CN100437144C - Locating method for satellite navigation reinforcing system - Google Patents
Locating method for satellite navigation reinforcing system Download PDFInfo
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Abstract
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技术领域 technical field
本发明涉及一种卫星导航增强系统的定位方法,尤其是一种卫星导航分布式地基区域增强系统的定位方法。The invention relates to a positioning method of a satellite navigation augmentation system, in particular to a positioning method of a satellite navigation distributed ground-based area augmentation system.
背景技术 Background technique
卫星导航系统,如美国全球定位系统(Golbal Position System,简称GPS)和俄罗斯全球导航卫星系统(GLObal NAvigation Satellite System,简称GLONASS),广泛应用于国家安全以及国民经济的各个方面。对于一些应用领域来说,无增强的卫星导航在精度等方面还不能达到应用需求。Satellite navigation systems, such as the US Global Positioning System (GPS for short) and the Russian Global Navigation Satellite System (GLObal NAvigation Satellite System for short GLONASS), are widely used in various aspects of national security and national economy. For some application fields, satellite navigation without enhancement cannot meet the application requirements in terms of accuracy and so on.
在卫星导航增强系统方面主要有广域增强、局域增强以及接收机自主增强等方式。广域增强针对较大的地理范围(如半径1000公里),提供定位精度一般为几米的增强性能;局域增强针对较小的地理范围(如半径50公里),提供定位精度优于一米的增强性能。因此,美国、欧盟、中国及日本等国家已经或即将建设卫星导航的广域增强系统,如美国的广域增强系统(WideArea Augmentation System,简称WAAS)及欧盟的欧洲静地星导航重叠服务(European Geostationary Navigation Overlay Service,简称EGNOS),能够较大程度提高导航性能,但对于一些特殊的导航应用来说,如铁路导航、内河导航及沿海港口导航等,其覆盖的地理范围大于局域增强系统,应用的性能要求又高于广域增强系统,因此广域增强系统与局域增强系统都无法满足,其性能还有一定的差距。如美国的WAAS系统,水平精度一般为5-10米,垂直为5-20米,在火车导航自动驾驶、防撞及内河航道导航等方面还不能完全满足要求。同时,对于地理覆盖范围较小的卫星导航应用,美国等国家建设了局域增强系统,可覆盖半径50公里左右的区域,精度可以达到1米以下,较大增强了局域的卫星导航性能。In terms of satellite navigation augmentation system, there are mainly wide-area augmentation, local-area augmentation, and receiver autonomous augmentation. Wide-area enhancement provides enhanced performance with a positioning accuracy of several meters for a larger geographic range (such as a radius of 1,000 kilometers); local enhancement provides a positioning accuracy better than one meter for a smaller geographic range (such as a radius of 50 kilometers). Enhance performance. Therefore, countries such as the United States, the European Union, China, and Japan have already built or are about to build wide-area augmentation systems for satellite navigation, such as the Wide Area Augmentation System (WideArea Augmentation System, WAAS for short) in the United States and the European Geostationary Satellite Navigation Overlay Service (European Geostationary Satellite Navigation Overlay Service) in the European Union. Geostationary Navigation Overlay Service, referred to as EGNOS), can greatly improve navigation performance, but for some special navigation applications, such as railway navigation, inland river navigation and coastal port navigation, etc., its geographical coverage is larger than that of the local area enhancement system. The performance requirements of the application are higher than that of the wide-area augmentation system, so neither the wide-area augmentation system nor the local-area augmentation system can meet the requirements, and there is still a certain gap in performance. For example, the WAAS system in the United States generally has a horizontal accuracy of 5-10 meters and a vertical accuracy of 5-20 meters, which cannot fully meet the requirements in terms of train navigation, automatic driving, collision avoidance, and inland waterway navigation. At the same time, for satellite navigation applications with small geographical coverage, the United States and other countries have built local area enhancement systems, which can cover areas with a radius of about 50 kilometers, and the accuracy can reach less than 1 meter, greatly enhancing the performance of local satellite navigation.
对于特殊的应用领域,如内河航道的船舶导航,沿海港口及其附近的精确导航,铁路交通的导航服务及自动驾驶,集装箱精确定位,精准农业等,既要达到1-2米的导航精度,覆盖的区域又远远大于局域范围,还需要一种高性能的卫星导航区域增强系统。For special application fields, such as ship navigation in inland waterways, precise navigation in and around coastal ports, navigation services and automatic driving in railway traffic, precise positioning of containers, precision agriculture, etc., it is necessary to achieve a navigation accuracy of 1-2 meters, The area covered is far larger than the local area, and a high-performance satellite navigation area enhancement system is also required.
美国现有代表性的四种高性能卫星导航区域增强系统分别为:The four representative high-performance satellite navigation area augmentation systems in the United States are:
(1)独立的地基增强系统(Ground Based Augmentation System,简称GBAS)(1) Independent Ground Based Augmentation System (GBAS for short)
该系统应用大量独立的GBAS站,增加数据播发系统的功率以提供较大的覆盖范围。这些独立的站建立了一系列的覆盖小区,当用户端需要导航数据时,需选择能提供最好覆盖和服务的小区(小区覆盖区域可能重叠)。该方案的好处是不需要建立连接各GBAS站庞大昂贵的地面传输网络,同时单个站的失效只影响其本身的覆盖区域,对其他区域无影响。此方案的不利之处在于需要大量的冗余GBAS站。The system uses a large number of independent GBAS stations to increase the power of the data dissemination system to provide greater coverage. These independent stations establish a series of coverage cells. When the user terminal needs navigation data, it needs to select the cell that can provide the best coverage and service (the cell coverage areas may overlap). The advantage of this solution is that there is no need to establish a huge and expensive ground transmission network connecting GBAS stations, and the failure of a single station only affects its own coverage area and has no impact on other areas. The disadvantage of this scheme is that a large number of redundant GBAS stations are required.
(2)网络化的GBAS地面站系统(2) Networked GBAS ground station system
该系统利用网络将所有GBAS站连接成一个系统,本地GBAS站提供对当地的增强服务,同时将校正和状态信息传送到网络监视节点。监视节点维护整个区域增强性能数据,并指示哪些区域目前能够达到系统要求的性能指标。The system uses the network to connect all GBAS stations into a system, and the local GBAS station provides enhanced services to the local area, and at the same time transmits correction and status information to network monitoring nodes. Monitoring nodes maintain enhanced performance data for the entire region and indicate which regions are currently meeting the performance metrics required by the system.
(3)重新播发基于卫星增强系统(Space Based Augmentation System,简称SBAS)(3) Rebroadcast based on the Satellite Augmentation System (Space Based Augmentation System, referred to as SBAS)
该系统的本地站监视导航卫星和SBAS卫星,从SBAS卫星处获取增强数据并且将其转换成GBAS格式播发出去。本地站的设备可以非常简单,只包含一两个参考接收机,同时本地站会监视SBAS数据的完好性。The system's local station monitors navigation satellites and SBAS satellites, acquires enhanced data from SBAS satellites and converts them into GBAS format for broadcast. The equipment at the local station can be very simple, consisting of only one or two reference receivers, while the local station monitors the integrity of the SBAS data.
(4)广域网络推导出本地校正信息的系统(4) A system for deriving local correction information from a wide area network
该系统并不是每个GBAS站监测所有的导航校正需要的信息,通过网络将信息共享即可,因此可以简化大量GBAS站结构。可以通过SBAS或GBAS格式将校正等信息传送给用户。The system does not monitor all the information needed for navigation correction by each GBAS station, but only needs to share the information through the network, so the structure of a large number of GBAS stations can be simplified. Information such as corrections can be transmitted to users in SBAS or GBAS format.
澳大利亚的地基区域增强系统(Ground-based Regional AugmentationSystem,简称GRAS)与SBAS类似采用分布式网络通过各地的参考站来监视GPS系统,在各个参考站对SBAS信息进行本地检查和重新的格式化,以转换成GBAS形式的校正和完好性数据,通过甚高频(Very High Frequency,简称VHF)数据链路采用时分多址(Time Division Multiple Access,简称TDMA)共享方式发送出去。GRAS方式相对于SBAS方式来说可以减少费用,加快系统实施进度,同时对于具体国家来说具有完全的自主权。Australia's Ground-based Regional Augmentation System (GRAS for short) is similar to SBAS, which uses a distributed network to monitor the GPS system through reference stations around the country, and performs local checks and reformats on SBAS information at each reference station, so as to The calibration and integrity data converted into the form of GBAS are sent out through the VHF (Very High Frequency, VHF) data link in a Time Division Multiple Access (TDMA) sharing manner. Compared with the SBAS method, the GRAS method can reduce costs, speed up the progress of system implementation, and has complete autonomy for specific countries.
上述地基区域增强系统可以分为两类,一种为各个地面站增强系统相互独立,用户来选择使用哪个局域增强地面站的信息,对于局域增强来说,当用户与地面站的距离增加时,定位误差相应增加,超过一定距离将不满足系统要求;另外一种为系统将所有地面站的信息综合,将定位误差项按照种类分开,对于其中起重要作用的电离层误差采用基于地理位置的格形化标示方法,这种方法与美国的星基WAAS增强系统类似,可以解决大的地理覆盖范围的卫星导航增强,但定位精度不高。The above-mentioned ground-based area augmentation systems can be divided into two categories. One is that each ground station augmentation system is independent of each other, and the user chooses which local area augmentation ground station information to use. For local area augmentation, when the distance between the user and the ground station increases , the positioning error will increase correspondingly, and the system requirements will not be met if it exceeds a certain distance; the other is that the system integrates the information of all ground stations and separates the positioning error items according to types. The lattice marking method, which is similar to the US satellite-based WAAS augmentation system, can solve the satellite navigation augmentation of a large geographic coverage, but the positioning accuracy is not high.
解决上述区域增强定位精度的问题,可以从局域增强定位误差的原因进行分析。对于局域增强卫星导航来说,当用户与地面站距离较近时,导航卫星定位信号到达地面站和用户的路径比较接近,定位的主要误差电离层和对流层延迟误差基本一样,因此局域增强可以获得较好的定位精度;当用户与地面站距离较远时,地面站与用户的电离层和对流层延迟误差有较大差别,定位精度大大降低。因此,在地基增强覆盖区域内,可以考虑利用相邻的局域增强信息来提高用户的定位精度。To solve the above-mentioned problem of regional enhanced positioning accuracy, we can analyze the reasons for local enhanced positioning errors. For local enhanced satellite navigation, when the distance between the user and the ground station is close, the path of the navigation satellite positioning signal to the ground station and the user is relatively close. Better positioning accuracy can be obtained; when the user is far away from the ground station, the ionosphere and tropospheric delay errors between the ground station and the user have a large difference, and the positioning accuracy is greatly reduced. Therefore, in the coverage area of the ground-based enhancement, it can be considered to use adjacent local area enhancement information to improve the positioning accuracy of the user.
发明内容 Contents of the invention
本发明的目的是针对现有技术中用户与地面站的距离增加定位误差增大的问题,提供一种卫星导航增强系统的定位方法,该方法可以提高定位精度,同时提高系统的健壮性和覆盖效率。The purpose of the present invention is to provide a positioning method for a satellite navigation augmentation system, which can improve the positioning accuracy and improve the robustness and coverage of the system at the same time, aiming at the problem that the distance between the user and the ground station increases and the positioning error increases in the prior art efficiency.
为了实现上述目的,本发明提供了一种卫星导航增强系统的定位方法,特别是一种卫星导航分布式地基区域增强系统的定位方法,包括步骤:In order to achieve the above object, the present invention provides a positioning method of a satellite navigation augmentation system, particularly a positioning method of a satellite navigation distributed ground-based area augmentation system, comprising the steps of:
步骤1:用户站接收相邻参考站的信息,并确定用户站和相邻参考站的共视卫星,对用户站某一时刻卫星到用户站的伪距进行校正;Step 1: The user station receives the information of the adjacent reference station, and determines the common-view satellite of the user station and the adjacent reference station, and corrects the pseudo-range from the satellite to the user station at a certain moment of the user station;
步骤2:对多颗卫星到用户站校正后的伪距进行定位解算,得到用户站差分定位的三维坐标;Step 2: Perform positioning calculation on the corrected pseudo-ranges from multiple satellites to the user station, and obtain the three-dimensional coordinates of the differential positioning of the user station;
步骤3:使用所述用户站与所有相邻参考站差分定位得到的用户站三维坐标经加权平均计算得到最终的分布式区域增强用户定位结果。Step 3: Using the three-dimensional coordinates of the user station obtained by the differential positioning of the user station and all adjacent reference stations, the final distributed area enhanced user positioning result is obtained through weighted average calculation.
其中,所述步骤1具体为:Wherein, the
步骤101:用户站接收所述相邻参考站的信息为相邻参考站的伪距校正值及参考站的三维坐标;Step 101: The information received by the user station from the adjacent reference station is the pseudorange correction value of the adjacent reference station and the three-dimensional coordinates of the reference station;
步骤102:由卫星到参考站连线与卫星到用户连线的夹角∠j的余弦和所述参考站的伪距校正值相乘可得到用户站的伪距校正值;Step 102: Multiply the cosine of the angle ∠j between the line from the satellite to the reference station and the line from the satellite to the user by multiplying the pseudorange correction value of the reference station to obtain the pseudorange correction value of the user station;
步骤103:利用所述用户站的伪距校正值对用户站的伪距进行校正。Step 103: Use the pseudorange correction value of the subscriber station to correct the pseudorange of the subscriber station.
在上述技术方案中,所述步骤2具体为:In the above technical solution, the
步骤201:对于用户站和相邻参考站的共视卫星,对所述多颗卫星到用户站校正后的伪距进行定位解算;Step 201: For the common-view satellites of the user station and the adjacent reference station, perform positioning calculation on the corrected pseudo-ranges from the plurality of satellites to the user station;
步骤202:根据对所述用户站校正后的伪距定位解算可以得到用户的三维坐标,该坐标即为利用此参考站差分后得到的用户定位结果。Step 202: The three-dimensional coordinates of the user can be obtained according to the corrected pseudo-range positioning calculation of the user station, and the coordinates are the user positioning result obtained by using the difference of the reference station.
在上述技术方案中,对所述多颗卫星到用户站校正后的伪距使用最小二乘方进行定位解算。In the above technical solution, the least squares method is used to perform positioning calculation on the corrected pseudo-ranges from the plurality of satellites to the user station.
在上述技术方案中,所述步骤3具体为:In the above technical solution, the
步骤301:根据参考站定位域定位误差协方差函数获得参考站定位误差与等效距离误差之间的误差关系系数矩阵;Step 301: Obtain the error relational coefficient matrix between the reference station positioning error and the equivalent distance error according to the reference station positioning domain positioning error covariance function;
步骤302:用户周围有n个参考站,利用每个参考站得到的所述用户定位结果和所述参考站定位误差与所述等效距离误差之间的误差关系系数矩阵作加权平均,得到最终的分布式区域增强用户定位结果。Step 302: There are n reference stations around the user, use the user positioning results obtained by each reference station and the error relationship coefficient matrix between the reference station positioning error and the equivalent distance error to make a weighted average to obtain the final The distributed area of , enhances the user localization results.
所述的参考站定位误差与所述等效距离误差之间的误差关系系数矩阵为一四阶矩阵,所述系数矩阵体现参考站定位误差与等效距离误差四个未知量之间的误差关系。The error relationship coefficient matrix between the described reference station positioning error and the described equivalent distance error is a fourth-order matrix, and the coefficient matrix embodies the error relationship between the reference station positioning error and the four unknowns of the equivalent distance error .
本发明采用分布式地基区域增强系统的定位方法可以部分克服导航精度随着用户与参考站距离的增加而降低的现象。用户位于区域增强覆盖范围内时,可以利用本地及相邻局域增强子系统的数据来获得更好的导航性能。The positioning method adopting the distributed ground-based area augmentation system of the present invention can partly overcome the phenomenon that the navigation accuracy decreases with the increase of the distance between the user and the reference station. When the user is within the coverage area of the area augmentation, the data of the local and adjacent local area augmentation subsystems can be used to obtain better navigation performance.
当某个本地差分系统出现故障时,使用相邻的差分系统获得本地的增强信息,提高系统的健壮性。本发明采用分布式地基区域增强系统定位方法利用用户站邻近的参考站伪距校正值来提供差分信息,当邻近的参考站有一个或若干个出现故障不能提供伪距校正值时,用户站依然可以使用其它正常的参考站进行区域增强定位,因此提高了系统的健壮性。When a local differential system fails, the adjacent differential system is used to obtain local enhanced information to improve the robustness of the system. The present invention adopts the positioning method of the distributed ground-based area augmentation system to provide differential information by using the pseudo-range correction value of the adjacent reference station of the user station. When one or several of the adjacent reference stations fail to provide the pseudo-range correction value, the user station still Area augmented positioning can be performed using otherwise normal reference stations, thus increasing the robustness of the system.
下面通过附图和实施例,对本发明的技术方案做进一步的详细描述。The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.
附图说明 Description of drawings
图1为本发明具体实施例1的流程图;Fig. 1 is the flowchart of
图2为本发明原理示意图;Fig. 2 is a schematic diagram of the principle of the present invention;
图3为本发明具体实施例2的流程图;Fig. 3 is the flowchart of
图4为本发明具体实施例3的流程图。Fig. 4 is a flowchart of a
具体实施方式 Detailed ways
图1为本发明一种卫星导航增强系统的定位方法具体实施例1的流程图,如图1所示,该实施例包括以下步骤:Fig. 1 is the flow chart of the
步骤1:用户站U接收相邻参考站Rj的信息,并确定用户站U和相邻参考站Rj的共视卫星Si,对用户站U某一时刻tk卫星Si到用户站U的伪距PCU进行校正;Step 1: The user station U receives the information of the adjacent reference station R j , and determines the common- view satellite S i of the user station U and the adjacent reference station R j . The pseudorange P CU of U is corrected;
步骤2:对多颗卫星到用户站U校正后的伪距进行定位解算,得到用户站差分定位的三维坐标(xj,yj,zj);Step 2: Perform positioning calculation on the corrected pseudo-ranges from multiple satellites to the user station U, and obtain the three-dimensional coordinates (x j , y j , z j ) of the differential positioning of the user station;
步骤3:使用所述用户站与所有相邻参考站差分定位得到的用户站三维坐标(xj,yj,zj)经加权平均计算后得到最终的分布式区域增强用户定位结果。Step 3: use the three-dimensional coordinates (x j , y j , z j ) of the user station obtained from the differential positioning of the user station and all adjacent reference stations to obtain the final distributed area enhanced user positioning result after weighted average calculation.
在上述技术方案中,步骤1用户站U接收所述相邻参考站Rj的信息为相邻参考站Rj的伪距校正值ΔρR(tk,Si,Rj)及参考站Rj的三维坐标,由卫星Si到参考站Rj连线与卫星Si到用户U连线的夹角∠j的余弦和所述参考站的伪距校正值ΔρR(tk,Si,Rj)相乘可得到用户站的伪距校正值ΔρU(tk,Si,U),利用所述用户站的伪距校正值ΔρU(tk,Si,U)对用户站的伪距PCU(tk,Si,U)进行校正,本发明对用户站U校正后的伪距定义为:In the above technical solution, in
ρcorr=PCU(tk,Si,U)+ΔρU(tk,Si,U)ρ corr = P CU (t k , S i , U)+Δρ U (t k , S i , U)
在步骤2中,对于用户站U和相邻参考站Rj的共视卫星Si,使用最小二乘方对所述多颗卫星(4颗以上卫星)到用户站U校正后的伪距ρcorr进行定位解算,可以得到用户的三维坐标,该坐标即为利用参考站Rj差分后得到的用户定位结果(xj,yj,zj)。In
在步骤3中,最终的分布式区域增强用户定位结果的实现方式为:In
步骤301:根据参考站Rj定位域定位误差协方差函数获得参考站定位误差与等效距离误差之间的误差关系系数矩阵;Step 301: Obtain the error relationship coefficient matrix between the reference station positioning error and the equivalent distance error according to the positioning error covariance function of the reference station R j positioning domain;
步骤302:用户周围有n个参考站,利用每个参考站Rj得到的所述用户定位结果(xj,yj,zj)利用所述参考站定位误差与所述等效距离误差之间的误差关系系数矩阵作加权平均,得到最终的分布式区域增强用户定位结果。实现所述技术方案的计算式为:Step 302: There are n reference stations around the user, and the user positioning result (x j , y j , z j ) obtained by using each reference station R j uses the difference between the reference station positioning error and the equivalent distance error The weighted average of the error relationship coefficient matrix among them is obtained to obtain the final distributed area enhanced user positioning result. Realize the computing formula of described technical scheme as:
式中,x,y,z表示为最终的分布式区域增强用户定位结果,x1...xn,y1...yn,z1...zn表示利用n个参考站得到的用户定位结果,C1 11...Cn 33表示利用该参考站的定位误差与所述等效距离误差之间的误差关系系数矩阵的元素。In the formula, x, y, z represent the final distributed area enhanced user positioning results, x 1 ... x n , y 1 ... y n , z 1 ... z n represent the results obtained by using n reference stations C 1 11 ... C n 33 represent the elements of the error relationship coefficient matrix between the positioning error of the reference station and the equivalent distance error.
本发明涉及的分布式区域增强系统定位方法通过对利用多个参考站得到的用户定位结果的加权平均,可以部分消参考站接收机的噪声。The positioning method of the distributed area augmentation system involved in the present invention can partially eliminate the noise of the receiver of the reference station through the weighted average of the user positioning results obtained by using a plurality of reference stations.
图2为本发明分布式地基区域增强定位方法的原理示意图,如图2所示,Fig. 2 is a schematic diagram of the principle of the distributed foundation area enhanced positioning method of the present invention, as shown in Fig. 2,
本发明实现过程中基于的原理具体如下:The principle based on the realization process of the present invention is specifically as follows:
地基区域卫星导航增强系统由多个相邻的本地差分参考站组成,用户进行差分定位时利用相邻的差分参考站的伪距修正信息,按照相应的算法获得用户站的伪距校正值,用户利用此伪距校正值进行差分定位。参考站和用户站的伪距测量采用载波相位平滑伪距算法,以参考站为例进行说明,具体方法如下:The ground-based regional satellite navigation augmentation system is composed of multiple adjacent local differential reference stations. When the user performs differential positioning, the pseudorange correction information of the adjacent differential reference stations is used to obtain the pseudorange correction value of the user station according to the corresponding algorithm. Use this pseudorange correction value for differential positioning. The pseudo-range measurement of the reference station and the user station adopts the carrier phase smoothing pseudo-range algorithm, and the reference station is taken as an example to illustrate, the specific method is as follows:
设参考站到第i个全球导航卫星系统(GNSS)导航卫星的伪距和相位观测方程为:Suppose the pseudorange and phase observation equations from the reference station to the i-th GNSS navigation satellite are:
公式(2) Formula (2)
式中,ρi为参考站到卫星的伪距;dτ为钟差;为观测的相位小数;Ni为整周相位模糊度;λ为波长;RR为参考站至卫星的真实距离,其中包括参考站的三维坐标;v1,v2为接收机测量噪声。In the formula, ρi is the pseudo-range from the reference station to the satellite; dτ is the clock error; N i is the phase ambiguity of the whole cycle; λ is the wavelength; R R is the real distance from the reference station to the satellite, including the three-dimensional coordinates of the reference station; v 1 and v 2 are the receiver measurement noise.
公式(2)中包含着相位模糊度N。由于N的求解是相当困难的,因此采用历元间的相位变化量来平滑伪距。The phase ambiguity N is contained in formula (2). Since the solution of N is quite difficult, the phase variation between epochs is used to smooth the pseudorange.
我们取t1,t2两时刻的相位观测量之差:We take the difference between the phase observations at t 1 and t 2 :
公式(3)中整周模糊度被消除了。若基准站与用户站相距不太远,GPS相位测量的噪声电平为毫米量级,所以相对伪距观测而言,可视v′2≈0。The integer ambiguity in formula (3) is eliminated. If the distance between the reference station and the user station is not too far, the noise level of the GPS phase measurement is on the order of millimeters, so relative to the pseudo-range observation, it can be seen that v′ 2 ≈0.
此时,在t2时刻的伪距观测量为:At this time, the pseudorange observation at time t2 is:
将公式(3)代入公式(4)中,得:Substituting formula (3) into formula (4), we get:
考虑到差分伪距观测量的噪声呈高斯白噪声,均值为零,则根据公式(5)可由t2时刻差分伪距观测量经相位变化量回推t1时刻的差分伪距观测量:Considering that the noise of the differential pseudo-range observations is Gaussian white noise with a mean value of zero, then according to the formula (5), the differential pseudo-range observations at time t2 can be deduced from the differential pseudo-range observations at time t1 through the phase change:
ρi(t1)=ρi(t2)-δρi(t1,t2) 公式(6)ρ i (t 1 )=ρ i (t 2 )-δρ i (t 1 , t 2 ) formula (6)
由公式(6)看出,可由不同时段的相位差回推求出t1时刻的伪距值。假定有k个历元的观测值ρi(t1),ρi(t2),...,ρi(tk),利用相位观测量可求出从t1到tk的相位差:δρi(t1,t2),δρi(t1,t3),...,δρi(t1,tk)。利用上述两个差可求出t1时刻k个伪距观测量:It can be seen from the formula (6) that the pseudo-range value at time t1 can be calculated from the phase difference in different periods. Assuming that there are k epochs of observed values ρ i (t 1 ), ρ i (t 2 ), ..., ρ i (t k ), the phase difference from t 1 to t k can be obtained by using the phase observation : δρ i (t 1 , t 2 ), δρ i (t 1 , t 3 ), . . . , δρ i (t 1 , t k ). Using the above two differences, k pseudo-range observations at time t1 can be obtained:
对所有推出值取平均,得到t1时刻伪距平均值:Averaging all push-out values yields the average pseudorange at time t 1 :
公式(8)为相位平滑伪距观测量,大大减小了噪声电平。每时刻的噪声都服从于以上假设的分布,且其方差记为σ2(ρ),则差分伪距平滑值的误差方差为:
求出t1时刻的平滑值后,可推得其它各时刻的平均值:After calculating the smoothing value at time t1 , the average value at other times can be deduced:
ρi(tk)=ρi(t1)+δρi(t1,tk) (k=2,3,…k) 公式(9)ρ i (t k )=ρ i (t 1 )+δρ i (t 1 , t k ) (k=2, 3,...k) Formula (9)
设起始条件为ρi(t1)=ρi(t1),则可推得:Assuming that the initial condition is ρ i (t 1 ) = ρ i (t 1 ), it can be deduced:
公式(10)为本发明使用的载波相位平滑伪距计算公式。Formula (10) is the carrier phase smoothing pseudorange calculation formula used in the present invention.
tk时刻接收机与第i个卫星载波相位平滑后的伪距用P(tk,Si)表示,则有P(tk,Si)=ρi(tk)。P(t k , S i ) represents the pseudorange between the receiver and the i-th satellite carrier phase smoothed at time t k, then P(t k , S i )=ρ i (t k ) .
获得参考站到卫星的伪距后,我们就可以计算伪距改正数。利用接收到的导航电文,计算出卫星Si在某一时刻tk的瞬间位置(Xs,Ys,Zs),由于参考站j的坐标精确已知(Xr,Yr,Zr),这样,利用卫星和参考站的坐标就可以计算出卫星到参考站的真实距离为:After obtaining the pseudorange from the reference station to the satellite, we can calculate the pseudorange correction. Using the received navigation message, calculate the instantaneous position (X s , Y s , Z s ) of the satellite S i at a certain moment t k , since the coordinates of the reference station j are known precisely (X r , Y r , Z r ), so that the real distance from the satellite to the reference station can be calculated by using the coordinates of the satellite and the reference station as:
由于轨道误差、电离层折射和对流层折射等影响,基准站GPS接收机直接测量的伪距存在有误差,与真实距离不同。两者之间的差值就是伪距改正数:Due to the influence of orbit error, ionospheric refraction and tropospheric refraction, there are errors in the pseudo-range directly measured by the GPS receiver of the reference station, which is different from the real distance. The difference between the two is the pseudorange correction:
ΔρR(tk,Si,Rj)=ρR(tk,Si,Rj)-P(tk,Si,Rj) 公式(12)Δρ R (t k , S i , R j ) = ρ R (t k , S i , R j )-P(t k , S i , R j ) Formula (12)
式中,P(tk,Si,Rj)为tk时刻卫星Si与参考站Rj之间载波相位伪距平滑算法得到的伪距值。In the formula, P(t k , S i , R j ) is the pseudo-range value obtained by the carrier phase pseudo-range smoothing algorithm between satellite S i and reference station R j at time t k .
如图2所示,用户周围有n个参考站,设卫星Si到参考站Rj的伪距校正值为ΔρR(tk,Si,Rj),卫星Si到参考站Rj连线与卫星到用户连线的夹角为∠j,则用户的伪距校正值:As shown in Figure 2, there are n reference stations around the user, and the pseudorange correction value from satellite S i to reference station R j is Δρ R (t k , S i , R j ), and the pseudorange correction value from satellite S i to reference station R j is The angle between the line and the line from the satellite to the user is ∠j, then the pseudo-range correction value of the user:
ΔρU=ΔρR×cos∠j 公式(13)Δρ U = Δρ R ×cos∠j Formula (13)
式中,ΔρU表示用户站的伪距校正值,ΔρR表示参考站Rj的伪距校正值。In the formula, Δρ U represents the pseudo-range correction value of the user station, and Δρ R represents the pseudo-range correction value of the reference station R j .
则用户校正后伪距为:Then the user-corrected pseudorange is:
ρcorr=PCU+ΔρU 公式(14)ρ corr =P CU +Δρ U formula (14)
式中,ρcorr表示用户校正后伪距,PCU表示卫星到用户站的经过平滑和修正的伪距。In the formula, ρ corr represents the pseudo-range after correction by the user, and P CU represents the smoothed and corrected pseudo-range from the satellite to the user station.
利用上述公式,获得4颗卫星以上的用户改正后伪距就可以解算出用户的三维坐标,该坐标即为参考站Rj差分后的定位结果,记为(xj,yj,zj)。Using the above formula, the three-dimensional coordinates of the user can be calculated by obtaining the corrected pseudo-range of more than 4 satellites, which is the positioning result after the difference of the reference station R j , denoted as (x j , y j , z j ) .
参考站Rj定位域定位误差协方差函数为:The covariance function of positioning error in the positioning domain of reference station R j is:
式中,dxj表示参考站定位域定位误差,(Hj THj)-1表示用户站三维坐标与用户时钟之间的误差关系系数矩阵,σUERE 2(j)表示用户等效距离误差。In the formula, dx j represents the positioning error of the reference station positioning domain, (H j T H j ) -1 represents the error relationship coefficient matrix between the three-dimensional coordinates of the user station and the user clock, and σ UERE 2 (j) represents the user equivalent distance error.
设有下式成立:The following formula is established:
用户周围有n个参考站,利用参考站Rj得到的用户定位结果为(xj,yj,zj),将该结果针对所述参考站定位误差与所述等效距离误差之间的误差关系系数矩阵作加权平均,得到最终的分布式区域增强用户定位结果则最终的分布式区域增强用户定位结果。There are n reference stations around the user, and the user positioning result obtained by using the reference station R j is (x j , y j , z j ), and the result is aimed at the distance between the reference station positioning error and the equivalent distance error The weighted average of the error relationship coefficient matrix is used to obtain the final distributed area enhanced user positioning result, which is the final distributed area enhanced user positioning result.
图3为本发明一种卫星导航增强系统的定位方法具体实施例2的流程图,该实施例在上述实施例的步骤1之前,为实现参考站Rj伪距校正值ΔρR(tk,Si,Rj)的获取,加入了如下步骤:Fig. 3 is the flow chart of the
步骤A1:参考站Rj接收机从导航电文中提取数据信息,包括卫星星历、卫星时钟改正、电离层时延等参数;Step A1: The receiver of the reference station R j extracts data information from the navigation message, including satellite ephemeris, satellite clock correction, ionospheric delay and other parameters;
步骤A2:由步骤A1所述参数可得到tk时刻卫星Si到参考站Rj的测码伪距PR(tk,Si,Rj);Step A2: The code measurement pseudorange P R (t k , S i , R j ) from the satellite S i to the reference station R j at time t k can be obtained from the parameters described in step A1;
步骤A3:参考站Rj接收机获得tk时刻卫星载波信号的相位,所述步骤A3与步骤A1、步骤A2是无序的;Step A3: the receiver of the reference station R j obtains the phase of the satellite carrier signal at the time t k , and the step A3 is out of order with the step A1 and the step A2;
步骤A4:利用所述载波信号的相位与载波相位平滑伪距计算公式对步骤2所述的测码伪距PR(tk,Si,Rj)进行平滑;Step A4: Using the phase of the carrier signal and the carrier phase smoothed pseudorange calculation formula to smooth the code measurement pseudorange P R (t k , S i , R j ) described in
步骤A5:对平滑后的伪距进行修正,包括卫星钟差、电离层时延、对流层时延,修正后的测码伪距记为PCR(tk,Si,Rj)。其中,卫星钟差使用所述导航电文中的参数进行修正,电离层时延使用导航电文中的时延参数进行修正,对流层时延使用Hopfield模型进行修正;Step A5: Correct the smoothed pseudo-range, including satellite clock bias, ionospheric delay, and tropospheric delay, and the corrected code-measured pseudo-range is denoted as P CR (t k , S i , R j ). Wherein, the satellite clock error is corrected using the parameters in the navigation message, the ionospheric delay is corrected using the delay parameters in the navigation message, and the tropospheric delay is corrected using the Hopfield model;
步骤A6:利用已知的参考站Rj三维坐标和卫星星历计算出参考站Rj到卫星Si的真实距离,记为ρR(tk,Si,Rj),通过参考站Rj到卫星Si的真实距离ρR(tk,Si,Rj)与平滑、修正后的测码伪距PCR(tk,Si,Rj)作差得到参考站Rj的伪距校正值ΔρR(tk,Si,Rj)。Step A6: Use the known three-dimensional coordinates of the reference station R j and the satellite ephemeris to calculate the real distance from the reference station R j to the satellite S i , denoted as ρ R (t k , S i , R j ), and pass through the reference station R The difference between the real distance ρ R (t k , S i , R j ) from j to satellite S i and the smoothed and corrected pseudo-range P CR (t k , S i , R j ) is obtained from the reference station R j Pseudorange correction value Δρ R (t k , S i , R j ).
所述步骤A6之后,将参考站的伪距校正值ΔρR(tk,Si,Rj)及参考站三维坐标发送给用户。After the step A6, the pseudorange correction value Δρ R (t k , S i , R j ) of the reference station and the three-dimensional coordinates of the reference station are sent to the user.
图4为本发明一种卫星导航增强系统的定位方法具体实施例3的流程图,该实施例在所述实施例1步骤1的基础上,为实现用户站U伪距校正值ΔρU(tk,Si,U)和用户站U经平滑、修正后的测码伪距PCU(tk,Si,U)的获取,其具体步骤如下:Fig. 4 is the flow chart of the
步骤11:用户站U接收机从导航电文中提取数据信息,包括卫星星历、卫星时钟改正、电离层时延等参数;Step 11: The user station U receiver extracts data information from the navigation message, including parameters such as satellite ephemeris, satellite clock correction, and ionospheric delay;
步骤12:利用步骤11所述参数可获得tk时刻卫星Si到用户站U的测码伪距PU(tk,Si,U);Step 12: Use the parameters described in
步骤13:用户站U接收机获得tk时刻卫星载波信号的相位,所述步骤13与步骤11、步骤12是无序的;Step 13: the receiver of the user station U obtains the phase of the satellite carrier signal at the time t k , and the
步骤14:对所述用户站U测码伪距PU(tk,Si,U)利用载波相位进行平滑;Step 14: smoothing the pseudo-range P U (t k , S i , U) of the user station U by using the carrier phase;
步骤15:对平滑后的伪距进行修正,包括卫星钟差、电离层时延、对流层时延,记为PCU(tk,Si,U)。其中卫星钟差使用导航电文中的参数进行修正,电离层时延使用导航电文中的时延参数进行修正,对流层时延使用Hopfield模型进行修正;Step 15: Correct the smoothed pseudorange, including satellite clock bias, ionospheric delay, and tropospheric delay, denoted as P CU (t k , S i , U). The satellite clock error is corrected using the parameters in the navigation message, the ionospheric delay is corrected using the delay parameters in the navigation message, and the tropospheric delay is corrected using the Hopfield model;
步骤16:用户接收相邻参考站Rj的伪距校正值ΔρR(tk,Si,Rj)及参考站的三维坐标;并由相邻参考站Rj的伪距校正值ΔρR(tk,Si,Rj)和卫星Si到参考站Rj连线与卫星Si到用户U连线的夹角∠j的余弦值相乘,经计算得到用户站U伪距校正值ΔρU(tk,Si,U);Step 16: The user receives the pseudorange correction value Δρ R (t k , S i , R j ) of the adjacent reference station R j and the three-dimensional coordinates of the reference station; and the pseudorange correction value Δρ R of the adjacent reference station R j (t k , S i , R j ) is multiplied by the cosine value of the angle ∠j between the line from satellite S i to reference station R j and the line from satellite S i to user U, and the pseudo-range correction of user station U is obtained by calculation Value Δρ U (t k , S i , U);
步骤17:利用用户站U伪距校正值ΔρU(tk,Si,U)对用户站U某一时刻tk卫星Si到用户站U的修正后伪距PCU(tk,Si,U)进行校正。Step 17: Use the user station U pseudorange correction value Δρ U (t k , S i , U ) to calculate the corrected pseudorange P CU (t k , S i , S i , U) for correction.
在上述各实施例中,地基区域卫星导航增强系统由多个相邻的本地差分参考站组成,用户进行差分定位时利用相邻的差分参考站的伪距校正值,按照相应的算法获得用户站的伪距校正值,用户利用此伪距校正值进行差分定位。In the above-mentioned embodiments, the ground-based regional satellite navigation augmentation system is composed of a plurality of adjacent local differential reference stations. When the user performs differential positioning, he uses the pseudorange correction values of the adjacent differential reference stations to obtain the user station according to the corresponding algorithm. The pseudo-range correction value of , the user uses this pseudo-range correction value for differential positioning.
本发明具有以下优点和积极效果:The present invention has the following advantages and positive effects:
对于单个的局域增强系统来说,采用常规的伪距修正算法时,导航精度会随着用户与参考站距离的增加而降低,因此采用分布式区域增强系统的定位方法可以部分克服此现象。用户位于区域增强覆盖范围内时,可以利用本地及相邻局域增强子系统的数据来获得更好的导航性能。For a single local area augmentation system, when the conventional pseudorange correction algorithm is used, the navigation accuracy will decrease as the distance between the user and the reference station increases, so the positioning method of the distributed area augmentation system can partially overcome this phenomenon. When the user is within the coverage area of the area augmentation, the data of the local and adjacent local area augmentation subsystems can be used to obtain better navigation performance.
分布式区域增强系统定位方法通过多个参考站的伪距修正,可以减少参考站的接收机噪声。对于单个本地差分系统来说,通过伪距差分可以校正参考站和用户站定位误差中的公共项,如电离层误差、对流层误差以及卫星星历误差。对于接收机噪声来讲,由于用户站和参考站之间接收机噪声不具有相关性,因此不能通过伪距差分校正。分布式区域增强系统定位方法通过对多个参考站伪距修正值的加权平均,可以部分消除参考站接收机的噪声。The positioning method of the distributed area augmentation system can reduce the receiver noise of the reference station through the pseudo-range correction of multiple reference stations. For a single local differential system, common items in the positioning errors of the reference station and the user station, such as ionospheric errors, tropospheric errors, and satellite ephemeris errors, can be corrected by pseudorange differences. As for the receiver noise, since the receiver noise has no correlation between the user station and the reference station, it cannot be corrected by pseudo-range difference. The positioning method of the distributed area augmentation system can partially eliminate the noise of the reference station receiver through the weighted average of the pseudo-range correction values of multiple reference stations.
当某个本地差分系统出现故障时,使用相邻的差分系统获得本地的增强信息,提高系统的健壮性。分布式区域增强系统定位方法利用用户站邻近的参考站伪距修正值来提供差分信息,当邻近的参考站有一个或若干个出现故障不能提供伪距修正值时,用户站依然可以使用其它正常的参考站进行区域增强定位,因此提高了系统的健壮性。When a local differential system fails, the adjacent differential system is used to obtain local enhanced information to improve the robustness of the system. The positioning method of the distributed area augmentation system uses the pseudo-range correction values of the adjacent reference stations of the user station to provide differential information. When one or several adjacent reference stations fail to provide pseudo-range correction values, the user station can still use other normal The reference station of the system performs area enhanced positioning, thus improving the robustness of the system.
对于系统内每个差分参考站来说,通过利用分布式区域增强系统定位方法可以扩大每个差分参考站的覆盖范围,在相同定位精度下,每个参考站覆盖半径可以扩大30%-50%,增加了系统的覆盖效率,减少系统建设费用。For each differential reference station in the system, the coverage of each differential reference station can be expanded by using the distributed area enhanced system positioning method. Under the same positioning accuracy, the coverage radius of each reference station can be expanded by 30%-50%. , which increases the coverage efficiency of the system and reduces the system construction cost.
采用载波相位平滑伪距算法可以减少用户端以及参考站的伪距测量噪声。The carrier phase smoothing pseudorange algorithm can reduce the pseudorange measurement noise of the user end and the reference station.
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it still The technical solutions recorded in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention. .
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