CN116106819A - Satellite orientation method, device and readable storage medium - Google Patents
Satellite orientation method, device and readable storage medium Download PDFInfo
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- CN116106819A CN116106819A CN202211735094.8A CN202211735094A CN116106819A CN 116106819 A CN116106819 A CN 116106819A CN 202211735094 A CN202211735094 A CN 202211735094A CN 116106819 A CN116106819 A CN 116106819A
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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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
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Abstract
The application is applicable to the technical field of satellite orientation, and provides a satellite orientation method, which comprises the following steps: the first orientation device sets the frequency points of the first navigation master chip and the first navigation slave chip as first frequency, receives first satellite signals from a navigation system, sends the first satellite signals to the first navigation master chip and the first navigation slave chip, receives first single-difference observed values, selects first reference satellites according to the first single-difference observed values, and makes differences between the first single-difference observed values corresponding to the first reference satellites and first single-difference observed values corresponding to other satellites respectively to obtain a plurality of first double-difference observed values, calculates the position of the first orientation device, and improves orientation accuracy by increasing the number of the first double-difference observed values.
Description
Technical Field
The application belongs to the technical field of satellite orientation, and particularly relates to a satellite orientation method, a device and a readable storage medium.
Background
With the development and construction of the global satellite navigation system, the global satellite navigation system is increasingly widely used. However, the positioning accuracy of the global satellite navigation system is very dependent on the environment in which the receiver for receiving satellite signals is located, for example, when the receiver is in a severe environment with shielding such as high-rise forestation, dense trees, etc., the quality of the received satellite signals may be degraded due to shielding because the satellite signals that the receiver can receive may be reduced due to shielding, and thus, the positioning accuracy using global satellite navigation may be degraded at this time.
In the prior art, the above technical problems are solved by establishing a double difference model in each satellite navigation system. In the prior art, one satellite in each navigation system is independently selected as a reference satellite, and a double difference equation is established for other satellites in the same system based on the selected reference satellite. However, in the prior art, since each system needs to select one reference star, and each reference star can only establish a double difference equation with other satellites in the same system, when the number of satellite signals of the same satellite navigation system is smaller, an effective double difference equation may not be established.
Disclosure of Invention
In view of this, the embodiment of the present application provides a satellite orientation method, set the frequency point of a first navigation master slice and a first navigation slave slice to a first frequency by a first orientation device, the first orientation device receives a first satellite signal from a navigation system and sends the first satellite signal to the first navigation master slice and the first navigation slave slice, the first orientation device receives a first single difference observation value, the first orientation device selects a first reference satellite according to the plurality of first single difference observation values, and makes differences between the first single difference observation values corresponding to the first reference satellite and first single difference observation values corresponding to other satellites respectively, so as to obtain a plurality of first double difference observation values, and calculate the position of the first orientation device, so that orientation accuracy is improved by increasing the number of the first double difference observation values, so as to further improve positioning accuracy of the satellite navigation system in a complex environment.
A first aspect of an embodiment of the present application provides a satellite orientation method, including:
the first orientation device sets the frequency points of the first navigation master slice and the first navigation slave slice as a first frequency;
the first orientation device receives a first satellite signal from a navigation system and sends the first satellite signal to the first navigation master slice and the first navigation slave slice, and the type of the navigation system comprises a plurality of navigation slave slices;
the first orientation device receives a first single-difference observed value, wherein the first single-difference observed value is obtained by processing the first satellite signals by the first navigation master slice and the first navigation slave slice, the navigation system corresponds to a plurality of satellites, and different satellites correspond to different first single-difference observed values;
the first orientation device selects a first reference satellite according to a plurality of first single difference observation values;
the first direction device performs difference making on the first single difference observed value corresponding to the first reference satellite and the first single difference observed values corresponding to other satellites respectively to obtain a plurality of first double difference observed values, and the first double difference observed values are used for calculating the position of the first direction device.
A second aspect of embodiments of the present application provides a satellite orientation apparatus comprising:
one or more processors;
one or more memories;
the one or more memories store one or more computer programs comprising instructions that, when executed by the one or more processors, cause the satellite orientation device to perform the satellite orientation method as described in the first aspect above.
A third aspect of embodiments of the present application provides a computer readable storage medium storing computer executable program instructions which, when run on the computer, cause the computer to perform the satellite orientation method as described in the first aspect above.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a satellite orientation method according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Along with the continuous construction, perfection and modernization of global satellite navigation systems (such as Beidou satellite navigation systems, GPS satellite navigation systems, GALILEO satellite navigation systems and other satellite navigation systems), a navigation chip can capture more satellite signals, so that the compatibility among various satellite systems is enhanced for fully utilizing the satellite signal resources, the availability, reliability and precision of satellite navigation orientation are improved, and the combined orientation of satellite signals of different systems becomes an important development direction.
The general navigation chip generally only receives signals of a single frequency point, has high integration level of signal receiving and algorithm processing, has the characteristics of low cost, low power consumption, small volume, high sensitivity and the like, and the baseband algorithm of the general navigation chip can output information such as carrier phase, pseudo range, ephemeris and the like of a satellite after certain processing (such as phase half-cycle detection, dynamic characteristic reduction, coherent integration time extension and the like) so as to provide favorable conditions for researching satellite orientation.
The essence of the orientation of the single-frequency navigation chip is to determine the orientation of a geometric vector formed by two points in a given coordinate space, wherein the two points in space generally refer to the physical phase centers of two measurement antennas, firstly, the high-precision relative position is obtained through differential positioning, the relative position is converted into a station coordinate system, and the standard course angle and pitch angle are calculated by utilizing a trigonometric function.
Currently, the global satellite navigation positioning service has moved from the professional market to the consumer market, and most users of the consumer global satellite navigation system are used in complex environments, such as urban environments in high-rise forestation, tree-blocking environments, and the like. In these complex environments, positioning and orientation using only a single satellite system many times does not achieve reliable high precision orientation results, or even orientation.
In the prior art, a mode of establishing a double difference model is widely adopted in global satellite navigation orientation to solve the technical problems. Before establishing the double difference equation, the satellite orientation device needs to select one station as a base station, the other station as a mobile station, and one satellite as a reference satellite, and the rest satellites as non-reference satellites. The satellite orientation equipment can firstly make difference between two measuring stations to form a single-difference observed value, then make difference between the non-reference satellite and the reference satellite to obtain a double-difference observed value, and then calculate according to a double-difference observed equation to obtain a high-precision relative position.
In the prior art, reference satellites of respective systems are independently selected in global satellite navigation systems such as a Beidou satellite navigation system/a GPS satellite navigation system/a GALILEO satellite navigation system and the like, double-difference observation equations are formed in the same system, and then combined orientation calculation is performed by combining double-difference observation equations of a plurality of different satellite navigation systems.
The technical scheme of the present application is described below by specific examples.
Referring to fig. 1, a schematic flow chart of a satellite orientation method provided in an embodiment of the present application is shown, and the method for generating positioning information may be applied to a satellite orientation device with two navigation chips with the same hardware version. The satellite orientation device can be an electronic device such as a computer, a smart phone, a satellite signal receiver and the like, wherein two navigation chips with the same hardware version can be installed on the electronic device. The satellite orientation method specifically comprises the following steps:
s101, a first orientation device sets the frequency points of a first navigation master slice and a first navigation slave slice as a first frequency.
In the embodiment of the application, when the user performs satellite orientation, the user may set the first navigation master slice and the first navigation slave slice first. The user may initiate a setting instruction to the first directing means.
The user initiated setting instruction may include a frequency point and a first frequency of the frequency point for each navigation system.
After receiving the setting instruction initiated by the user, the first orientation device responds to the setting instruction initiated by the user and can set the frequency point of the first navigation master slice and the first navigation slave slice and the receiving frequency of each frequency point based on the setting instruction. The first direction device may set the reception frequencies of all the frequency points to the first frequency.
It should be noted that, in the embodiment of the present application, the frequency point corresponding to each satellite navigation system in the first main navigation chip is the same as the frequency point corresponding to each satellite navigation system in the first auxiliary navigation chip, and the frequencies of each frequency point in the first main navigation chip and the first auxiliary navigation chip are the same.
For example, in the first navigation main slice, the frequency point of the beidou satellite navigation system may be set to be L1, the frequency point of the B1C, GPS satellite navigation system may be set to be E1, and the frequency point of the GALILEO satellite navigation system may be set to be L1. The receiving frequency of each frequency point in the Beidou satellite navigation system, the GPS satellite navigation system and the GALILEO satellite navigation system can be 1575.420MHz. Likewise, in the first navigation slave chip, the frequency point of the beidou satellite navigation system may be set to be L1, the frequency point of the B1C, GPS satellite navigation system may be set to be L1, and the frequency point of the GALILEO satellite navigation system may be set to be E1. The receiving frequency of each frequency point in the Beidou satellite navigation system, the GPS satellite navigation system and the GALILEO satellite navigation system can be 1575.420MHz.
In an embodiment of the present application, the first orientation device may include a first navigation slave slice and a first navigation master slice. The first navigation slave chip and the first navigation master chip can be single-frequency navigation chips, and the hardware versions of the first navigation slave chip and the first navigation master chip are the same and share power supply and clock signals.
The first guiding device can comprise a first guiding slave slice and a first guiding master slice, wherein the first guiding slave slice can be connected with a first antenna, and the first guiding slave slice can receive a plurality of satellite signals through the first antenna; the first navigation master may be connected to the second antenna, and the first navigation master may receive a plurality of satellite signals through the second antenna.
The frequency points used by the first navigation master slice and the first navigation slave slice are the same, and are all first frequency points.
The first navigation master and the first navigation slave may each be connected to the same power supply and clock in the first orientation device. After receiving the satellite signal, the first navigation slave chip may perform signal processing on the satellite signal to generate a first signal processing result. The first navigation slave tile may perform a positioning solution based on the first signal processing result to generate a directional reference. The first navigation slave tile may send the generated directional reference to the first navigation master tile. After receiving the satellite signals, the first navigation master slice can also perform signal processing on the received satellite signals and generate second signal processing results. The first navigation master slice can perform positioning and orientation calculation according to the second signal processing result and the orientation reference sent by the first navigation slave slice, generate an orientation result and output the orientation result.
S102, the first orientation device receives a first satellite signal from the navigation system and sends the first satellite signal to the first navigation master slice and the first navigation slave slice.
In this embodiment of the present application, the type of the navigation system includes a plurality of first directional devices, and after setting the frequency points of the first navigation master slice and the first navigation slave slice and the first frequencies of the respective frequency points, the first directional devices may start to receive the first satellite signals from the navigation system. The first direction device may transmit the received first satellite signal to the first navigation master and the first navigation slave after receiving the first satellite signal. The first direction device may receive first satellite signals sent by a plurality of different types of navigation systems, such as a Beidou satellite navigation system, a GPS satellite navigation system and a GALILEO satellite navigation system.
In this embodiment of the present application, frequencies of the plurality of first satellite signals received by the first direction device may be the same, and the frequencies of the plurality of first satellite signals may be the first frequency. That is, satellites in the respective navigation systems transmit first satellite signals to the first directional device at the first frequency point as the signal frequency.
In this embodiment of the present application, after the first orientation device sends the received plurality of first satellite signals to the first navigation master slice and the first navigation slave slice, the first navigation master slice may be instructed to perform signal processing on the first satellite signals sent from the satellites in the navigation system by sending the first processing instruction. After receiving the first processing instruction sent by the first orientation device, the first navigation chip can decode the received plurality of first satellite signals to generate a first observed value.
The first directing means may further instruct the first navigation slave chip to perform signal processing on the first satellite signal transmitted from the satellite in the same navigation system by transmitting the second processing instruction. The first navigation slave tile, upon receiving the second processing instructions, may decode the plurality of first satellite signals to generate a second observation.
The first satellite signals may be from a plurality of identical or different navigation systems, and the same navigation system may include a plurality of different satellites, and the first satellite signals sent by the different satellites may also be different. For example, the first satellite signals may include 5 satellite signals transmitted by 5 satellites of a Beidou satellite navigation system and 5 satellite signals transmitted by 5 satellites of a GPS satellite navigation system. The first satellite signal may also include only 5 satellite signals transmitted by 5 satellites of the Beidou satellite navigation system.
S103, the first orientation device receives the first single difference observation value.
In this embodiment of the present application, the first single-difference observed value is obtained by processing the first satellite signal by the first navigation master slice and the first navigation slave slice, and specifically, the first single-difference observed value is obtained by the first navigation master slice making a difference between the first observed value and the second observed value, where the first single-difference observed value at least includes a pseudo-range value, a carrier phase, and a first altitude angle corresponding to the satellite.
It should be noted that, the navigation system corresponds to a plurality of satellites, and different satellites correspond to different first single difference observations.
In this embodiment of the present application, after the first steering device sends the first satellite signal to the first navigation master slice and the first navigation slave slice, the first navigation master slice may be determined to be a mobile station, the first navigation slave slice is a base station, and the first single difference observed value output by the first navigation master slice is received. The first navigation slave tile may transmit a plurality of second observations to the first navigation master tile in a directional reference manner after generating the second observations with respect to the first satellite signal. The first navigation master tile may receive a plurality of second observations sent by the first navigation slave tile. After the first navigation main chip receives the plurality of second observation values, satellites corresponding to the second observation values can be determined. According to the satellite corresponding to each second observation value, the first navigation main slice can determine the first observation value corresponding to each second observation value.
And S104, the first orientation device selects a first reference satellite according to the plurality of first single difference observation values.
In this embodiment of the present application, according to a first satellite altitude corresponding to the satellite in the first single-difference observed value, the satellite with the largest first satellite altitude is selected as the first reference satellite.
S105, the first orientation device respectively performs difference making on the first single-difference observed values corresponding to the first reference satellite and the first single-difference observed values corresponding to other satellites to obtain a plurality of first double-difference observed values.
In this embodiment of the present application, the first double-difference observation value is used to calculate the position of the first orientation device, and specifically, the first double-difference observation value is used to construct a plurality of double-difference observation equations.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A method of satellite orientation comprising:
the first orientation device sets the frequency points of the first navigation master slice and the first navigation slave slice as a first frequency;
the first orientation device receives a first satellite signal from a navigation system and sends the first satellite signal to the first navigation master slice and the first navigation slave slice, and the type of the navigation system comprises a plurality of navigation slave slices;
the first orientation device receives a first single-difference observed value, wherein the first single-difference observed value is obtained by processing the first satellite signals by the first navigation master slice and the first navigation slave slice, the navigation system corresponds to a plurality of satellites, and different satellites correspond to different first single-difference observed values;
the first orientation device selects a first reference satellite according to a plurality of first single difference observation values;
the first direction device performs difference making on the first single difference observed value corresponding to the first reference satellite and the first single difference observed values corresponding to other satellites respectively to obtain a plurality of first double difference observed values, and the first double difference observed values are used for calculating the position of the first direction device.
2. The method of claim 1, wherein a first orientation device comprises at least the first navigation slave tile and the first navigation master tile.
3. The method according to claim 1, characterized in that it comprises:
the first direction device receives signals from different navigation systems, and the frequencies of a plurality of signals from different navigation systems are the same and are the first frequency.
4. The method of claim 1, wherein the satellites in the plurality of navigation systems transmit a first satellite signal to the first directional device at the first frequency point as a signal frequency.
5. The method according to claim 1, characterized in that it comprises:
the first guiding device instructs the first guiding main chip to process first satellite signals sent by satellites in a guiding system to obtain a first observed value, instructs the first guiding auxiliary chip to process first satellite signals sent by satellites in the same guiding system to obtain a second observed value, the first satellite signals are from a plurality of same or different guiding systems, the same guiding system comprises a plurality of satellites, and different satellites correspondingly send different first satellite signals.
6. The method according to any one of claims 1-5, comprising:
the first orientation device receives a first single-difference observed value, wherein the first single-difference observed value is obtained by the first navigation master slice making a difference between the first observed value and the second observed value.
7. The method according to claim 1, characterized in that it comprises: the first single difference observation value at least comprises a pseudo-range value, a carrier phase and a first altitude angle corresponding to the satellite.
8. The method according to claim 1 or 7, wherein the first directing means selects a first reference satellite based on a plurality of the first single difference observations, comprising:
and selecting the satellite with the largest first satellite altitude angle as the first reference satellite according to the first satellite altitude angle corresponding to the satellite in the first single difference observation value.
9. A satellite orientation apparatus comprising:
one or more processors;
one or more memories;
the one or more memories store one or more computer programs comprising instructions that, when executed by the one or more processors, cause the satellite orientation device to perform the method of any of claims 1-8.
10. A computer readable storage medium storing computer executable program instructions which, when run on the computer, cause the computer to perform the method of any one of claims 1 to 8.
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| CN202211735094.8A CN116106819A (en) | 2022-12-30 | 2022-12-30 | Satellite orientation method, device and readable storage medium |
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| CN202211735094.8A CN116106819A (en) | 2022-12-30 | 2022-12-30 | Satellite orientation method, device and readable storage medium |
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