CN106093992A - A kind of sub-meter grade combined positioning and navigating system based on CORS and air navigation aid - Google Patents
A kind of sub-meter grade combined positioning and navigating system based on CORS and air navigation aid Download PDFInfo
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- CN106093992A CN106093992A CN201610716105.6A CN201610716105A CN106093992A CN 106093992 A CN106093992 A CN 106093992A CN 201610716105 A CN201610716105 A CN 201610716105A CN 106093992 A CN106093992 A CN 106093992A
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- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 title claims abstract description 22
- 238000012937 correction Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000004927 fusion Effects 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 4
- 206010003830 Automatism Diseases 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 239000005433 ionosphere Substances 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 10
- 238000011161 development Methods 0.000 description 2
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Disclosure of the invention a kind of sub-meter grade combined positioning and navigating system based on CORS and the air navigation aid of correspondence, can be by obtaining the correction of CORS system base station server, in conjunction with RTD algorithm, improve satellite fix precision, output high accuracy sub_meter position result, and do not rely on signal intensity in conjunction with INS technology, not by the advantage of external interference, provide the user the positional information of continuous print high-precision and high-stability.
Description
Technical field
The present invention relates to satellite positioning navigation application.
Background technology
Along with the development of the satellite navigation and location system such as GPS, the Big Dipper is perfect, the application of satellite navigation location is the most therewith
Arise at the historic moment and development grows, and for a lot of application scenarios, such as the traffic control of city bus, the determining of special vehicle
Position navigation, the position report etc. of emergency vehicles, the requirement to positional precision is more and more higher, it is desirable to be able to realize the location of track level
Navigation, this means that Position Fixing Navigation System allows for providing the positioning precision of sub-meter grade.The most traditional satellite fix essence
Degree is 5～20m, and precision is low, it is impossible to meet the monitoring demand of real road vehicle, and owing to satellite-signal is easily disturbed, real
Time position stability poor, Greening Urban Road is blocked, the building etc. that various height are staggered, GPS, Big Dipper satellite signal are not
Stable, the simple satellite positioning navigation that relies on is difficult to meet actual demand, and traditional Position Fixing Navigation System only combines INS skill
Art, although the positional information of continuous-stable can be provided, but the precision of positional information can not be improved.
At present, the positioning precision of traditional NAVSTAR is 5～20m, and precision is low, it is impossible to meet high accuracy sub-
The requirement of meter level location navigation, and more existing high-precision systems do not combine with INS technology, for complicated application
The positional information of continuous-stable it is not provided that under environment.
Therefore, need a kind of new technical scheme to solve the problems referred to above.
Summary of the invention
It is an object of the invention to propose a kind of sub-meter grade combined positioning and navigating system based on CORS and air navigation aid, energy
Enough improve satellite fix precision, the positional information of continuous-stable is provided in combination with inertial navigation under complex environment.
For reaching above-mentioned purpose, present invention sub-meter grade based on CORS combined positioning and navigating system can use following technical side
Case:
A kind of sub-meter grade combined positioning and navigating system based on CORS, including: RTD Differential positioning computing unit, inertia are led
Boat computing unit, combined positioning and navigating fusion calculation unit, GPRS data transmission unit, GNSS antenna, gyroscope and acceleration
Meter；
Described RTD Differential positioning computing unit, mainly by GPRS data transmission unit, obtains CORS system base station
The correction data of server, complete the calculus of differences to satellite-signal；
Described INS computing unit obtains accelerometer, the output information of gyroscope, measures mobile vehicle in real time and joins at inertia
Examine the acceleration being, the time is integrated by it, then transform in navigational coordinate system, obtain mobile vehicle in navigational coordinate system
In speed, yaw angle and positional information；
Combined positioning and navigating fusion calculation unit is mainly by KALMAN filtering algorithm, strong and weak in conjunction with current satellite signal
Situation, the location information of output mobile carrier；
GNSS antenna is in order to receive satellite-signal, and GPRS data transmission unit is in order to complete CORS system server and movement
Wireless data between carrier mutual.
And corresponding above-mentioned navigation system, the air navigation aid that the present invention provides can adopt the following technical scheme that
Including:
(1) difference algorithm and wave filter, is utilized just can to obtain position and the velocity information of movement station；
(2) mobile vehicle speed in navigational coordinate system, yaw angle and positional information, are obtained；
(3), by KALMAN filtering algorithm, in conjunction with the situation that current satellite signal is strong and weak, the location of output mobile carrier
Information.
Compared with prior art, the invention have the benefit that
By obtain CORS system base station server correction, by the high accuracy sub_meter position technology of RTD algorithm,
INS technology combines with traditional NAVSTAR, can not only improve positioning precision, it is achieved sub-meter grade in high precision
Positioning result, and can be in the case of complex environment satellite-signal is lost, it is provided that the positional information of continuous-stable.Thus,
Present invention achieves high accuracy sub_meter position technology and INS technology combines；And achieve Integrated Navigation Algorithm, automatism isolation
Poor satellite fix structure.
Accompanying drawing explanation
Fig. 1 is the system principle diagram of sub-meter grade combined positioning and navigating system based on CORS.
Detailed description of the invention
The technical term comprised in the present invention has:
CORS:(Continuously Operating Reference Stations) CORS
GNSS:(Global Navigation Satellite System) GPS
GPRS:(General Packet Radio Service) general packet radio service technology
RTD:(Real Time Differential) Real-time and Dynamic code phase differential technique
INS:(Inertial Navigation System) inertial navigation system.
Technical solution of the present invention theory diagram is as it is shown in figure 1, system contains: RTD Differential positioning computing unit, inertia are led
Boat computing unit, combined positioning and navigating fusion calculation unit, GPRS data transmission unit, high-precision GNSS antenna, 3 axle gyroscopes
With accelerometer etc..
Described RTD Differential positioning computing unit, mainly by GPRS data transmission unit, obtains CORS system base station
The correction data of server, complete the calculus of differences to satellite-signal, and we are referred to as Real-time and Dynamic code phase difference measurement often
Rule difference measurement, the precision of RTD is generally at sub-meter grade.Owing to the ephemeris of satellite and the position at earth reference station are known, I
Can obtain the actual distance of base station and satellite, if CORS system base station accept with mobile vehicle to receive simultaneously 4 identical
Satellite, it is possible to determine the position of mobile vehicle.By difference modes can effectively remove ionosphere and troposphere with
And the impact of ephemeris error.Differential position calculates the correction of base station and satellite the most exactly, and satellite mobile stations exists
Also receive the correction being forwarded base station to send by wireless communication unit while receiving same satellite-signal, utilize difference algorithm
The precise position information of movement station just can be obtained with wave filter.
Base station pseudorange equations:
Base station to the pseudorange of i-th satellite,Base station is to the actual distance of i-th satellite, Δ tmBase station clock
Difference, Δ tiI-th satellite clock correction,Ephemeris error,Ionospheric error, dTmAtmosphere error, by the satellite received
The accurate coordinates information of ephemeris information and this life of base station, can obtain base station actual distanceThen can try to achieve differential correctional
For:
Movement station pseudorange equations:
Movement station and base station in a distance in the case of (≤30Km), the pseudorange obtained in conjunction with base station corrects
NumberThen can eliminate ionosphere, atmosphere and ephemeris error.
WhereinThe information that base station positional information all can be sent by base station obtains, then just can obtain
Value, the most just can calculate the positional information of present mobile stations.
Described INS computing unit mainly combines with satellite positioning information, by obtaining mems accelerometer, 3 axle tops
Spiral shell instrument, magnetic, to the correlation output information of the devices such as meter and speedometer, measure the mobile vehicle acceleration at inertial reference system in real time,
Time is integrated by it, then transforms in navigational coordinate system, the most just can obtain the speed in navigational coordinate system, driftage
The information such as angle and position.
Velocity information obtains:
Velocity differentials equation is expressed as in navigational coordinate system:Wherein
VNRepresent the projection in navigational coordinate system of the mobile vehicle speed for the earth,Represent mobile vehicle acceleration,Represent
The projection that the acceleration of gravity of mobile vehicle position in navigation is,Represent flat-moving angle speed,Represent earth rotation
Angular speed, within a calculating cycle, is integrated above formula, it is possible in obtaining a calculating cycle, carrier is at navigation coordinate
Speed in system.
Attitude information obtains:
By quaternary number update algorithm:WithWhereinRepresent tm-1
Moment body axis system is to tn-1The quaternary number of moment locality coordinate system.Represent tmMoment body is tied to tnMoment locality coordinate
Quaternary number under Xi.Represent tmMoment body is tied to tm-1Moment body system quaternary number.Represent tn-1Moment arrives
Local coordinate is tied to tnThe attitudes vibration quaternary number that moment locality is.
According to formulaAttitude quaternion can be completed to appearance
The conversion of state matrix.
Described combined positioning and navigating fusion calculation unit is mainly by related algorithms such as KALMAN wave filter, in conjunction with current
The situation that satellite-signal is strong and weak, output location information.The process model utilizing system predicts the system of next state, will be currently
System state navigation parameter substitutes in KALMAN filter model formula, utilizes test volume and system previous state and current state to enter
Row NextState is predicted, navigational parameter is constantly predicted and revises by KALMAN wave filter, in the accurate premise of system model
Under, it is provided that optimum navigation results.Satellite fix result is through fusion calculation unit checks, when inspection connects to satellite location data
Receiving satellite signal >=4 and when communicating good with base station, automatic transparent transmission satellite fix result, when inspection connects to satellite location data
Receiving satellite signal ＜ 4 or communicate with base station disconnected connection time, the satellite fix result that automatism isolation is poor, after output filtering calculates
Inertial navigation data.
Remaining CORS system server mainly provides reliable correction for mobile vehicle, and high-precision GNSS antenna is mainly
Receiving satellite-signal, GPRS data transmission unit mainly completes the wireless data between CORS system server and mobile vehicle
Mutual.
The key point of the present invention is: by obtaining the correction of CORS system base station server, by the height of RTD algorithm
Precision sub_meter position technology, INS technology combine with traditional NAVSTAR, can not only improve positioning accurate
Degree, it is achieved the positioning result of sub-meter grade in high precision, and can be in the case of complex environment satellite-signal is lost, it is provided that continuously
Stable positional information.
Claims (5)
1. a sub-meter grade combined positioning and navigating system based on CORS, it is characterised in that including: RTD Differential positioning calculates single
Unit, inertial navigation computing unit, combined positioning and navigating fusion calculation unit, GPRS data transmission unit, GNSS antenna, gyroscope
And accelerometer；
Described RTD Differential positioning computing unit, mainly by GPRS data transmission unit, obtains the service of CORS system base station
The correction data of device, complete the calculus of differences to satellite-signal；
Described INS computing unit obtains accelerometer, the output information of gyroscope, measures mobile vehicle in real time at inertial reference system
Acceleration, the time is integrated by it, then transforms in navigational coordinate system, obtain mobile vehicle in navigational coordinate system
Speed, yaw angle and positional information；
Combined positioning and navigating fusion calculation unit is mainly by KALMAN filtering algorithm, in conjunction with the feelings that current satellite signal is strong and weak
Condition, the location information of output mobile carrier；
GNSS antenna is in order to receive satellite-signal, and GPRS data transmission unit is in order to complete CORS system server and mobile vehicle
Between wireless data mutual.
2. using the air navigation aid of sub-meter grade combined positioning and navigating system based on CORS as claimed in claim 1, its feature exists
In, including:
(1) difference algorithm and wave filter, is utilized just can to obtain position and the velocity information of movement station；
(2) mobile vehicle speed in navigational coordinate system, yaw angle and positional information, are obtained；
(3), by KALMAN filtering algorithm, in conjunction with the situation that current satellite signal is strong and weak, the location information of output mobile carrier.
Air navigation aid the most according to claim 2, it is characterised in that in step (1), obtains position and the speed of movement station
Information circular is,
Base station pseudorange equations:
Base station to the pseudorange of i-th satellite,Base station is to the actual distance of i-th satellite, Δ tmBase station clock correction, Δ
tiI-th satellite clock correction,Ephemeris error,Ionospheric error, dTmAtmosphere error, by the satellite ephemeris received
The accurate coordinates information of information and this life of base station, can obtain base station actual distanceThen can try to achieve differential correctional is:
Movement station pseudorange equations:
Movement station and base station in a distance in the case of, the differential correctional obtained in conjunction with base stationThen may be used
To eliminate ionosphere, atmosphere and ephemeris error；
WhereinThe information that base station positional information all can be sent by base station obtains, then just can obtainValue, extremely
This just can calculate the positional information of present mobile stations.
Air navigation aid the most according to claim 3, it is characterised in that in step (2), calculated by INS computing unit
The circular of mobile vehicle speed, yaw angle and positional information in navigational coordinate system is,
Velocity information obtains:
Velocity differentials equation is expressed as in navigational coordinate system:Wherein VNRepresent
Mobile vehicle for the projection in navigational coordinate system of the speed of the earth,Represent mobile vehicle acceleration,Represent mobile to carry
The projection that the acceleration of gravity of body position in navigation is,Represent flat-moving angle speed,Represent earth rotation angular speed,
Within a calculating cycle, above formula is integrated, it is possible in obtaining a calculating cycle, carrier is in navigational coordinate system
Speed；
Attitude information obtains:
By quaternary number update algorithm:WhereinRepresent tm-1Moment
Body axis system is to tn-1The quaternary number of moment locality coordinate system；Represent tmMoment body is tied to tnUnder moment locality coordinate system
Quaternary number；Represent tmMoment body is tied to tm-1Moment body system quaternary number；Represent tn-1Moment sits to local
Mark is tied to tnThe attitudes vibration quaternary number that moment locality is；
According to formulaAttitude quaternion can be completed to attitude square
The conversion of battle array.
Air navigation aid the most according to claim 3, it is characterised in that in step (3), utilizes the process model of system to predict
The system of next state, substitutes into current system conditions navigational parameter in KALMAN filter model formula, utilize test volume and
System previous state and current state carry out NextState prediction, and navigational parameter is constantly predicted and repaiies by KALMAN wave filter
Just；Satellite fix result through fusion calculation unit checks, when inspection to satellite location data receive satellite-signal >=4 and with
Base station communication good time, automatic transparent transmission satellite fix result, when inspection to satellite location data receive satellite-signal ＜ 4 or with
During the disconnected connection of base station communication, the satellite fix result that automatism isolation is poor, output filters the inertial navigation data after calculating.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526638A (en) * | 2016-12-30 | 2017-03-22 | 维坤智能科技（上海）有限公司 | Personnel positioning networking method based on GPRS mobile terminal |
| CN107942352A (en) * | 2017-12-19 | 2018-04-20 | 江苏北斗卫星导航检测中心有限公司 | One kind miniaturization dynamic trajectory high precision measurement equipment |
| CN108955851A (en) * | 2018-07-12 | 2018-12-07 | 北京交通大学 | The method for determining GNSS error using INS and DTM |
| CN109917436A (en) * | 2019-04-28 | 2019-06-21 | 中国人民解放军国防科技大学 | A satellite/inertial combined real-time precise relative kinematic datum positioning method |
| CN110609309A (en) * | 2019-10-29 | 2019-12-24 | 交通运输部北海航海保障中心天津航标处 | LED integrated lamp device with multi-mode positioning function |
| CN115685275A (en) * | 2022-11-11 | 2023-02-03 | 桂林理工大学 | POS high-precision shielding-avoiding positioning method |
| WO2023082785A1 (en) * | 2021-11-09 | 2023-05-19 | 千寻位置网络（浙江）有限公司 | Ionospheric interference-resistant network rtk positioning method, apparatus and system, and device and storage medium |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526638A (en) * | 2016-12-30 | 2017-03-22 | 维坤智能科技（上海）有限公司 | Personnel positioning networking method based on GPRS mobile terminal |
| CN107942352A (en) * | 2017-12-19 | 2018-04-20 | 江苏北斗卫星导航检测中心有限公司 | One kind miniaturization dynamic trajectory high precision measurement equipment |
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| CN108955851B (en) * | 2018-07-12 | 2020-07-17 | 北京交通大学 | Methods for Determining GNSS Errors Using INS and DTM |
| CN109917436A (en) * | 2019-04-28 | 2019-06-21 | 中国人民解放军国防科技大学 | A satellite/inertial combined real-time precise relative kinematic datum positioning method |
| CN110609309A (en) * | 2019-10-29 | 2019-12-24 | 交通运输部北海航海保障中心天津航标处 | LED integrated lamp device with multi-mode positioning function |
| WO2023082785A1 (en) * | 2021-11-09 | 2023-05-19 | 千寻位置网络（浙江）有限公司 | Ionospheric interference-resistant network rtk positioning method, apparatus and system, and device and storage medium |
| CN115685275A (en) * | 2022-11-11 | 2023-02-03 | 桂林理工大学 | POS high-precision shielding-avoiding positioning method |
| WO2024099463A1 (en) * | 2022-11-11 | 2024-05-16 | 桂林理工大学 | High-precision anti-shielding positioning method for pos |
| CN115685275B (en) * | 2022-11-11 | 2024-11-12 | 桂林理工大学 | POS high-precision avoidance positioning method |
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Application publication date: 20161109 |