CN116859423B - Method, device and equipment for determining independent baselines in GNSS observation network calculation - Google Patents
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- G—PHYSICS
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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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- 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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- 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
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Abstract
The application relates to a method, a device and equipment for determining an independent baseline in GNSS observation network calculation, wherein the method comprises the steps of determining synchronous observation satellites of each epoch between all observation station pairs; the observation station pair is composed of any two observation stations; determining synchronous observation times of each observation station pair in a day based on synchronous observation satellites, constructing a synchronous observation matrix, and constructing a distance matrix according to the coordinate distance between two observation stations of each observation station pair; and determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix. According to the method, the number of satellites observed per unit distance is represented by obtaining the ratio of different observation times between two observation stations and the baseline length as the independent baseline selection standard, and the problem of baseline precision reduction is solved by only searching the maximum observation value or the shortest baseline, so that the positioning precision of the independent baselines is improved, and the calculation steps are simple and convenient.
Description
Technical Field
The application belongs to the technical field of satellite navigation, and particularly relates to a method, a device and equipment for determining an independent baseline in GNSS observation network calculation.
Background
Global GNSS observational network solutions have important roles in geodetic measurements, in particular geodetic parameter estimation, high precision product generation, fiducial point maintenance and geodynamic applications. The Double-differential (DD) model is widely used in various GNSS data processing software, such as Bernese, GAIMIT/GLOBK. In order to reduce the calculation amount while guaranteeing the integral positioning accuracy of the GNSS network solution, independent baselines between measuring stations are selected for adjusting the baseline network. Wherein, the independent baseline means that only one path exists between any two stations in the GNSS network, and all stations can be connected. Of the baselines resolved by the N GNSS receiver simultaneous observations, there are N x (n+1)/2 baselines in total, where only (N-1) are independent baselines that are linearly independent, the purpose of the independent baseline selection is to optimize the structure of the baseline network to improve the overall accuracy of the solution.
In the related art, the independent baseline selection is a precondition for the solution of the GNSS observation network, and two independent baseline selection methods are available, namely, the maximum observation value (OBS-MAX) and the SHORTEST path (short). The short method is to select the SHORTEST total length of the (n-1) independent baselines to determine the baseline selection. The shorter the distance between stations is, the more satellites are synchronously observed, so that redundant DD observations can be obtained to facilitate later network adjustment. Shorter baselines help better eliminate or reduce tropospheric and ionospheric delay errors for adjacent stations. The essence of short is to increase positioning accuracy by increasing the number of synchronous observation satellites, but short pursues only short baselines, possibly introducing low-accuracy baselines with fewer synchronous observation satellites; the maximum observation method (OBS-MAX) uses the maximum number of synchronous observation satellites that can be observed between stations as a standard. However, OBS-MAX pursues only more synchronous satellites, possibly introducing a long baseline with large difference in tropospheric and ionospheric errors. Therefore, a scheme is proposed that can set a WEIGHT (WEIGHT) between short and OBS-MAX. The WEIGHT method has higher positioning accuracy than the SHORTEST and OBS-MAX methods. However, how to set the weights lacks theoretical support and can only be determined empirically. For example, weights are determined based on posterior accuracy of the optimal baseline solutions for the two methods, respectively; on an a priori basis, bernese software may use a weight of 30% of SHORTEST in addition to OBS-MAX as an option. Setting an empirical weight or using a weight based on posterior accuracy can place an excessive computational load on individual baseline selections.
In summary, the existing independent baseline selection method has the problems of insufficient positioning precision and complicated calculation.
Disclosure of Invention
In view of the above, the present application aims to overcome the shortcomings of the prior art, and provide a method, a device and a device for determining an independent baseline in GNSS observational network solution, so as to solve the problems of insufficient positioning accuracy and complicated calculation in independent baseline selection in the prior art.
In order to achieve the above purpose, the application adopts the following technical scheme: a method for determining an independent baseline in GNSS observational network calculation comprises the following steps:
determining the number of synchronous observation satellites of each epoch between all observation station pairs; the observation station pair consists of any two observation stations;
determining synchronous observation times of each observation station pair in a day based on the number of synchronous observation satellites, constructing a synchronous observation matrix, and constructing a distance matrix according to the coordinate distance between two observation stations of each observation station pair;
and determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix.
Further, the determining the number of synchronous observation satellites of each epoch between all the pairs of observation stations includes:
acquiring historical observation data of all observation stations;
and determining synchronous observation satellites of each epoch between all observation station pairs according to the historical observation data.
Further, the synchronous observation matrix is
Wherein,M obs for the synchronized observation matrix, each element in the synchronized observation matrix represents the number of synchronized observations of the observation satellite by each observation station.
Further, the distance matrix is
Wherein,M sho for the distance matrix, each element in the distance matrix represents the coordinate distance between the two stations of each station pair.
Further, the determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix includes:
respectively carrying out normalization processing on the synchronous observation matrix and the distance matrix;
and determining an independent baseline selection reference by using the normalized synchronous observation matrix and the distance matrix.
Further, an independent baseline selection benchmark is determined in the following manner,
。
further, the method further comprises the following steps:
selecting an independent baseline according to the independent baseline selection standard, and adjusting a GNSS baseline network structure through the independent baseline;
wherein the individual baseline selection criteria are targeted to maximize the total number of observations.
The embodiment of the application provides a device for determining an independent baseline in GNSS observation network calculation, which comprises the following steps:
the determining module is used for determining synchronous observation satellites of each epoch between all observation station pairs; the observation station pair is composed of any two observation stations;
the construction module is used for determining the synchronous observation times of each observation station pair in one day based on the synchronous observation satellite, constructing a synchronous observation matrix and constructing a distance matrix according to the coordinate distance between two observation stations of each observation station pair;
and the selection module is used for determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix.
An embodiment of the present application provides a computer apparatus including: the system comprises a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, causes the processor to execute the steps of the method for determining the independent base line in the GNSS observational network calculation.
The embodiment of the application also provides a computer storage medium, which stores a computer program, wherein the computer program when executed by a processor causes the processor to execute the steps of the method for determining the independent base line in the GNSS observational network calculation.
By adopting the technical scheme, the application has the following beneficial effects:
the application provides a method, a device and equipment for determining an independent baseline in GNSS observation network calculation, which are characterized in that the number of synchronous observation satellites of each epoch between all observation station pairs is determined through historical observation data of the observation stations, then the synchronous observation times of each observation station pair in one day are determined based on the number of synchronous observation satellites, a synchronous observation matrix is constructed, a distance matrix is constructed according to the coordinate distance between two observation stations of each observation station pair, and an independent baseline selection standard is determined according to the synchronous observation matrix and the distance matrix. The application uses the ratio of different observation times between two observation stations to the length of the base line as the standard of independent base line selection, namely, the maximum observation value or the shortest base line is searched to improve the base line precision by the number of satellites observed per unit distance, and simultaneously, shorter paths and more synchronous observation satellites are considered. Overcomes shortages of short and OBS-MAX, and does not require empirical weighting. The method can be also used for various global GNSS network solutions, and the calculation mode is simple and convenient.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram illustrating steps of a method for determining an independent baseline in GNSS observational network calculation according to the present application;
FIG. 2 is a flow chart of a method for determining an independent baseline in GNSS observational network calculation according to the present application;
FIG. 3 is a schematic diagram of a device for determining an independent baseline in GNSS observation network solution according to the present application;
fig. 4 is a schematic structural diagram of a computer device involved in a method for determining an independent baseline in the GNSS observation network solution according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, based on the examples herein, which are within the scope of the application as defined by the claims, will be within the scope of the application as defined by the claims.
The following describes a method for determining an independent baseline in a GNSS observational network solution according to an embodiment of the present application with reference to the accompanying drawings.
As shown in fig. 1, the method for determining an independent baseline in GNSS observational network solution provided in the embodiment of the application includes:
s101, determining the number of synchronous observation satellites of each epoch between all observation station pairs; the observation station pair consists of any two observation stations;
in some embodiments, the determining the number of simultaneous observation satellites for each epoch between all pairs of observation stations includes:
acquiring historical observation data of all observation stations;
and determining synchronous observation satellites of each epoch between all observation station pairs according to the historical observation data.
Specifically, by acquiring all the observation files of all the observation stations, historical observation data is obtained, and the number of synchronous observation satellites of each epoch between any two observation stations is searched through the observation data, and it is noted that repeated synchronous observation satellites are recorded.
S102, determining synchronous observation times of each observation station pair in a day based on the number of synchronous observation satellites, constructing a synchronous observation matrix, and constructing a distance matrix according to the coordinate distance between two observation stations of each observation station pair;
specifically, the synchronous observation times of each observation station pair in a day can be calculated according to the calendar number in the day. For example, the number of synchronous observation satellites per epoch between two observation stations is 6, the number of epochs in a day is 1200, and the number of synchronous observations is 6×1200=7200. The 7200 times include the number of repeated observation satellites, for example, 6 times the satellite M observes, namely, 6 times.
In some embodiments, the synchronization observation matrix is
Wherein,M obs for the synchronized observation matrix, each element in the synchronized observation matrix represents the number of synchronized observations of the observation satellite by each observation station.
In some embodiments, the distance matrix is
Wherein,M sho for the distance matrix, each element in the distance matrix represents the coordinate distance between the two stations of each station pair.
S103, determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix.
In some embodiments, the determining an independent baseline selection benchmark based on the synchronous observation matrix and the distance matrix includes:
respectively carrying out normalization processing on the synchronous observation matrix and the distance matrix;
and determining an independent baseline selection reference by using the normalized synchronous observation matrix and the distance matrix.
Specifically, the units of elements in the synchronous observation matrix are times and the units of elements in the distance matrix are meters, so that the synchronous observation matrix and the distance matrix are normalized firstly, then an independent baseline selection reference is determined by adopting the following mode,
。
searching a scheme for enabling the sum of the frequency densities of the whole observation satellites to reach the maximum value through the ratio of the synchronous observation matrix and the distance matrix, namely realizing the matrixM den Elements of (a)m den The sum is the largest.
In some embodiments, the method for determining an independent baseline in GNSS observational network solution provided by the present application further includes:
selecting an independent baseline according to the independent baseline selection standard, and adjusting a GNSS baseline network structure through the independent baseline;
wherein the individual baseline selection criteria are targeted to maximize the total number of observations.
Specifically, after the independent base line selection standard is obtained, the GNSS base line network structure is adjusted through the specific position of the independent base line.
The working principle of the method for determining the independent base line in GNSS observation network calculation is as follows: referring to fig. 2, the number of synchronous observation satellites for each epoch between all pairs of observation stations is first determined by the historical observation data of the observation stations, then the number of synchronous observation times of each pair of observation stations in a day is determined based on the number of synchronous observation satellites and a synchronous observation matrix is constructed, and a distance matrix is constructed from the coordinate distances between the two observation stations of each pair of observation stations, and an independent baseline selection criterion is determined from the synchronous observation matrix and the distance matrix. The application uses the ratio of different observation times between two observation stations to the length of the base line as the standard of independent base line selection, namely, the maximum observation value or the shortest base line is searched to improve the base line precision by the number of satellites observed per unit distance, and simultaneously, shorter paths and more synchronous observation satellites are considered. Overcomes shortages of short and OBS-MAX, and does not require empirical weighting. The method can be also used for various global GNSS network solutions, and the calculation mode is simple and convenient.
As shown in fig. 3, an embodiment of the present application provides a device for determining an independent baseline in GNSS observational network solution, including:
a determining module 201, configured to determine a synchronous observation satellite for each epoch between all pairs of observation stations; the observation station pair is composed of any two observation stations;
a construction module 202, configured to determine a number of synchronous observations of each observation station pair in a day based on the synchronous observation satellite and construct a synchronous observation matrix, and construct a distance matrix according to a coordinate distance between two observation stations of each observation station pair;
and the selection module 203 is used for determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix.
The working principle of the device for determining the independent base line in GNSS observation network solution provided by the application is that a determining module 201 determines synchronous observation satellites of each epoch between all observation station pairs; the observation station pair is composed of any two observation stations; the construction module 202 determines the synchronous observation times of each observation station pair in a day based on the synchronous observation satellite and constructs a synchronous observation matrix, and constructs a distance matrix according to the coordinate distance between two observation stations of each observation station pair; the selection module 203 determines an independent baseline selection reference based on the synchronized observation matrix and the distance matrix.
The present application provides a computer device comprising: the memory 1 and the processor 2 may further comprise a network interface 3, said memory storing a computer program, the memory may comprise non-volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory etc. form, such as Read Only Memory (ROM) or flash memory (flash RAM). The computer device stores an operating system 4, the memory being an example of a computer readable medium. The computer program, when executed by the processor, causes the processor to perform the method of determining the individual baselines in a GNSS observational network solution, the structure shown in fig. 4 is merely a block diagram of a part of the structure related to the inventive solution, and does not constitute a limitation of the computer device to which the inventive solution is applied, and a specific computer device may include more or fewer components than shown in the drawings, or may combine some components, or have a different arrangement of components.
In one embodiment, the method for determining an independent baseline in GNSS observational network solutions provided by the present application may be implemented in the form of a computer program, which may be executed on a computer device as shown in fig. 4.
In some embodiments, the computer program, when executed by the processor, causes the processor to perform the steps of: determining the number of synchronous observation satellites of each epoch between all observation station pairs; the observation station pair consists of any two observation stations; determining synchronous observation times of each observation station pair in a day based on the number of synchronous observation satellites, constructing a synchronous observation matrix, and constructing a distance matrix according to the coordinate distance between two observation stations of each observation station pair; and determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix.
The present application also provides a computer storage medium, examples of which include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassette storage or other magnetic storage devices, or any other non-transmission medium, that can be used to store information that can be accessed by a computing device.
In some embodiments, the present application also proposes a computer readable storage medium storing a computer program which, when executed by a processor, determines the number of simultaneous observation satellites per epoch between all pairs of observation stations; the observation station pair consists of any two observation stations; determining synchronous observation times of each observation station pair in a day based on the number of synchronous observation satellites, constructing a synchronous observation matrix, and constructing a distance matrix according to the coordinate distance between two observation stations of each observation station pair; and determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix.
In summary, the present application provides a method, an apparatus, and a device for determining an independent baseline in GNSS observation network solution, where the method includes determining a number of synchro-observation satellites for each epoch between all pairs of observation stations according to historical observation data of the observation stations, then determining a number of synchro-observation times of each pair of observation stations in a day based on the number of synchro-observation satellites, constructing a synchro-observation matrix, constructing a distance matrix according to a coordinate distance between two observation stations of each pair of observation stations, and determining an independent baseline selection criterion according to the synchro-observation matrix and the distance matrix. The application uses the ratio of different observation times between two observation stations to the length of the base line as the standard of independent base line selection, namely, the maximum observation value or the shortest base line is searched to improve the base line precision by the number of satellites observed per unit distance, and simultaneously, shorter paths and more synchronous observation satellites are considered. Overcomes shortages of short and OBS-MAX, and does not require empirical weighting. The method can be also used for various global GNSS network solutions, and the calculation mode is simple and convenient.
It can be understood that the above-provided method embodiments correspond to the above-described apparatus embodiments, and corresponding specific details may be referred to each other and will not be described herein.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within 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 method for determining an independent baseline in a GNSS observational network solution, comprising:
determining the number of synchronous observation satellites of each epoch between all observation station pairs; the observation station pair consists of any two observation stations;
determining synchronous observation times of each observation station pair in a day based on the number of synchronous observation satellites, constructing a synchronous observation matrix, and constructing a distance matrix according to the coordinate distance between two observation stations of each observation station pair;
determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix;
the synchronous observation matrix is
Wherein,M obs for the synchronous observation matrix, each element in the synchronous observation matrix represents the synchronous observation times of each observation station to the observation satellite;
the distance matrix is
Wherein,M sho as a distance matrix, each element in the distance matrix represents a coordinate distance between two observation stations of each observation station pair;
the determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix comprises the following steps:
respectively carrying out normalization processing on the synchronous observation matrix and the distance matrix;
and determining an independent baseline selection reference by using the normalized synchronous observation matrix and the distance matrix.
2. The method of claim 1, wherein said determining the number of simultaneous observation satellites for each epoch between all pairs of observation stations comprises:
acquiring historical observation data of all observation stations;
and determining synchronous observation satellites of each epoch between all observation station pairs according to the historical observation data.
3. The method of claim 1, wherein the individual baseline selection criteria are determined by,
。
4. the method as recited in claim 1, further comprising:
selecting an independent baseline according to the independent baseline selection standard, and adjusting a GNSS baseline network structure through the independent baseline;
wherein the individual baseline selection criteria are targeted to maximize the total number of observations.
5. A device for determining an independent baseline in a GNSS observational network solution, comprising:
the determining module is used for determining synchronous observation satellites of each epoch between all observation station pairs; the observation station pair is composed of any two observation stations;
the construction module is used for determining the synchronous observation times of each observation station pair in one day based on the synchronous observation satellite, constructing a synchronous observation matrix and constructing a distance matrix according to the coordinate distance between two observation stations of each observation station pair;
the selection module is used for determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix;
the synchronous observation matrix is
Wherein,M obs for the synchronous observation matrix, each element in the synchronous observation matrix represents the synchronous observation times of each observation station to the observation satellite;
the distance matrix is
Wherein,M sho as a distance matrix, each element in the distance matrix represents a coordinate distance between two observation stations of each observation station pair;
the determining an independent baseline selection reference according to the synchronous observation matrix and the distance matrix comprises the following steps:
respectively carrying out normalization processing on the synchronous observation matrix and the distance matrix;
and determining an independent baseline selection reference by using the normalized synchronous observation matrix and the distance matrix.
6. A computer device, comprising: a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the method of determining an independent baseline in a GNSS observational network solution as claimed in any of claims 1 to 4.
7. A computer storage medium storing a computer program which, when executed by a processor, causes the processor to perform the method of determining an independent baseline in a GNSS observational network solution as claimed in any of claims 1 to 4.
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