data of various precision single-point positioning services, and correcting the observation value of a satellite navigation system corresponding to the precision data of a certain precision single-point positioning service by adopting the precision data from the precision single-point positioning service; for a satellite navigation system which provides precise data for various precise single-point positioning services, a precise single-point positioning service which enables more satellites of the satellite navigation system to participate in precise single-point positioning calculation is selected to correct the observation value of the satellite navigation.
According to the device for realizing precise single-point positioning, which is provided by the embodiment of the application, the precise data of the precise single-point positioning service corresponding to the satellite navigation system are adopted for correction of the observation values from different satellite navigation systems according to the type of the precise single-point positioning service which can be decoded by the device, so that the precise data broadcasted by a plurality of precise single-point positioning services are fused as much as possible, more satellites participate in precise single-point positioning calculation, and the performance of precise single-point positioning is greatly improved. The more satellite systems participating in precise single-point positioning, the better the satellite distribution is, the faster the convergence time is, and the availability and the precision of the precise single-point positioning are improved.
The embodiment of the application also provides a GNSS receiver, which comprises the device for realizing precise single-point positioning.
Although the embodiments disclosed in the present application are described above, the embodiments are only used for facilitating understanding of the present application, and are not intended to limit the present application. Any person skilled in the art to which this application pertains will be able to make any modifications and variations in form and detail of implementation without departing from the spirit and scope of the disclosure, but the scope of the application is still subject to the scope of the claims appended hereto.
Claims (11)
1. A method of achieving precise single point positioning, comprising:
receiving observations from different satellite navigation systems and precision data broadcast from more than one precision single-point positioning service;
according to the type of the precise single-point positioning service which can be decoded, correcting the observed values from different satellite navigation systems by respectively adopting precise data of the precise single-point positioning service corresponding to the satellite navigation systems;
and adopting the receiver clock error corrected by the precision data of different precision single point positioning services to carry out precision single point positioning calculation.
2. The method of claim 1, wherein the decodable precision single point location service type comprises a plurality of precision single point location services;
the correcting the observed values from different satellite navigation systems by adopting the precise data of the precise single-point positioning service corresponding to the satellite navigation systems respectively comprises the following steps:
and correcting the observation value of the satellite navigation system by adopting the precise data from the precise single-point positioning service for the satellite navigation system corresponding to the precise data of the precise single-point positioning service.
3. The method of claim 2, wherein the different satellite navigation system comprises one or any combination of: one or any combination of a Beidou satellite navigation system BDS, a global positioning system GPS, a Galileo satellite navigation system Galileo and a quasi-zenith satellite system QZSS navigation satellite system;
the plurality of precision single point location services include one or any combination of the following: B2B precise single point location service, E6 precise single point location service, L6 precise single point location service.
4. The method of claim 1, wherein the decodable precision single point location service type comprises a plurality of precision single point location services;
the correcting the observed values from different satellite navigation systems by adopting the precise data of the precise single-point positioning service corresponding to the satellite navigation systems respectively comprises the following steps:
for a satellite navigation system which provides precise data for various precise single-point positioning services, a precise single-point positioning service which enables more satellites of the satellite navigation system to participate in precise single-point positioning calculation is selected to correct the observation value of the satellite navigation.
5. The method of claim 4, wherein the satellite navigation system, in which the plurality of precision single-point positioning services all provide precision data, comprises GPS;
the plurality of precision single point location services include one or any combination of the following: B2B precise single point location service, E6 precise single point location service, L6 precise single point location service.
6. The method of claim 1, wherein the decodable precision single point location service type comprises a plurality of precision single point location services;
the correcting the observed values from different satellite navigation systems by adopting the precise data of the precise single-point positioning service corresponding to the satellite navigation systems respectively comprises the following steps:
for a satellite navigation system corresponding to precision data of a certain precision single-point positioning service, correcting an observation value of the satellite navigation system by adopting the precision data from the precision single-point positioning service;
for a satellite navigation system which provides precise data for various precise single-point positioning services, a precise single-point positioning service which enables more satellites of the satellite navigation system to participate in precise single-point positioning calculation is selected to correct the observation value of the satellite navigation.
7. The method of claim 1, 2 or 6, wherein the satellite navigation system corresponding precision single point location service comprises:
the precision single-point positioning service corresponding to the BDS is B2B precision single-point positioning service;
the precise single-point positioning service corresponding to the Galileo satellite navigation system Galileo is E6 precise single-point positioning service;
the precise single-point positioning service corresponding to the QZSS is L6 precise single-point positioning service;
the precise single-point positioning service corresponding to the global positioning system GPS is B2B precise single-point positioning service, E6 precise single-point positioning service or L6 precise single-point positioning service.
8. A computer readable storage medium storing computer executable instructions for performing the method of achieving precise point positioning of any one of claims 1 to 7.
9. An apparatus for performing precision single point positioning, comprising a memory and a processor, wherein the memory has stored therein instructions executable by the processor to: the steps for performing the method of achieving precise point positioning of any one of claims 1 to 7.
10. An apparatus for achieving precise single point positioning, comprising: the device comprises a receiving module, a correction module and a processing module; wherein,,
the receiving module is used for receiving the observed values from different satellite navigation systems and the precise data broadcasted by more than one precise single-point positioning service;
the correction module is used for correcting the observed values from different satellite navigation systems by adopting the precision data of the precision single-point positioning service corresponding to the satellite navigation system according to the precision single-point positioning service type which can be decoded by the correction module;
and the processing module is used for carrying out precise single-point positioning calculation by adopting receiver clock errors corrected by the precise data of different precise single-point positioning services.
11. A GNSS receiver comprising the apparatus for achieving precise single point positioning of claim 10.
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