CN117214930A

CN117214930A - Navigation information checking method and device, vehicle-mounted positioning equipment and storage medium

Info

Publication number: CN117214930A
Application number: CN202311136000.XA
Authority: CN
Inventors: 孙浪浪; 陈亮; 王理砚; 章学城; 侯晓伟
Original assignee: Guangzhou Asensing Technology Co Ltd
Current assignee: Guangzhou Asensing Technology Co Ltd
Priority date: 2023-09-04
Filing date: 2023-09-04
Publication date: 2023-12-12

Abstract

The embodiment of the invention provides a navigation information checking method, a device, vehicle-mounted positioning equipment and a storage medium, wherein the method is applied to the vehicle-mounted positioning equipment, acquires navigation information and GNSS original observation data of a current epoch, checks the consistency of pseudo range of the navigation information according to the pseudo range and a navigation message, and checks the Doppler consistency of the navigation information according to Doppler and the navigation message; if the pseudo-range consistency and the Doppler consistency are checked to pass, the navigation information is available. And the navigation information is checked through consistency of the pseudo range and Doppler, so that the accuracy and reliability of the navigation information checking are improved, and the robustness of the integrated navigation system is further improved.

Description

Navigation information checking method and device, vehicle-mounted positioning equipment and storage medium

Technical Field

The invention relates to the technical field of automobile navigation positioning, in particular to a navigation information checking method and device, an on-board positioning device and a storage medium.

Background

With the continuous development of automobile intellectualization, intelligent driving puts forward more and more stringent requirements on the service quality of navigation positioning, including high precision, high reliability, high stability and the like. Currently, the high-precision positioning technology mainly comprises an inertial navigation positioning system (Inertial Navigation System, abbreviated as INS) and a global satellite navigation system (Global Navigation Satellite System, abbreviated as GNSS).

In a tightly coupled combined navigation scheme, a GNSS provides a high-precision positioning result and original observation data for combined navigation, a combined navigation system transmits navigation information after extended Kalman filtering processing to the GNSS, and the GNSS carries out checking on the navigation information in a time checking, coordinate checking or course checking mode.

Disclosure of Invention

Accordingly, the present invention aims to provide a navigation information checking method, a device, a vehicle-mounted positioning device and a storage medium, which can check navigation information through consistency of pseudo range and Doppler, improve accuracy and reliability of navigation information checking, and further improve robustness of a combined navigation system.

In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows:

in a first aspect, the present invention provides a navigation information checking method, applied to a vehicle-mounted positioning device, the method comprising:

acquiring navigation information and GNSS original observation data of a current epoch; the GNSS original observation data comprise pseudo-range, doppler and navigation messages;

determining a single-difference pseudo-range residual ratio according to the navigation information, the pseudo-range and the navigation message;

Checking the consistency of the pseudo range of the navigation information according to the single-difference pseudo range residual ratio;

determining a single-difference Doppler residual ratio according to the navigation information, the Doppler and the navigation message;

checking Doppler consistency of navigation information according to the single-difference Doppler residual error ratio;

and if the pseudo-range consistency and the Doppler consistency are checked to pass, the navigation information is available.

In an alternative embodiment, the determining the single-difference pseudo-range residual ratio according to the navigation information, the pseudo-range and the navigation message includes:

performing data preprocessing according to the navigation information, the pseudo range and the navigation message to obtain receiver coordinates, satellite coordinates of all satellites, satellite clock errors and satellite altitude angles;

determining satellites with the satellite altitude exceeding an angle threshold value as candidate satellites;

obtaining single-difference pseudo-range residuals of the candidate satellites according to the non-difference pseudo-range residuals of the pseudo-range reference satellites and the non-difference pseudo-range residuals of each candidate satellite;

removing abnormal satellites from the candidate satellites according to all the single-difference pseudo-range residuals to obtain target satellites;

calculating the duty ratio that the single-difference pseudo-range residual error of the target satellite is respectively smaller than a pseudo-range first threshold value, a pseudo-range second threshold value and a pseudo-range third threshold value to obtain a pseudo-range first duty ratio, a pseudo-range second duty ratio and a pseudo-range third duty ratio; the first threshold of the pseudo-range is less than the second threshold of the pseudo-range, which is less than the third threshold of the pseudo-range.

In an alternative embodiment, the preprocessing the data according to the navigation information, the pseudo range and the navigation message to obtain the coordinates of the receiver and the satellite coordinates, the satellite clock differences and the satellite altitude angles of all satellites, including:

performing time updating according to the navigation information, the pseudo range and the navigation message;

determining satellite coordinates, satellite clock errors and satellite altitude angles according to the pseudo-range and the navigation message;

and determining the coordinates of the receiver according to the navigation information.

In an alternative embodiment, the checking the consistency of the pseudo range of the navigation information according to the single-difference pseudo range residual ratio includes:

when the first duty ratio of the pseudo range exceeds a first threshold value of the pseudo range, or the first duty ratio of the pseudo range exceeds a second threshold value of the pseudo range and the second duty ratio of the pseudo range exceeds a fourth threshold value of the pseudo range, or the first duty ratio of the pseudo range exceeds a third threshold value of the pseudo range and the second duty ratio of the pseudo range exceeds a fifth threshold value of the pseudo range and the third duty ratio of the pseudo range exceeds a sixth threshold value of the pseudo range, the consistency check of the navigation information is passed; the first threshold of the pseudo range is greater than the second threshold of the pseudo range; the second threshold of the pseudo range is greater than the third threshold of the pseudo range; the fourth threshold of the pseudo range is greater than the fifth threshold of the pseudo range;

And when the pseudo range consistency check of the navigation information is not passed, indicating that the navigation information is not available.

In an alternative embodiment, the determining the single difference doppler residual ratio according to the navigation information, the doppler and the navigation message includes:

performing data preprocessing according to the navigation information, the Doppler and the navigation message to obtain the speed of a receiver, the satellite speeds of all satellites, the satellite Zhong Piao and the satellite altitude;

determining a satellite with a satellite altitude exceeding an angle threshold value as a primary satellite;

obtaining single-difference Doppler residues of the primary satellites according to the non-difference Doppler residues of the Doppler reference satellites and the non-difference Doppler residues of each primary satellite;

removing abnormal satellites from the primary selected satellites according to all the single-difference Doppler residual errors to obtain investigation satellites;

calculating the duty ratios of the single-difference Doppler residual error of the inspected satellite being respectively smaller than the Doppler first threshold value, the Doppler second threshold value and the Doppler third threshold value to obtain a Doppler first duty ratio, a Doppler second duty ratio and a Doppler third duty ratio; the Doppler first threshold is less than the Doppler second threshold, which is less than the Doppler third threshold.

In an alternative embodiment, the checking the doppler consistency of the navigation information according to the single difference doppler residual ratio includes:

when the Doppler first duty ratio exceeds a Doppler first threshold value, or the Doppler first duty ratio exceeds a Doppler second threshold value and the Doppler second duty ratio exceeds a Doppler fourth threshold value, or the Doppler first duty ratio exceeds a Doppler third threshold value and the Doppler second duty ratio exceeds a Doppler fifth threshold value and the Doppler third duty ratio exceeds a Doppler sixth threshold value, the Doppler consistency check of the navigation information passes; the Doppler first threshold value is larger than the Doppler second threshold value; the Doppler second threshold value is larger than the Doppler third threshold value; the fourth Doppler threshold value is greater than the fifth Doppler threshold value;

and when the Doppler consistency check of the navigation information is not passed, indicating that the navigation information is not available.

In an alternative embodiment, the method further comprises:

when the average value of the single-difference pseudo-range residuals of all the target satellites is larger than the average value threshold and the standard deviation of the single-difference pseudo-range residuals of all the target satellites is smaller than the standard deviation threshold, reselecting the pseudo-range reference star;

And when the average value of the single-difference Doppler residues of all the inspected satellites is larger than the average value threshold and the standard deviation of the single-difference Doppler residues of all the inspected satellites is smaller than the standard deviation threshold, reselecting the Doppler reference star.

In a second aspect, the present invention provides a navigation information checking apparatus applied to a vehicle-mounted positioning device, the apparatus comprising:

the processing module is used for acquiring navigation information and GNSS original observation data of the current epoch; the GNSS original observation data comprise pseudo-range, doppler and navigation messages;

the checking module is used for determining the single-difference pseudo-range residual ratio according to the navigation information, the pseudo-range and the navigation message; checking the consistency of the pseudo range of the navigation information according to the single-difference pseudo range residual ratio; determining a single-difference Doppler residual ratio according to the navigation information, the Doppler and the navigation message; checking Doppler consistency of navigation information according to the single-difference Doppler residual error ratio; and if the pseudo-range consistency and the Doppler consistency are checked to pass, the navigation information is available.

In a third aspect, the present invention provides an on-vehicle positioning device, including a processor and a memory, where the memory stores machine executable instructions executable by the processor, and the processor can execute the machine executable instructions to implement the navigation information checking method according to any one of the foregoing embodiments.

In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a navigation information checking method according to any of the preceding embodiments.

Compared with the prior art, the navigation information checking method, the device, the vehicle-mounted positioning equipment and the storage medium provided by the embodiment of the invention are applied to the vehicle-mounted positioning equipment, the navigation information and GNSS original observation data of the current epoch are obtained, the single-difference pseudo-range residual ratio is determined according to the navigation information, the pseudo-range and the navigation message, and the pseudo-range consistency of the navigation information is checked according to the single-difference pseudo-range residual ratio. And determining the single-difference Doppler residual ratio according to the navigation information, doppler and navigation messages, and checking the Doppler consistency of the navigation information according to the single-difference Doppler residual ratio. If the pseudo-range consistency and the Doppler consistency are checked to pass, the navigation information is available. And the navigation information is checked through consistency of the pseudo range and Doppler, so that the accuracy and reliability of the navigation information checking are improved, and the robustness of the integrated navigation system is further improved.

In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a schematic diagram of a prior art tight coupling scheme.

Fig. 2 shows a schematic diagram of a navigation information checking procedure in the prior art.

Fig. 3 is a schematic flow chart of a navigation information checking method according to an embodiment of the present invention.

Fig. 4 shows a schematic diagram of a sub-step of step S20 in fig. 3.

Fig. 5 is a schematic block diagram of a navigation information checking device according to an embodiment of the present invention.

Fig. 6 shows a block schematic diagram of an on-board positioning device according to an embodiment of the present invention.

Icon: 100-vehicle-mounted positioning equipment; 110-memory; a 120-processor; 130-a communication module; 200-a navigation information checking device; 201-a processing module; 202-checking module.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.

It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Along with the automatic driving of automobiles and the rapid development of intelligent automobiles, the accuracy and stability of navigation data of the integrated navigation system are particularly important. For example, the combined navigation system formed by the inertial navigation positioning system and the global navigation satellite system has good complementarity, and the combined navigation system can improve the stability of the navigation positioning system.

The Real-Time Kinematic (RTK) scheme of the global satellite navigation system can perform centimeter-level positioning, but is easy to be interfered by environments, such as overhead shielding, tree shadow shielding and the like, cannot output accurate positioning results, is easy to be influenced by network communication, and has the problems of low frequency (for example, lower than 10 hz), long Time (for example, close to one hundred milliseconds) and the like. The inertial navigation positioning system is an autonomous navigation system, calculates speed and angle information by integration based on a gyroscope and acceleration, and has the advantages of high frequency (for example, higher than 100 Hz), small time delay (for example, a few milliseconds), and the like, but has accumulated errors because the speed and the angle are calculated by integration. Combining two positioning systems with good complementarity can therefore improve the accuracy of navigation positioning.

The integrated navigation system fuses at the observation data level, and the integrated navigation is divided into three forms of loose coupling, tight coupling and deep coupling by different fusion modes. Under the condition that hardware or cost is not changed basically, the performances of the INS and the GNSS are exerted to the greatest extent as possible, and when the number of satellites does not meet the positioning requirement, the tight coupling can still be updated through the extended Kalman filtering, so that stronger robustness and reliability are shown. Therefore, tight coupling is currently the optimal fusion for intelligent driving.

When a tightly coupled fusion mode is adopted, the GNSS carries out high-precision RTK (real time kinematic) calculation according to the differential correction and the original observed data to obtain a high-precision positioning result, and the high-precision positioning result and the original observed data (pseudo range and Doppler) are sent to the integrated navigation system. The high-precision positioning result comprises information such as position coordinates, speed, acceleration and the like, and the original observed data comprises information such as pseudo-range, doppler and the like. The integrated navigation system obtains the difference between the inertial data output by the INS and the GNSS original observed data, inputs the difference value into a filter to perform INS error estimation, finally obtains navigation information and sends the navigation information to the GNSS, as shown in FIG. 1.

GNSS checks according to the navigation information fed back by the combined navigation system, and the conventional checking method comprises time checking, coordinate checking or course checking. The time checking is to check the consistency of time through the navigation information and the current epoch GNSS positioning information, namely, if the difference value between the time in the navigation information and the time in the current epoch GNSS positioning information exceeds a time threshold value, the navigation information is not available. The coordinate checking is to check the coordinate consistency through the navigation information and the last epoch GNSS positioning information, namely, the receiver coordinate at the current moment is determined according to the position coordinate and the speed in the last epoch GNSS positioning information, the receiver coordinate at the GNSS positioning moment is determined according to the position coordinate and the speed in the navigation information, the difference value of the receiver coordinates at the two moments exceeds a coordinate threshold value, and the navigation information is not available. The course checking is to check the course consistency through the navigation information and the current epoch GNSS positioning information, when the vehicle keeps running straight, the course generally does not change greatly, the last epoch course information is determined according to the speed in the last epoch GNSS positioning information, the GNSS positioning moment course information is determined according to the navigation information, the difference value of the course information at two moments exceeds the course threshold value, and the navigation information is not available. When the navigation information satisfies the time consistency, the coordinate consistency, and the heading consistency at the same time, the navigation information is available as shown in fig. 2.

When the method is used for checking the tightly coupled navigation information, abnormal values of the navigation information cannot be timely and accurately detected, so that the accuracy and the robustness of the integrated navigation system are affected.

Based on the above, the embodiment of the invention provides a navigation data checking method, a device, vehicle-mounted positioning equipment and a storage medium, which are used for checking navigation information through consistency of pseudo range and Doppler, so that the accuracy and reliability of the navigation information checking are improved, and the robustness of a combined navigation system is further improved.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Referring to fig. 3, fig. 3 is a schematic flow chart of a navigation information checking method according to an embodiment of the invention. The method is applied to the vehicle-mounted positioning equipment and comprises the following steps of:

step S10, obtaining navigation information and GNSS original observation data of the current epoch.

The GNSS raw observation data comprises pseudo-range, doppler and navigation messages.

In the embodiment of the invention, in order to meet the higher requirements of intelligent driving on navigation positioning, a combined navigation system comprising an INS and a GNSS is generally used for navigation positioning. In order to improve the robustness of the integrated navigation system, the integrated navigation system needs to perform quality check on the high-precision positioning result and the original observed data provided by the GNSS, and similarly, the GNSS also needs to perform quality check on the navigation information after the extended Kalman filtering processing sent by the integrated navigation system.

It should be noted that, the GNSS includes a single point positioning module (Standard Point Positioning, abbreviated as SPP) and an RTK module, where the SPP module performs quality control according to the navigation information sent by the integrated navigation system, including identifying multipath satellites and rejecting abnormal satellites. The RTK module detects cycle slip in an auxiliary mode according to the navigation information, eliminates abnormal values of the filter and checks the reliability of the fixed solution.

And step S20, determining the single-difference pseudo-range residual ratio according to the navigation information, the pseudo-range and the navigation message.

In the embodiment of the invention, the calculation formula of the pseudo-range observation value in the GNSS original observation data is as follows:

wherein,for pseudo-range observations>For the geometric distance of the station star, c is the vacuum light velocity, δT _r For receiver clock skew δT ^s For satellite clock error>For ionospheric delay, +.>Epsilon for tropospheric delay in propagation path _pi Noise is observed for the pseudoranges.

Considering that the clock difference between systems exists and the equipment delay deviation exists between different code patterns, the error can be eliminated in a single difference mode; and determining single-difference pseudo-range residual errors according to the navigation information, the pseudo-range and the navigation message through a calculation formula of the pseudo-range observation value, and counting the single-difference pseudo-range residual error duty ratios of different sizes.

And step S30, checking the consistency of the pseudo range of the navigation information according to the single-difference pseudo range residual ratio.

In the embodiment of the invention, the consistency of the pseudo range of the navigation information is determined according to the actual duty ratio of the single-difference pseudo range residual errors with different sizes. If the actual duty ratio condition does not meet the pseudo-range preset condition, the pseudo-range consistency check of the navigation information is not passed; and if the actual duty ratio condition meets the pseudo-range preset condition, the pseudo-range consistency check of the navigation information is passed.

And S40, determining the single-difference Doppler residual ratio according to the navigation information, doppler and navigation messages.

In the embodiment of the invention, the calculation formula of the Doppler observed value in the GNSS original observed data is as follows:

wherein,for Doppler observations, λ is wavelength, +.>For standing star geometric distance->Time rate of change,/-)>For receiver Zhong Piao, < >>Satellite Zhong Piao, < >>Delay +.>Time rate of change,/-)>Delay +.>Time rate of change, epsilon _Di Is Doppler observed noise.

And determining single-difference Doppler residual errors according to the navigation information, doppler and navigation messages through a calculation formula of Doppler observed values, and counting the single-difference Doppler residual error duty ratios of different sizes.

And S50, checking Doppler consistency of the navigation information according to the single-difference Doppler residual ratio.

In the embodiment of the invention, the Doppler consistency of the navigation information is determined according to the actual duty ratio conditions of the single difference Doppler residual errors with different sizes. If the actual duty ratio condition does not meet the Doppler preset condition, indicating that Doppler consistency check of the navigation information does not pass; and if the actual duty ratio condition meets the Doppler preset condition, indicating that the Doppler consistency check of the navigation information passes.

In step S60, if the pseudo-range consistency and the doppler consistency are checked to pass, the navigation information is available.

In summary, the navigation information checking method provided by the embodiment of the invention is applied to vehicle-mounted positioning equipment, acquires navigation information and GNSS original observation data of a current epoch, determines a single-difference pseudo-range residual ratio according to the navigation information, the pseudo-range and the navigation message, and checks pseudo-range consistency of the navigation information according to the single-difference pseudo-range residual ratio. And determining the single-difference Doppler residual ratio according to the navigation information, doppler and navigation messages, and checking the Doppler consistency of the navigation information according to the single-difference Doppler residual ratio. If the pseudo-range consistency and the Doppler consistency are checked to pass, the navigation information is available. And the navigation information is checked through consistency of the pseudo range and Doppler, so that the accuracy and reliability of the navigation information checking are improved, and the robustness of the integrated navigation system is further improved.

Optionally, in practical application, the consistency of the pseudo range is checked according to the navigation information, the pseudo range and the navigation message. Referring to fig. 4, the substeps of step S20 in fig. 3 may include:

and step S201, carrying out data preprocessing according to the navigation information, the pseudo range and the navigation message to obtain the receiver coordinates, and the satellite coordinates, the satellite clock errors and the satellite altitude angles of all satellites.

In step S202, satellites whose satellite altitude exceeds the angle threshold are determined as candidate satellites.

In the embodiment of the invention, after data preprocessing, the receiver coordinates and the satellite coordinates, satellite clock errors and satellite altitude angles of all satellites related to the current positioning are obtained. Acquiring a preset angle threshold value, screening satellites according to the angle threshold value, and determining satellites with satellite angle exceeding the angle threshold value as candidate satellites. For example, assuming that the angle threshold is 5 degrees, satellites having satellite altitude angles greater than 5 degrees are screened as candidate satellites.

After the receiver coordinates and satellite coordinates are obtained, ionospheric and tropospheric delays are obtained by model calculations. It should be noted that, each time the navigation information is checked, the ionosphere delay and the troposphere delay need to be reacquired.

Step S203, obtaining single-difference pseudo-range residuals of the candidate satellites according to the non-difference pseudo-range residuals of the pseudo-range reference satellites and the non-difference pseudo-range residuals of each candidate satellite.

In the embodiment of the invention, the receiver clock error is eliminated by selecting a pseudo-range reference star. The calculation formula of the non-difference pseudo-range residual is as follows:

wherein ε _Pseudo-range Is a non-differential pseudorange residual.

Obtaining single-difference pseudo-range residues of the candidate satellites according to the difference value of the non-difference pseudo-range residues of the pseudo-range reference satellites and the non-difference pseudo-range residues of each candidate satellite, wherein the single-difference pseudo-range residues are expressed as follows:

wherein,for single difference pseudorange residuals, ">Representing the difference between the corresponding parameters of the pseudo-range reference satellite and the candidate satellite.

And step S204, removing the abnormal satellite from the candidate satellites according to all the single-difference pseudo-range residuals to obtain the target satellite.

In the embodiment of the invention, abnormal satellites are removed from candidate satellites in a mode of removing the maximum value of single-difference pseudo-range residual errors or the median absolute deviation of the single-difference pseudo-range residual errors, so that target satellites are obtained.

And calculating the mean value and standard deviation of single-difference pseudo-range residuals of all target satellites, and when the mean value and standard deviation of the single-difference pseudo-range residuals meet the requirements of a mean threshold and a standard deviation threshold, using a pseudo-range reference satellite, and carrying out pseudo-range consistency check according to the single-difference pseudo-range residuals of the target satellites.

In step S205, the single-difference pseudo-range residual of the target satellite is calculated to be smaller than the first, second and third thresholds, so as to obtain the first, second and third duty ratios.

Wherein the first threshold of the pseudo-range is less than the second threshold of the pseudo-range, and the second threshold of the pseudo-range is less than the third threshold of the pseudo-range.

As one embodiment, assume that the first threshold of the pseudo range is preset to 2 meters, the second threshold of the pseudo range is preset to 5 meters, the third threshold of the pseudo range is preset to 8 meters, and the first duty cycle of the pseudo range, which is smaller than 2 meters, the second duty cycle of the pseudo range, which is smaller than 5 meters, and the third duty cycle of the pseudo range, which is smaller than 8 meters, are calculated according to the single-difference pseudo range residual error of the target satellite.

Optionally, in practical application, data preprocessing is performed according to the navigation information, the pseudo range and the navigation message, so as to prepare for pseudo range consistency check. The substeps of step S201 in fig. 4 may include:

and step S2011, updating time according to the navigation information, the pseudo range and the navigation message.

In the embodiment of the invention, the local time in the SPP module is updated according to the GNSS original observation data.

Step S2012, determining satellite coordinates, satellite clock errors and satellite altitude angles according to the pseudo-ranges and the navigation messages.

In the embodiment of the invention, the navigation message contains the orbit parameters and the clock error information of the satellite, and the orbit parameters and the clock error information of the satellite can be obtained by analyzing the navigation message. And calculating satellite coordinates, satellite clock errors and satellite altitude according to the satellite orbit parameters, the clock error information and the pseudo-range, wherein the satellite altitude is the elevation angle of the satellite above the position of the receiver.

Step S2013, determining the receiver coordinates according to the navigation information.

In an embodiment of the invention, the receiver coordinates are determined by navigation information.

Optionally, in practical application, a threshold value of the pseudo range consistency check is set according to practical conditions.

The substeps of step S30 in fig. 3 may include:

in step S301, when the first duty ratio of the pseudo range exceeds the first threshold value of the pseudo range, or the first duty ratio of the pseudo range exceeds the second threshold value of the pseudo range and the second duty ratio of the pseudo range exceeds the fourth threshold value of the pseudo range, or the first duty ratio of the pseudo range exceeds the third threshold value of the pseudo range and the second duty ratio of the pseudo range exceeds the fifth threshold value of the pseudo range and the third duty ratio of the pseudo range exceeds the sixth threshold value of the pseudo range, the consistency check of the navigation information is passed.

Wherein the first threshold of the pseudo range is greater than the second threshold of the pseudo range; the second threshold value of the pseudo range is larger than the third threshold value of the pseudo range; the fourth threshold of the pseudoranges is greater than the fifth threshold of the pseudoranges.

In step S302, when the pseudo range consistency check of the navigation information fails, it indicates that the navigation information is not available.

As an embodiment, assume that the first threshold of the pseudo range is preset to 2 meters, the second threshold of the pseudo range is preset to 5 meters, the third threshold of the pseudo range is preset to 8 meters, the first threshold of the pseudo range is preset to 50%, the second threshold of the pseudo range is preset to 30%, the third threshold of the pseudo range is preset to 15%, the fourth threshold of the pseudo range is preset to 60%, the fifth threshold of the pseudo range is preset to 35%, and the sixth threshold of the pseudo range is preset to 70%.

When the first duty ratio of the pseudo range of the single difference pseudo range residual error is smaller than 2 meters and exceeds 50%, or the first duty ratio of the pseudo range of the single difference pseudo range residual error is smaller than 2 meters and the second duty ratio of the pseudo range of the single difference pseudo range residual error is smaller than 5 meters and exceeds 60%, or the first duty ratio of the pseudo range of the single difference pseudo range residual error is smaller than 2 meters and the second duty ratio of the pseudo range of the single difference pseudo range residual error is smaller than 5 meters and exceeds 35%, and the third duty ratio of the pseudo range of the single difference pseudo range residual error is smaller than 8 meters and exceeds 70%, the pseudo range consistency check of the navigation information is passed. And when the pseudo range consistency check of the navigation information is not passed, indicating that the navigation information is not available.

Optionally, in practical applications, the doppler consistency is checked based on the navigation information, doppler and navigation messages. The substeps of step S40 in fig. 3 may include:

And step S401, preprocessing data according to the navigation information, doppler and navigation messages to obtain the receiver speed, the satellite speeds of all satellites, the satellite Zhong Piao and the satellite altitude angle.

In the embodiment of the invention, when Doppler consistency of navigation information is checked, data preprocessing is carried out on navigation data and navigation messages, wherein the data preprocessing comprises time alignment, time updating and calculation of receiver speed, satellite Zhong Piao and satellite altitude angle.

In step S402, a satellite whose satellite altitude exceeds the angle threshold is determined as a primary satellite.

In the embodiment of the invention, satellites meeting the conditions are screened according to the angle threshold value to serve as primary satellites, namely all satellites with the satellite altitude exceeding the angle threshold value are served as primary satellites.

Step S403, obtaining single-difference Doppler residues of the primary satellites according to the non-difference Doppler residues of the Doppler reference satellites and the non-difference Doppler residues of each primary satellite.

In an embodiment of the present invention, receiver Zhong Piao is eliminated by selecting a Doppler reference star, taking into account the effect of receiver Zhong Piao. The calculation formula of the non-difference Doppler residual is as follows:

wherein ε _{Duepu (multiple common)Lei (Lei)} Is a non-difference doppler residual.

Obtaining single-difference Doppler residues of the primary satellites according to the difference value of the non-difference Doppler residues of the Doppler reference satellites and the non-difference Doppler residues of each primary satellite, wherein the expression of the single-difference Doppler residues is as follows:

wherein,for single difference Doppler residual,/->Representing the difference between the corresponding parameters of the Doppler reference satellite and the primary satellite.

And step S404, removing abnormal satellites from the primary satellite according to all single-difference Doppler residues to obtain the investigation satellite.

In the embodiment of the invention, abnormal satellites are removed from the primary selected satellites by removing the maximum value of the single-difference Doppler residual error or the absolute deviation of the median of the single-difference Doppler residual error, so as to obtain the investigation satellite.

When the mean value and standard deviation of the single-difference Doppler residual meet the requirements of the mean value threshold and the standard deviation threshold, the Doppler reference star is available, and Doppler consistency check is carried out according to the single-difference Doppler residual of the investigation satellite.

Step S405, calculating the duty ratios of the single difference Doppler residual error of the inspected satellite being respectively smaller than the Doppler first threshold value, the Doppler second threshold value and the Doppler third threshold value, and obtaining the Doppler first duty ratio, the Doppler second duty ratio and the Doppler third duty ratio.

The Doppler first threshold value is smaller than the Doppler second threshold value, and the Doppler second threshold value is smaller than the Doppler third threshold value.

As one embodiment, assuming that the doppler first threshold is preset to 0.08 m/s, the doppler second threshold is preset to 0.15 m/s, the doppler third threshold is preset to 0.3 m/s, a doppler first duty cycle of less than 0.08 m/s, a doppler second duty cycle of less than 0.15 m/s, and a doppler third duty cycle of less than 0.3 m/s are calculated from the single difference doppler residual of the survey satellite.

Optionally, in practical application, a threshold value of the doppler consistency check is set according to practical situations. The substeps of step S50 in fig. 3 may include:

in step S501, when the doppler first duty cycle exceeds the doppler first threshold, or the doppler first duty cycle exceeds the doppler second threshold and the doppler second duty cycle exceeds the doppler fourth threshold, or the doppler first duty cycle exceeds the doppler third threshold and the doppler second duty cycle exceeds the doppler fifth threshold and the doppler third duty cycle exceeds the doppler sixth threshold, the doppler consistency check of the navigation information passes.

The Doppler first threshold value is larger than the Doppler second threshold value, the Doppler second threshold value is larger than the Doppler third threshold value, and the Doppler fourth threshold value is larger than the Doppler fifth threshold value.

In step S502, when the doppler consistency check of the navigation information fails, it is indicated that the navigation information is not available.

As an embodiment, it is assumed that the doppler first threshold value is preset to 0.08 m/s, the doppler second threshold value is preset to 0.15 m/s, the doppler first threshold value is preset to 0.3 m/s, the doppler first threshold value is preset to 50%, the doppler first threshold value is preset to 30%, the doppler first threshold value is preset to 20%, the doppler fourth threshold value is preset to 60%, the doppler fifth threshold value is preset to 50% and the doppler sixth threshold value is preset to 80%.

The Doppler consistency check of the navigation information is passed when the Doppler first duty cycle of the single difference Doppler residual error is less than 0.08 m/s exceeds 50%, or the Doppler first duty cycle of the single difference Doppler residual error is less than 0.08 m/s exceeds 30% and the Doppler second duty cycle of the single difference Doppler residual error is less than 0.15 m/s exceeds 60%, or the Doppler first duty cycle of the single difference Doppler residual error is less than 0.08 m/s exceeds 20% and the Doppler second duty cycle of the single difference Doppler residual error is less than 0.15 m/s exceeds 50% and the Doppler third duty cycle of the single difference Doppler residual error is less than 0.3 m/s exceeds 80%. And when the Doppler consistency check of the navigation information does not pass, indicating that the navigation information is not available.

Optionally, in practical applications, the reference star needs to be reselected when the pseudo-range reference star or the doppler reference star selected in the checking process is not available. The navigation information checking method may further include:

and when the average value of the single-difference pseudo-range residuals of all the target satellites is larger than the average value threshold and the standard deviation of the single-difference pseudo-range residuals of all the target satellites is smaller than the standard deviation threshold, reselecting the pseudo-range reference satellite. And when the average value of the single-difference Doppler residues of all the inspected satellites is larger than the average value threshold and the standard deviation of the single-difference Doppler residues of all the inspected satellites is smaller than the standard deviation threshold, reselecting the Doppler reference star.

In the embodiment of the invention, the pseudo-range reference star and the Doppler reference star are independently selected, for example, the Doppler consistency is checked firstly and then the pseudo-range consistency is checked, if the Doppler consistency is checked to pass, when the pseudo-range consistency is checked, the mean value of single-difference pseudo-range residuals of all target satellites is found to be larger than the mean value threshold and the standard deviation of the single-difference pseudo-range residuals of all target satellites is found to be smaller than the standard deviation threshold, and the pseudo-range reference star needs to be re-checked. In this case, only the pseudorange reference star needs to be reselected, and steps S203-S204 are re-executed to calculate a single-difference pseudorange residual and screen the target satellite for subsequent checking of pseudorange consistency.

Based on the same inventive concept, the embodiment of the invention also provides a navigation information checking device. The basic principle and the technical effects are the same as those of the above embodiments, and for brevity, reference is made to the corresponding matters in the above embodiments where the description of the present embodiment is omitted.

Referring to fig. 5, fig. 5 is a block diagram illustrating a navigation information checking apparatus 200 according to an embodiment of the invention. The navigation information checking device 200 is applied to the vehicle-mounted positioning equipment, and the navigation information checking device 200 comprises a processing module 201 and a checking module 202.

The processing module 201 is configured to obtain navigation information and GNSS raw observation data of a current epoch; the GNSS raw observations include pseudoranges, doppler and navigation messages.

A checking module 202, configured to determine a single-difference pseudo-range residual ratio according to the navigation information, the pseudo-range and the navigation message; checking the consistency of the pseudo range of the navigation information according to the single-difference pseudo range residual ratio; determining the single-difference Doppler residual ratio according to the navigation information, doppler and navigation messages; checking Doppler consistency of navigation information according to the single-difference Doppler residual error ratio; if the pseudo-range consistency and the Doppler consistency are checked to pass, the navigation information is available.

In summary, the navigation information checking device provided by the embodiment of the invention is applied to the vehicle-mounted positioning equipment, and comprises a processing module and a checking module. The processing module is used for acquiring navigation information and GNSS original observation data of the current epoch; the GNSS raw observations include pseudoranges, doppler and navigation messages. The checking module is used for determining the single-difference pseudo-range residual ratio according to the navigation information, the pseudo-range and the navigation message; checking the consistency of the pseudo range of the navigation information according to the single-difference pseudo range residual ratio; determining the single-difference Doppler residual ratio according to the navigation information, doppler and navigation messages; checking Doppler consistency of navigation information according to the single-difference Doppler residual error ratio; if the pseudo-range consistency and the Doppler consistency are checked to pass, the navigation information is available. And the navigation information is checked through consistency of the pseudo range and Doppler, so that the accuracy and reliability of the navigation information checking are improved, and the robustness of the integrated navigation system is further improved.

Optionally, the checking module 202 is specifically configured to perform data preprocessing according to the navigation information, the pseudo range and the navigation message, so as to obtain a receiver coordinate, and satellite coordinates, satellite clock differences and satellite altitude angles of all satellites; determining satellites with satellite altitude exceeding an angle threshold value as candidate satellites; obtaining single-difference pseudo-range residuals of the candidate satellites according to the non-difference pseudo-range residuals of the pseudo-range reference satellites and the non-difference pseudo-range residuals of each candidate satellite; removing abnormal satellites from the candidate satellites according to all single-difference pseudo-range residuals to obtain target satellites; calculating the duty ratio that the single-difference pseudo-range residual error of the target satellite is respectively smaller than the first threshold value, the second threshold value and the third threshold value of the pseudo-range to obtain the first duty ratio, the second duty ratio and the third duty ratio of the pseudo-range; the first threshold of the pseudo-range is less than the second threshold of the pseudo-range, and the second threshold of the pseudo-range is less than the third threshold of the pseudo-range.

Optionally, the checking module 202 is specifically configured to perform time update according to the navigation information, the pseudo range and the navigation message; determining satellite coordinates, satellite clock errors and satellite altitude angles according to the pseudo-range navigation messages; receiver coordinates are determined from the navigation information.

Optionally, the checking module 202 is specifically configured to pass the pseudorange consistency check of the navigation information when the first duty cycle of the pseudorange exceeds the first threshold of the pseudorange, or the first duty cycle of the pseudorange exceeds the second threshold of the pseudorange and the second duty cycle of the pseudorange exceeds the fourth threshold of the pseudorange, or the first duty cycle of the pseudorange exceeds the third threshold of the pseudorange and the second duty cycle of the pseudorange exceeds the fifth threshold of the pseudorange and the third duty cycle of the pseudorange exceeds the sixth threshold of the pseudorange; the first threshold value of the pseudo range is larger than the second threshold value of the pseudo range; the second threshold value of the pseudo range is larger than the third threshold value of the pseudo range; the fourth threshold of the pseudo range is greater than the fifth threshold of the pseudo range; and when the pseudo range consistency check of the navigation information is not passed, indicating that the navigation information is not available.

Optionally, the checking module 202 is specifically configured to perform data preprocessing according to the navigation information, the doppler and the navigation message, so as to obtain a receiver speed, a satellite speed of all satellites, a satellite Zhong Piao and a satellite altitude; determining a satellite with a satellite altitude exceeding an angle threshold value as a primary satellite; obtaining single-difference Doppler residues of the primary satellites according to the non-difference Doppler residues of the Doppler reference satellites and the non-difference Doppler residues of each primary satellite; removing abnormal satellites from the primary selected satellites according to all single-difference Doppler residual errors to obtain investigation satellites; calculating the duty ratios of single-difference Doppler residual errors of the inspected satellites, which are respectively smaller than the Doppler first threshold value, the Doppler second threshold value and the Doppler third threshold value, so as to obtain a Doppler first duty ratio, a Doppler second duty ratio and a Doppler third duty ratio; the first doppler threshold is less than the second doppler threshold, and the second doppler threshold is less than the third doppler threshold.

Optionally, the checking module 202 is specifically configured to check the doppler consistency of the navigation information when the doppler first duty cycle exceeds the doppler first threshold value, or the doppler first duty cycle exceeds the doppler second threshold value and the doppler second duty cycle exceeds the doppler fourth threshold value, or the doppler first duty cycle exceeds the doppler third threshold value and the doppler second duty cycle exceeds the doppler fifth threshold value and the doppler third duty cycle exceeds the doppler sixth threshold value; the Doppler first threshold value is larger than the Doppler second threshold value; the Doppler second threshold value is larger than the Doppler third threshold value; the fourth Doppler threshold is greater than the fifth Doppler threshold; and when the Doppler consistency check of the navigation information does not pass, indicating that the navigation information is not available.

Optionally, the checking module 202 is specifically configured to reselect the pseudo-range reference star when the average value of the single-difference pseudo-range residuals of all the target satellites is greater than the average value threshold and the standard deviation of the single-difference pseudo-range residuals of all the target satellites is less than the standard deviation threshold; and when the average value of the single-difference Doppler residues of all the inspected satellites is larger than the average value threshold and the standard deviation of the single-difference Doppler residues of all the inspected satellites is smaller than the standard deviation threshold, reselecting the Doppler reference star.

Referring to fig. 6, a block diagram of an in-vehicle positioning apparatus 100 according to an embodiment of the invention is shown. The in-vehicle positioning device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

Wherein the memory 110 is used for storing programs or data. The Memory 110 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions. For example, the navigation information checking method disclosed in the above embodiments may be implemented when the computer program stored in the memory 110 is executed by the processor 120.

The communication module 130 is used for establishing a communication connection between the in-vehicle positioning device 100 and other communication terminals through a network, and for transceiving data through the network.

It should be understood that the configuration shown in fig. 6 is merely a schematic structural diagram of the in-vehicle positioning device 100, and that the in-vehicle positioning device 100 may also include more or fewer components than those shown in fig. 6, or have a different configuration than that shown in fig. 6. The components shown in fig. 6 may be implemented in hardware, software, or a combination thereof.

Embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program which, when executed by the processor 120, implements the navigation information checking method disclosed in the above embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present invention may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A navigation information checking method, characterized in that it is applied to a vehicle-mounted positioning device, the method comprising:

2. The method of claim 1, wherein determining a single difference pseudorange residual ratio from the navigation information, the pseudorange, and the navigation message comprises:

3. The method for checking navigation information according to claim 2, wherein the performing data preprocessing according to the navigation information, the pseudo range and the navigation message to obtain receiver coordinates and satellite coordinates, satellite clock differences and satellite altitude angles of all satellites comprises:

4. The method for checking navigation information according to claim 2, wherein the checking the consistency of the pseudo range of the navigation information according to the single-difference pseudo range residual ratio comprises:

5. The method of claim 1, wherein determining a single difference doppler residual ratio from the navigation information, the doppler and the navigation message comprises:

6. The method for checking navigation information according to claim 5, wherein the step of checking the doppler consistency of the navigation information according to the single difference doppler residual ratio comprises:

7. The navigation information checking method according to any one of claims 2 to 6, characterized in that the method further comprises:

8. A navigation information checking apparatus, characterized by being applied to a vehicle-mounted positioning device, comprising:

9. An on-board positioning device comprising a processor and a memory, the memory storing machine-executable instructions executable by the processor to implement the navigation information checking method of any of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the navigation information checking method according to any one of claims 1-7.