CN112731465A - Method for supporting medium-and-long-distance pseudo-range differential positioning - Google Patents
Method for supporting medium-and-long-distance pseudo-range differential positioning Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000012937 correction Methods 0.000 claims abstract description 18
- 238000009499 grossing Methods 0.000 claims abstract description 16
- 239000005433 ionosphere Substances 0.000 claims abstract description 16
- 150000001875 compounds Chemical class 0.000 claims description 2
- 238000011997 immunoflourescence assay Methods 0.000 description 3
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000002242 deionisation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a method for supporting medium-and-long-distance pseudo-range differential positioning, which comprises the steps of constructing an ionosphere-free combination by using a dual-frequency GNSS signal when calculating a pseudo-range differential correction to eliminate an ionosphere delay error item, expanding the service range of the pseudo-range differential correction from 50km to 200km, smoothing the ionosphere-free combined pseudo-range observation value by using a carrier phase smoothing method, reducing the observation noise of the ionosphere-free combined pseudo-range observation value, generating a low-noise and high-precision differential correction, and facilitating medium-and-long-distance pseudo-range differential positioning.
Description
Technical Field
The invention belongs to the satellite navigation positioning technology, and particularly relates to a method for supporting medium-long distance pseudo-range differential positioning.
Background
In satellite positioning, when performing single-point positioning using pseudo-range observation values, the real-time positioning accuracy is about 10 meters. The pseudo-range differential positioning technology is characterized in that one or more reference stations with known coordinates in a certain area are used for receiving the three-dimensional position of a satellite in real time, independently calculating the pseudo-range differential correction of the satellite, and then transmitting the pseudo-range differential correction to a rover station through data transmission chain broadcasting to perform pseudo-range differential positioning, so that the positioning accuracy of the rover station in a meter level or even a sub-meter level is realized. However, the conventional single-station pseudo range differential technology has short range, and the accuracy of positioning is rapidly reduced along with the increase of the range. Therefore, a technology supporting medium-long distance pseudo-range differential positioning is provided, so that the medium-long distance pseudo-range differential positioning technology can process a medium-long baseline of 50-200 km. In the calculation of pseudo-range differential correction, the non-ionosphere combination is utilized to eliminate an ionosphere delay error item by utilizing the dual-frequency GNSS signal composition, the service range of pseudo-range differential is expanded, meanwhile, the non-ionosphere pseudo-range observation value is subjected to smoothing treatment by adopting a low-noise inter-epoch carrier phase observation value, the observation noise of the non-ionosphere pseudo-range observation value is reduced, the low-noise and high-precision pseudo-range differential correction is generated, the original single-frequency differential data is replaced, the differential service range is expanded, and the effect that the original single-frequency transmission technology achieves dual-frequency positioning is achieved.
Disclosure of Invention
The invention aims to provide a method for supporting medium-and-long-distance pseudo range differential positioning, which solves the problem that the traditional pseudo range differential positioning method is seriously influenced by an ionized layer delay error when processing a medium-and-long baseline of 50 km-200 km.
The technical solution for realizing the purpose of the invention is a method for supporting medium-long distance pseudo-range differential positioning, which comprises the following steps:
step 1, erecting a double-frequency receiver on a reference point, wherein the double-frequency receiver is used for receiving a broadcast ephemeris, a double-frequency carrier phase and a double-frequency pseudo range;
step 2, calculating the three-dimensional position (X) of the satellite in the current epoch according to the satellite orbit parameters released by the broadcast ephemeris and by combining the three-dimensional coordinates of the reference stationS,YS,ZS) And the clock error deltat of the satellite, and calculating the geometric distance between the satellite and the reference station
Step 3, obtaining a dual-frequency pseudo range observed value P according to the dual-frequency pseudo range1And P2Using dual-frequency pseudorange observations P1And P2Constructing an ionosphere-free combination equation and generating an ionosphere-free combination pseudo-range observed value PIF;
Step 4, obtaining a dual-frequency carrier phase observed value according to the dual-frequency carrier phaseAndusing dual-frequency carrier phase observationsAndconstructing a non-ionosphere combination equation to generate an observed value of a non-ionosphere combination carrier phase
Step 5, combining the observed values of the carrier phases by using the ionosphere-free layerCombining pseudorange observations P for ionosphere-free layersIFPerforming phase smoothing to generate smoothed ionospheric-free pseudo-range observed value
Step 6, smoothing the non-ionospheric pseudo-range observed valueIncorporating geometric distance of satellite to reference stationGenerating ionosphere-free pseudorange differential correction Δ PIF;
Step 7, correcting value delta P of non-ionized layer pseudo rangeIFAnd broadcasting to provide medium and long distance low noise pseudo range differential service for users.
Compared with the prior art, the invention has the remarkable advantages that:
(1) the pseudo-range difference correction calculated by the invention eliminates the influence of an ionized layer, and the service range is expanded from 50km to 200 km.
(2) The carrier phase smoothing is carried out on the pseudo-range observed value without the ionized layer, so that the observation noise is greatly reduced, and the broadcasted differential correction is more stable and reliable.
Drawings
Fig. 1 is a flowchart illustrating a method for supporting medium-and-long-range pseudorange differential positioning according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
With reference to fig. 1, a method for supporting medium-and-long-range pseudorange differential positioning includes the following steps:
step 1, erecting a double-frequency receiver on a reference point, wherein the double-frequency receiver is used for receiving a broadcast ephemeris, a double-frequency carrier phase and a double-frequency pseudo range;
step 2, calculating the three-dimensional position (X) of the satellite in the current epoch according to the satellite orbit parameters released by the broadcast ephemeris and by combining the three-dimensional coordinates of the reference stationS,YS,ZS) And the clock error deltat of the satellite, and calculating the geometric distance between the satellite and the reference station
Step 3, obtaining a dual-frequency pseudo range observed value P according to the dual-frequency pseudo range1And P2Using dual-frequency pseudorange observations P1And P2Constructing an ionosphere-free combination equation and generating an ionosphere-free combination pseudo-range observed value PIFAs shown in equation (1).
In the formula (f)1And f2The signal frequencies are the double-frequency observed values of the GNSS satellite; p1For a signal frequency f1Pseudo-range observation of (1), P2For a signal frequency f2Of the pseudo-range observations.
Step 4, obtaining a dual-frequency carrier phase observed value according to the dual-frequency carrier phaseAndusing dual-frequency carrier phase observationsAndconstructing a non-ionosphere combination equation to generate an observed value phi of the non-ionosphere combination carrier phaseIFAs shown in equation (2).
Wherein c is the speed of light,for a signal frequency f1Is detected by the carrier-phase observation of (c),for a signal frequency f2A carrier phase observation of (a). PIFAnd phiIFIonosphere error terms have been eliminated, but ionosphere-free combining also increases the observation noise.
Step 5, utilizing the ionosphere-free combined carrier phase observed value phiIFCombining pseudorange observations P for ionosphere-free layersIFPerforming phase smoothing to generate smoothed ionospheric-free pseudo-range observed valueThe observation noise is reduced as shown in equation (3).
In the formula (I), the compound is shown in the specification,andare respectively shown at tiAnd ti-1Non-ionospheric pseudo-range observed value P after time smoothingIF(ti) Is shown at tiAn ionospheric-free pseudo-range observed value at a moment, i representing a smoothing number; delta phiIF(ti-1,ti) And representing the observed value change value without an ionosphere between epochs. Ionosphere-free pseudo-range observed value PIF(ti) After carrier phase smoothing, the observation noise is reduced.
Step 6, smoothing the non-ionospheric pseudo-range observed valueIncorporating geometric distance of satellite to reference stationGenerating ionosphere-free pseudorange correction Δ PIFAs shown in formula (4).
In the formula (4), Δ PIF(ti) Is tiAn ionospheric-free pseudorange correction value for a time; at' is the receiver clock difference.
Step 7, correcting value delta P of non-ionized layer pseudo rangeIFAnd broadcasting to meet medium and long distance low noise pseudo range differential service.
In summary, compared with the traditional pseudo-range single-point positioning method, the pseudo-range differential correction method provided by the invention uses the reference station user to provide high-precision pseudo-range differential correction numbers, and because the correction numbers use double-frequency deionization layer combination and smooth the pseudo-range by using the carrier phase observation value, the user positioning is not affected by hardware delay, troposphere delay, ionosphere delay and satellite orbit error, so that the pseudo-range differential positioning is more accurate and the precision can reach a sub-meter level. In addition, the medium-and-long distance pseudo range differential positioning supporting technology provided by the invention has the advantages that the operation mode is flexible, the data volume played by the reference station to the user is small, the influence of an ionosphere on the positioning precision under the medium-and-long distance condition is effectively inhibited, and the positioning precision and stability of the user are improved.
Claims (5)
1. A method for supporting medium-and-long-range pseudo-range differential positioning is characterized by comprising the following steps:
step 1, erecting a double-frequency receiver on a reference point, wherein the double-frequency receiver is used for receiving a broadcast ephemeris, a double-frequency carrier phase and a double-frequency pseudo range;
step 2, calculating the three-dimensional position (X) of the satellite in the current epoch according to the satellite orbit parameters released by the broadcast ephemeris and by combining the three-dimensional coordinates of the reference stationS,YS,ZS) And the clock error deltat of the satellite, and calculating the geometric distance between the satellite and the reference station
Step 3, obtaining a dual-frequency pseudo range observed value P according to the dual-frequency pseudo range1And P2Using dual-frequency pseudorange observations P1And P2Constructing an ionosphere-free combination equation and generating an ionosphere-free combination pseudo-range observed value PIF;
Step 4, obtaining a dual-frequency carrier phase observed value according to the dual-frequency carrier phaseAndusing dual-frequency carrier phase observationsAndconstructing a non-ionosphere combination equation to generate a non-ionosphere combination carrierPhase observation value
Step 5, combining the observed values of the carrier phases by using the ionosphere-free layerCombining pseudorange observations P for ionosphere-free layersIFPerforming phase smoothing to generate smoothed ionospheric-free pseudo-range observed value
Step 6, smoothing the non-ionospheric pseudo-range observed valueIncorporating geometric distance of satellite to reference stationGenerating ionosphere-free pseudorange differential correction Δ PIF;
Step 7, correcting value delta P of non-ionized layer pseudo rangeIFAnd broadcasting to provide medium and long distance low noise pseudo range differential service for users.
2. The method for supporting medium-and-long range pseudorange differential positioning according to claim 1, wherein in step 3, ionosphere-free combined pseudorange observations PIFThe calculation formula is as follows:
in the formula (f)1And f2The signal frequencies are the double-frequency observed values of the GNSS satellite; p1For a signal frequency f1Pseudo-range observation of (1), P2For a signal frequency f2Of the pseudo-range observations.
3. The method of claim 1, wherein in step 4, ionosphere-free combined carrier-phase observations are madeThe calculation formula is as follows:
4. The method of claim 1, wherein in step 5, the smoothed ionospheric-free pseudorange observations are smoothedThe calculation formula is as follows:
in the formula (I), the compound is shown in the specification,andare respectively shown at tiAnd ti-1Non-ionospheric pseudo-range observed value P after time smoothingIF(ti) Is shown at tiAn ionospheric-free pseudo-range observed value at a moment, i representing a smoothing number; delta phiIF(ti-1,ti) Representing the change value of the observed value of the carrier without an ionized layer between epochs; ionosphere-free pseudo-range observed value PIF(ti) After carrier phase smoothing, the observation noise is reduced.
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101295014A (en) * | 2008-05-19 | 2008-10-29 | 中国测绘科学研究院 | GNSS-based long-distance high-precision real-time/fast positioning method and system |
CN104459737A (en) * | 2014-12-02 | 2015-03-25 | 东南大学 | Satellite positioning method based on real-time beacon differential |
CN105044741A (en) * | 2015-06-29 | 2015-11-11 | 中国科学院上海天文台 | Solution method of pseudo range phase comprehensive wide-area differential correction value |
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Patent Citations (3)
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CN101295014A (en) * | 2008-05-19 | 2008-10-29 | 中国测绘科学研究院 | GNSS-based long-distance high-precision real-time/fast positioning method and system |
CN104459737A (en) * | 2014-12-02 | 2015-03-25 | 东南大学 | Satellite positioning method based on real-time beacon differential |
CN105044741A (en) * | 2015-06-29 | 2015-11-11 | 中国科学院上海天文台 | Solution method of pseudo range phase comprehensive wide-area differential correction value |
Non-Patent Citations (3)
Title |
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YANRONG XUE 等: "Study of a New Pseudo-range Differential Method for the Correction of Ephemeris Error and Ionospheric Error", 《ADVANCED MEASUREMENT AND TEST III》 * |
凌青 等: "相位平滑伪距差分技术在北斗定位中的应用探讨", 《交通科技与经济》 * |
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