CN117031507A - Precise single point positioning method suitable for BDS-3B 1CB2a double-frequency signals - Google Patents
Precise single point positioning method suitable for BDS-3B 1CB2a double-frequency signals Download PDFInfo
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- 238000007781 pre-processing Methods 0.000 claims abstract description 12
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- 239000005433 ionosphere Substances 0.000 claims description 12
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Remote Sensing (AREA)
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- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A precise single point positioning method suitable for BDS-3B 1C/B2a double-frequency signals comprises the following steps: s1, inputting data, wherein the data comprise satellite clock difference data based on old double-frequency signals; s2, data preprocessing is carried out, wherein inter-frequency clock deviation between a new double-frequency signal and the old double-frequency signal is calculated, and an observation value range is corrected by using the inter-frequency clock deviation; s3, constructing a precise single-point positioning model based on the new double-frequency signal, and performing parameter estimation of the model by using the data preprocessed in the step S2; s4, outputting a result. Compared with the prior art, the method considers the influence of inter-frequency clock bias on precise single-point positioning, corrects the inter-frequency clock bias in advance in an observation value range, reduces error items, and improves the positioning precision and convergence time of new signals.
Description
Technical Field
The application relates to the field of navigation positioning, in particular to a precise single-point positioning method suitable for BDS-3B 1C/B2a double-frequency signals.
Background
Precise single-point positioning refers to a technology of realizing global precise absolute positioning (mm-dm) level by using a single GNSS receiver by using a precise satellite orbit and clock error product provided by an external organization (such as IGS or a person), and adopting a reasonable parameter estimation strategy (such as least square or Kalman filtering and the like) on the basis of comprehensively considering each error to precisely correct. The general precise single-point positioning processing flow comprises the following steps: the method comprises the steps of data input, data preprocessing, parameter estimation and result output, wherein the data input step comprises RINEX format observation data, RINEX broadcast ephemeris data, precise satellite orbit and clock correction data, earth rotation parameter data, antenna phase clock correction data, sea tide load data and the like, the data preprocessing comprises coarse error and cycle slip processing, orbit clock interpolation, station coordinate initial value calculation, ionosphere delay treatment calculation and the like, the parameter estimation comprises forming a dual-frequency ionosphere-free combined or non-differential non-combined function model, a random model weighted according to a altitude angle, filtering and the like, and the result output comprises station coordinates, receiver clock errors, ambiguity and the like.
The main implementation process of precise single-point positioning comprises the following steps: (1) inputting the existing data files, including an observation value file and a broadcast ephemeris file collected by a GNSS receiver, and correcting precise orbits and clock errors, earth rotation parameters, antenna phase correction, sea tide load correction and DCB correction provided by an external organization; (2) preprocessing an input data file, correcting an observed value file by rough difference and detecting cycle slip, and carrying out time and space interpolation on the corrected file to obtain a calculated initial value; (3) using the observed value after data preprocessing and various error corrections to form a function model, and carrying out filtering on the random model; (4) and finally, the station measurement coordinates, the covariance matrix, the receiver clock error, the ambiguity parameters, the troposphere delay and the like can be output.
It should be noted that the information disclosed in the above background section is only for understanding the background of the application and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.
Disclosure of Invention
The inventor notices that the conventional processing flow does not process the inconsistency between the satellite observation value and the precise orbit and clock error product provided by the external organization, which can cause additional errors brought by the external organization product to be introduced in positioning, so that the positioning precision in precise single-point positioning is poor and the convergence time is long.
The application aims to solve the problems and provide a precise single point positioning method suitable for BDS-3B 1C/B2a double-frequency signals.
In order to achieve the above purpose, the present application adopts the following technical scheme:
a precise single point positioning method suitable for BDS-3B 1C/B2a double-frequency signals comprises the following steps:
s1, inputting data, wherein the data comprise satellite clock difference data based on old double-frequency signals;
s2, data preprocessing is carried out, wherein inter-frequency clock deviation between a new double-frequency signal and the old double-frequency signal is calculated, and an observation value range is corrected by using the inter-frequency clock deviation;
s3, constructing a precise single-point positioning model based on the new double-frequency signal, and performing parameter estimation of the model by using the data preprocessed in the step S2;
s4, outputting a result.
Further, the old double-frequency signal is a BDS B1/B3 double-frequency signal, and the new double-frequency signal is a BDS-3B 1C/B2a double-frequency signal.
Further, in step S1, the data includes one or more of observation value data, broadcast ephemeris data, precise orbit data, precise clock difference data, differential code deviation data, sea tide load data, antenna phase correction data, and earth rotation parameter data.
Further, in step S2, using a geometry-independent combination and an ionosphere combination, the inter-epoch single difference processing strategy is used to estimate the frequency-to-clock bias.
Further, step S2 specifically includes:
forming an ionosphere combination and a geometry-independent combination by carrier phase observations of the new dual-frequency signal and the old dual-frequency signal;
calculating a difference frequency division clock deviation value by adopting a single difference strategy between adjacent epochs;
calculating the inter-frequency clock bias of the corresponding epoch of the observed value, deducting the bias from the observed value domain, and correcting the observed value of the current epoch.
Further, step S2 further includes one or more of the following:
performing rough detection and cycle slip processing, and detecting cycle slip by using an unlocking identifier LLI and a geometry-independent combination in an observation value file;
satellite orbit and clock interpolation;
and (5) calculating initial values of coordinates by using single-frequency pseudo-range single-point positioning.
Further, the precise single-point positioning model uses a dual-frequency ionosphere combining or non-differential non-combining function model.
Further, step S3 further includes: processing by using a random model weighted according to a height angle, and calculating a variance covariance matrix required by the extended Kalman filtering; and parameter estimation using extended kalman filtering.
Further, the result output in step S4 includes the result obtained after extended kalman filtering, including the station coordinates, the receiver clock error, tropospheric delay, ambiguity, and their corresponding variance covariances.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the precise point location method.
The application has the following beneficial effects:
the application provides a Beidou double-frequency precise single-point positioning method considering clock deviation between frequencies. The current precise single-point positioning method mainly depends on external organization mechanisms such as precise orbit and precise clock correction products provided by IGS and the like, but the external organization products are all based on observed values of BDS B1I/B3I frequency and are not suitable for two newly broadcasted signals. The application can be used for double-frequency precise single-point positioning of the B1C/B2a new signal broadcasted by the Beidou three-generation navigation system. Compared with the prior art, the method considers the influence of inter-frequency clock bias on precise single-point positioning, corrects the inter-frequency clock bias in advance in an observation value range, reduces error items, and improves the positioning precision and convergence time of new signals.
Other advantages of embodiments of the present application are further described below.
Drawings
Fig. 1 is a flow chart of precise single point positioning of a dual frequency signal according to an embodiment of the present application.
Detailed Description
The following describes embodiments of the present application in detail. It should be emphasized that the following description is merely exemplary in nature and is in no way intended to limit the scope of the application or its applications.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for both a fixing action and a coupling or communication action.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the application and to simplify the description by referring to the figures, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present application, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1, an embodiment of the present application provides a precise single point positioning method suitable for BDS-3B 1c/B2a dual-frequency signals, including the following steps:
s1, inputting data, wherein the data comprise satellite clock difference data based on old double-frequency signals;
s2, data preprocessing is carried out, wherein inter-frequency clock deviation between a new double-frequency signal and the old double-frequency signal is calculated, and an observation value range is corrected by using the inter-frequency clock deviation;
s3, constructing a precise single-point positioning model based on the new double-frequency signal, and performing parameter estimation of the model by using the data preprocessed in the step S2;
s4, outputting a result.
In a typical embodiment, the old double frequency signal is a BDS B1/B3 double frequency signal and the new double frequency signal is a BDS-3B 1C/B2a double frequency signal.
In a preferred embodiment, the inter-epoch single difference processing strategy is used to estimate the inter-clock bias using a geometry-independent combination and an ionosphere combination in step S2. The method specifically comprises the following steps:
forming an ionosphere combination and a geometry-independent combination by carrier phase observations of the new dual-frequency signal and the old dual-frequency signal;
calculating a difference frequency division clock deviation value by adopting a single difference strategy between adjacent epochs;
calculating the inter-frequency clock bias of the corresponding epoch of the observed value, deducting the bias from the observed value domain, and correcting the observed value of the current epoch.
According to the embodiment of the application, a Beidou double-frequency precise single-point positioning method considering clock deviation is designed aiming at the problem that an external orbit clock difference product is inconsistent with a satellite observation value in the double-frequency precise single-point positioning process of a new signal of a Beidou three-generation satellite system B1C/B2 a. The method analyzes errors introduced by external products, calculates required correction values in advance in a data combination processing mode, eliminates the introduced errors by applying the correction values in a data preprocessing stage in a precise single-point positioning process, and enables the track clock correction provided by the current external organization to be normally used in BDS-3B 1C/B2a double-frequency positioning.
Specific embodiments of the present application are described further below.
A precise single point location flowchart using BDS-3B 1c/B2a dual frequency signals is shown in fig. 1. The main steps are as follows.
1. Data input step
And respectively reading the RINEX format observation value data, broadcast ephemeris data, SP3 format precision orbit data, CLK format precision clock difference data, DCB format differential code deviation data, BLQ format sea tide load data, ANX format antenna phase correction data and ERP format earth rotation parameter data required by double-frequency BDS B1C/B2a precision single-point positioning according to different formats, and storing.
2. Data preprocessing step
(1) Calculation and application of clock deviation between frequencies
The external precise clock error product usually comprises time-varying hardware delay phase deviation, the phase deviation inconsistency between different frequency signals can cause that the precise clock error of the current BDS is not suitable for the precise single-point positioning of the BDS B1C/B2a, so that the clock error between frequencies needs to be estimated, a geometric independent combination and an ionosphere combination are used, and a single-difference processing strategy between epochs is adopted, wherein the specific formula is as follows.
First, an ionospheric combination and a geometry-independent combination are formed from BDS B1/B3 and B1C/B2a carrier-phase observations:
wherein, superscriptPRN, subscript ++for satellite>Numbering for the receiver>，/>Is constant (i.e.)>For frequency numbering +.>For carrier phase observations, +.>Is inter-frequency offset +.>In order to provide carrier phase ambiguity,is carrier phase hardware bias.
By adopting a single difference strategy between adjacent epochs, the difference frequency and clock deviation value can be calculated:
wherein,epoch numbers.
And finally, recovering the inter-frequency clock deviation value of the current epoch, and directly deducting the inter-frequency clock deviation of the epoch corresponding to the observed value from the observed value domain after calculating the inter-frequency clock deviation of the epoch corresponding to the observed value.
(2) The coarse detection and cycle slip processing detects cycle slips using the out-of-lock identifier LLI and geometry independent combination in the observation file.
(3) The satellite orbit and clock error interpolation is carried out, the epoch interval of the general precise satellite orbit and clock error is 15 minutes or 5 minutes, the epoch interval of the general observation value is 30 seconds, and the orbit and clock error of the corresponding time is obtained by using polynomial interpolation.
(4) And (5) calculating initial values of coordinates by using single-frequency pseudo-range single-point positioning.
(5) Calculation of other correction terms.
3. Parameter estimation step
(1) And constructing a function model of BDS B1C/B2a precise single-point positioning, and using a double-frequency ionosphere combination or non-differential non-combination function model, wherein the specific formula is as follows.
GNSS pseudo-rangeAnd carrier phase->The observation equation of (2) can be expressed as:
wherein the method comprises the steps ofRepresenting the geometrical distance between the receiver and the satellite, < >>For the speed of light->、/>Receiver clock difference and satellite clock difference, respectively, < ->For tropospheric delay, ++>For ionospheric delay, +.>、/>Pseudo-range hardware delay for receiver and satellite, respectively,/->、/>Carrier phase hardware delays for the receiver and satellite, respectively.
After various external corrections are added to the original observation equation and linearization is carried out, two function models of precise single-point positioning can be obtained.
Dual frequency ionosphere combining:
non-differential non-combination:
wherein the method comprises the steps ofFor the unit vector of receiver to satellite, +.>For the parameter increment to be estimated, +.>Is the inter-frequency offset of the receiver.
(2) A random model weighted by altitude is used.
(3) Parameter estimation is performed using extended kalman filtering.
4. And outputting results, namely outputting the filtered results including station coordinates, receiver clock errors, troposphere delay, ambiguity, variance covariance corresponding to the troposphere delay, ambiguity and the like.
The preferred embodiment of the application provides calculation and use of frequency deviation values in data preprocessing and construction of various function models in parameter estimation.
Aiming at the problem that the clock difference product of the external orbit is inconsistent with the satellite observation value in the double-frequency precise single-point positioning process of the new signal of the Beidou third-generation satellite system B1C/B2a, the application designs a Beidou double-frequency precise single-point positioning method considering the clock deviation of the frequency. The method analyzes errors introduced by external organization products, calculates required correction values in advance in a data combination processing mode, eliminates the introduced errors by applying the correction values in a data preprocessing stage in a precise single-point positioning process, and enables the track clock correction provided by the current external organization to be normally used in BDS-3B 1C/B2a dual-frequency positioning.
Compared with the prior art, the embodiment of the application considers the influence of inter-frequency clock bias on precise single-point positioning, corrects the inter-frequency clock bias in advance in the observation value range, fully considers other errors in positioning, reduces error items, and improves the positioning precision and convergence time of new signals.
The embodiments of the present application also provide a storage medium storing a computer program which, when executed, performs at least the method as described above.
The embodiment of the application also provides a control device, which comprises a processor and a storage medium for storing a computer program; wherein the processor is adapted to perform at least the method as described above when executing said computer program.
The embodiments of the present application also provide a processor executing a computer program, at least performing the method as described above.
The storage medium may be implemented by any type of volatile or non-volatile storage device, or combination thereof. The storage media described in embodiments of the present application are intended to comprise, without being limited to, these and any other suitable types of memory.
In the several embodiments provided by the present application, it should be understood that the disclosed systems and methods may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present application may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
The methods disclosed in the method embodiments provided by the application can be arbitrarily combined under the condition of no conflict to obtain a new method embodiment.
The features disclosed in the several product embodiments provided by the application can be combined arbitrarily under the condition of no conflict to obtain new product embodiments.
The features disclosed in the embodiments of the method or the apparatus provided by the application can be arbitrarily combined without conflict to obtain new embodiments of the method or the apparatus.
The foregoing is a further detailed description of the application in connection with the preferred embodiments, and it is not intended that the application be limited to the specific embodiments described. It will be apparent to those skilled in the art that several equivalent substitutions and obvious modifications can be made without departing from the spirit of the application, and the same should be considered to be within the scope of the application.
Claims (10)
1. The precise single-point positioning method suitable for BDS-3B 1C/B2a double-frequency signals is characterized by comprising the following steps:
s1, inputting data, wherein the data comprise satellite clock difference data based on old double-frequency signals;
s2, data preprocessing is carried out, wherein inter-frequency clock deviation between a new double-frequency signal and the old double-frequency signal is calculated, and an observation value range is corrected by using the inter-frequency clock deviation;
s3, constructing a precise single-point positioning model based on the new double-frequency signal, and performing parameter estimation of the model by using the data preprocessed in the step S2;
s4, outputting a result.
2. The precise single-point positioning method according to claim 1, wherein the old double-frequency signal is a BDS B1/B3 double-frequency signal and the new double-frequency signal is a BDS-3B 1C/B2a double-frequency signal.
3. The precise point positioning method of claim 1, wherein in step S1, the data includes one or more of observation value data, broadcast ephemeris data, precise orbit data, precise clock difference data, differential code deviation data, sea tide load data, antenna phase correction data, and earth rotation parameter data.
4. The precise single point positioning method of claim 1, wherein in step S2, the inter-epoch clock bias is estimated using a single difference between epochs processing strategy using a geometry-independent combination and an ionosphere combination.
5. The precise point positioning method according to claim 4, wherein the step S2 specifically includes:
forming an ionosphere combination and a geometry-independent combination by carrier phase observations of the new dual-frequency signal and the old dual-frequency signal;
calculating a difference frequency division clock deviation value by adopting a single difference strategy between adjacent epochs;
calculating the inter-frequency clock bias of the corresponding epoch of the observed value, deducting the bias from the observed value domain, and correcting the observed value of the current epoch.
6. The precise point positioning method according to any one of claims 1 to 5, wherein step S2 further comprises one or more of the following:
performing rough detection and cycle slip processing, and detecting cycle slip by using an unlocking identifier LLI and a geometry-independent combination in an observation value file;
satellite orbit and clock interpolation;
and (5) calculating initial values of coordinates by using single-frequency pseudo-range single-point positioning.
7. The precise point positioning method of any one of claims 1-5, wherein the precise point positioning model uses a dual-frequency ionosphere combined or non-differential combined function model.
8. The precise point positioning method according to any one of claims 1 to 5, wherein the step S3 further comprises: processing by using a random model weighted according to a height angle, and calculating a variance covariance matrix required by the extended Kalman filtering; and parameter estimation using extended kalman filtering.
9. The precise point positioning method according to any one of claims 1 to 5, wherein the result output in step S4 includes the result obtained after extended kalman filtering, including station coordinates, receiver clock bias, tropospheric delay, ambiguity, and their corresponding variance covariances.
10. A computer readable storage medium storing a computer program which, when executed by a processor, implements the precise point positioning method according to any one of claims 1 to 9.
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