CN110196419A - Pseudorange accuracy calibration method and system for GNSS signal acquisition playback apparatus - Google Patents
Pseudorange accuracy calibration method and system for GNSS signal acquisition playback apparatus Download PDFInfo
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- CN110196419A CN110196419A CN201910501262.9A CN201910501262A CN110196419A CN 110196419 A CN110196419 A CN 110196419A CN 201910501262 A CN201910501262 A CN 201910501262A CN 110196419 A CN110196419 A CN 110196419A
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- 238000005259 measurement Methods 0.000 claims abstract description 24
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- 238000004088 simulation Methods 0.000 claims abstract description 21
- 238000003860 storage Methods 0.000 claims abstract description 17
- 238000013139 quantization Methods 0.000 claims description 10
- 239000005433 ionosphere Substances 0.000 claims description 8
- 239000005436 troposphere Substances 0.000 claims description 5
- 108010003272 Hyaluronate lyase Proteins 0.000 claims description 3
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of pseudorange accuracy calibration methods for GNSS signal acquisition playback apparatus, this method comprises: the simulating scenes of configuration GNSS satellite navigation signal simulator；It acquires and stores GNSS satellite navigation simulation signal；Play back GNSS satellite navigation simulation signal；Data processing is carried out to pseudorange biases；Data processing is carried out to pseudo range measurement uncertainty；And obtain pseudorange accuracy calibration result.The invention also discloses a kind of pseudorange accuracy calibration systems for GNSS signal acquisition playback apparatus.In the present invention in the way of Data Post, the satellite navigation analog signal that GNSS satellite navigation signal simulator exports is sent into GNSS signal acquisition playback apparatus and is acquired storage, then signal is played back to high precision GNSS receiver again and resolved by GNSS signal acquisition playback apparatus, export the information such as pseudorange, carrier phase, it for the processing of pseudorange accuracy calibration data and analyzes, realizes the calibration to GNSS signal acquisition playback apparatus pseudorange accuracy.
Description
Technical field
The present invention relates to pseudorange accuracy calibration method and systems.It is acquired back more particularly, to one kind for GNSS signal
Put the pseudorange accuracy calibration method and system of equipment.
Background technique
With Global Satellite Navigation System (Global Navigation Satellite System, GNSS) application and
Development, theory and technology also become better and approaching perfection day by day, and have been widely used in geodesic survey, deep-sea fishing, aerospace, force at present
The army and the people's service field such as device system.
GNSS positioning is the observed quantities such as pseudorange, ephemeris, the satellite launch time for utilizing one group of satellite, while utilizing user's clock
The technology that difference is positioned.Global Navigation Satellite System location technology is at present substantially instead of ground based radio navigation, tradition
Geodesic survey and astronomical surveing navigator fix technology and the completely new development for having pushed geodesic survey Yu navigator fix field.Now,
GNSS system is not only national security and economic infrastructure, and embodies modernization big country status and national overall national strength
Important symbol, especially politics, economy, in terms of have great importance.
GNSS signal acquires playback apparatus, is a kind of for satellite navigation signal collecting, storage and the equipment of playback, can
Is carried out by real-time high-fidelity acquisition and is deposited for the navigation signal of various satellite navigation systems (GPS/BDS/GLONASS/Galileo)
Storage, and the navigation signal of acquisition storage is played back without distortions, there is good repetition recording playback and portability, be usually used in
Function and testing performance index and navigation algorithm research to receiver etc..GNSS signal acquires playback apparatus, can be in fixation
Or single or multiple radiofrequency signals are recorded in real time for a long time in mobile environment, it is weighed as needed in places such as laboratory, production lines
Multiple repeatedly broadcasting provides a simple, efficient solution to capture the GNSS signal of real world and resetting in the lab
Scheme.
GNSS signal acquisition playback apparatus is widely used in receiver test and calibration, therefore GNSS signal acquires back
The calibration for putting equipment inherent parameters is extremely important.GNSS signal acquisition playback apparatus various parameters in, its own acquisition and
Influence of the replayed section to input satellite navigation signals pseudorange accuracy is to determine one of the most important index of its application.
Currently, the calibration to GNSS signal acquisition playback apparatus pseudorange accuracy, there is presently no relevant calibration methods.Cause
This, it is desirable to provide a kind of pseudorange accuracy calibration method and system for GNSS signal acquisition playback apparatus.
Summary of the invention
It is an object of the present invention to provide a kind of pseudorange accuracy calibration sides for GNSS signal acquisition playback apparatus
Method calibrates GNSS signal acquisition playback apparatus pseudorange accuracy with realizing.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
A kind of pseudorange accuracy calibration method for GNSS signal acquisition playback apparatus, this method comprises:
Configure the simulating scenes of GNSS satellite navigation signal simulator；
It acquires and stores GNSS satellite navigation simulation signal；
Play back GNSS satellite navigation simulation signal；
Data processing is carried out to pseudorange biases；
Data processing is carried out to pseudo range measurement uncertainty；And
Obtain pseudorange accuracy calibration result.
Preferably, the simulating scenes of configuration GNSS satellite navigation signal simulator include:
GNSS satellite navigation signal simulator emulation setting in close receiver clock-offsets, satellite clock delay, satellite delay,
The emulation of ionosphere and tropospheric error, multipath error item；
Stationary state is set by receiver and satellite；
Fixed value is set by pseudorange；And
The signal pseudorange that GNSS satellite navigation signal simulator exports is expressed as the first formula:
PRs=R+c (biasr+TtC),
Wherein, PRsFor the signal pseudorange of GNSS satellite navigation signal simulator output, R is fixed pseudorange distance, and c is light
Speed, biasrFor receiver time delay, delay of the TtC between GNSS satellite navigation signal simulator and pseudo-code initial code phase positions is inclined
Difference.
In the present invention, in order to guarantee the accurate, stable of calibration process, by the emulation field of GNSS satellite navigation signal simulator
Scape be set as do not include star clock error, ionosphere, troposphere, multipath equal error item, meanwhile, in order to avoid due to receiver with defend
The relative motion of star brings Doppler error to influence, and receiver and satellite is disposed as stationary state, and set pseudorange to
One fixed value.
It is further preferred that acquiring and storing GNSS satellite navigation simulation signal and include:
The analog signal of GNSS satellite navigation signal simulator is sent into the acquisition port of GNSS signal acquisition playback apparatus；
It is acquisition signal condition that GNSS signal, which is arranged, to acquire playback apparatus；
It sets GNSS signal and acquires playback apparatus as single channel acquisition；
The sample rate of GNSS signal acquisition playback apparatus is set as equipment maximum sample rate；
The quantization bit of GNSS signal acquisition playback apparatus is set as equipment maximum quantization bit；And
It is acquired with preset duration and stores GNSS satellite navigation simulation signal.
It is further preferred that preset duration is 10 minutes.
Preferably, playback GNSS satellite navigation simulation signal includes:
It is playback signal state that GNSS signal, which is arranged, to acquire playback apparatus；
The playback power of GNSS signal acquisition playback apparatus is set, playback power bracket is -100dBm~-120dBm；
Playback signal feeding GNSS receiver is resolved；
The amendment in ionosphere, troposphere, multipath error item is closed in GNSS receiver；
GNSS receiver in signal solution process storage Pseudo away from and carrier phase information；
The pseudorange that GNSS receiver resolves is expressed as the second formula:
PRr=R+c (biasr+ TtC)+Δ ρ,
Wherein, Δ ρ is the pseudorange biases that GNSS signal acquires that playback apparatus introduces.
It is further preferred that including: to pseudorange biases progress data processing
The disposal of gentle filter is carried out to pseudorange；
I-th pseudorange biases are expressed as to the difference of the first formula and the second formula:
Δρi=PRri-PRsi,
Wherein, PRriFor the i-th pseudorange indicated according to the second formula, PRsiFor the i-th puppet indicated according to the first formula
Away from Δ ρiFor the difference of the first formula and the second formula；And
Pseudorange calibration result is expressed as to the mean value of pseudorange biases:
Wherein, n is pseudorange biases data record number, EΔρFor the mean value of pseudorange biases.
It is further preferred that including: to the progress data processing of pseudo range measurement uncertainty
The pseudorange accuracy of GNSS signal simulator is set as X1, the uncertainty μ of introducing1Are as follows:
The fixation pseudorange measurement accuracy of GNSS receiver is set as X2, the uncertainty μ of introducing2Are as follows:
The uncertainty μ that the measured value repeatability of pseudorange biases Δ ρ introducesAAre as follows:
Standard uncertainty u is calculated according to the following formulac:
And
Expanded uncertainty μ is calculated according to the following formularel:
μrel=k μc,
Wherein, k is spreading factor and k=2.
It is further preferred that obtaining pseudorange accuracy calibration result Δ ρ, wherein Δ ρ=EΔρ+μrel。
It is another object of the present invention to provide a kind of pseudorange accuracy calibrations for GNSS signal acquisition playback apparatus
System, the system include:
GNSS satellite navigation signal simulator, for providing GNSS satellite navigation simulation signal；
GNSS signal acquires playback apparatus, for acquiring, storing and play back GNSS satellite navigation simulation signal；
GNSS receiver, for storage Pseudo away from and carrier phase information, carry out signal resolving；And
Main control computer, for configuring the simulating scenes of GNSS satellite navigation signal simulator, configuration GNSS receiver and
Satellitosis, setting GNSS signal acquire working condition, sample rate and the quantization bit of playback apparatus, count to pseudorange biases
According to processing, data processing is carried out to pseudo range measurement uncertainty, obtains pseudorange accuracy calibration result.
Preferably, pseudo range measurement uncertainty source includes the pseudorange accuracy of GNSS signal simulator, GNSS receiver
The measurement reproducibility of pseudorange accuracy and acquisition playback signal pseudorange biases introduces.
Beneficial effects of the present invention are as follows:
One of present invention is for utilizing in the pseudorange accuracy calibration method and system of GNSS signal acquisition playback apparatus
The satellite navigation analog signal that GNSS satellite navigation signal simulator exports is sent into GNSS signal and adopted by the mode of Data Post
Collection playback apparatus is acquired storage, and then GNSS signal acquires playback apparatus and signal is played back to high precision GNSS receiver again
It is resolved, the information such as output pseudorange, carrier phase are handled and analyzed for pseudorange accuracy calibration data.In the present invention, obtain
The error that the pseudorange of input satellite navigation signals is introduced by acquisition, storage and the replayed section of GNSS signal acquisition playback apparatus
Size realizes the calibration to GNSS signal acquisition playback apparatus pseudorange accuracy.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 shows the pseudorange accuracy calibration method step in the embodiment of the present invention for GNSS signal acquisition playback apparatus
Figure.
Fig. 2 shows the pseudorange accuracy calibration system block diagrams that GNSS signal acquisition playback apparatus is used in the embodiment of the present invention.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
A kind of pseudorange accuracy calibration method for GNSS signal acquisition playback apparatus, this method packet are disclosed in the present invention
It includes: the simulating scenes of configuration GNSS satellite navigation signal simulator；It acquires and stores GNSS satellite navigation simulation signal；Playback
GNSS satellite navigation simulation signal；Data processing is carried out to pseudorange biases；Data processing is carried out to pseudo range measurement uncertainty；And
Obtain pseudorange accuracy calibration result.The invention also discloses a kind of pseudorange accuracy calibrations for GNSS signal acquisition playback apparatus
System, the system include: GNSS satellite navigation signal simulator, for providing GNSS satellite navigation simulation signal；GNSS signal
Playback apparatus is acquired, for acquiring, storing and play back GNSS satellite navigation simulation signal；GNSS receiver, for storage Pseudo away from
And carrier phase information, carry out signal resolving；And main control computer, for configuring the emulation of GNSS satellite navigation signal simulator
Scene, configures GNSS receiver and satellitosis, and setting GNSS signal acquires working condition, sample rate and the quantization of playback apparatus
Pseudorange biases are carried out data processing by bit, carry out data processing to pseudo range measurement uncertainty, obtain pseudorange accuracy calibration knot
Fruit
In the present invention in the way of Data Post, satellite navigation mould that GNSS satellite navigation signal simulator is exported
Quasi- signal is sent into GNSS signal acquisition playback apparatus and is acquired storage, and then GNSS signal acquisition playback apparatus returns signal again
It puts and is resolved to high precision GNSS receiver, the information such as output pseudorange, carrier phase are handled for pseudorange accuracy calibration data
And analysis, realize the calibration to GNSS signal acquisition playback apparatus pseudorange accuracy.
It is illustrated combined with specific embodiments below
As shown in Figure 1, in one embodiment, a kind of pseudorange accuracy calibration side for GNSS signal acquisition playback apparatus
Method the following steps are included:
The simulating scenes of step 1:GNSS satellite navigation signal simulator configure
In order to guarantee the accurate, stable of calibration process, set the simulating scenes of GNSS satellite navigation signal simulator to
Not comprising star clock error, ionosphere, troposphere, multipath equal error item.Meanwhile in order to avoid opposite due to receiver and satellite
Movement brings Doppler error to influence, and receiver and satellite is disposed as stationary state, and set a fixation for pseudorange
Value.
It should be noted that the calculation expression of normal pseudorange PR is as follows:
PR=R+c (Δ tr-Δtsat+biasr+biassat+TtC+n)+riono+rtropo+rm (1)
In formula (1), R is actual distance of the satellite to receiver, and c is the speed of light, Δ trIt is receiver clock-offsets, Δ tsat
It is satellite clock correction, biasrIt is receiver time delay, biassatSatellite delay, TtC (Time to Code) be simulator 1PPS and
Delay distortion between pseudo-code initial code phase positions, n are noise, rionoIt is ionospheric error, rtropoIt is tropospheric error, rmIt is more
Diameter error.
When closing each receiver clock-offsets, satellite clock delay, satellite in the emulation setting of GNSS satellite navigation signal simulator
Prolong, the emulation of ionosphere and tropospheric error, multipath equal error item.The then signal pseudorange expression formula such as formula of simulator output
(2) shown in:
PRs=R+c (biasr+TtC) (2)
In formula (2), R is to fix pseudorange distance, and c is the speed of light, biasrIt is receiver time delay, TtC is simulator
Delay distortion between 1PPS and pseudo-code initial code phase positions, biasrAccurate numerical value can be obtained by measurement and calibration with TtC.
The acquisition and storage of step 2:GNSS satellite navigation analog signal
By the analog signal of GNSS satellite navigation signal simulator (by calibration, pseudorange biases are had been corrected), it is sent into GNSS
The acquisition port of signal acquisition playback apparatus, it is acquisition signal condition that setting GNSS signal, which acquires playback apparatus, sets single channel
Acquisition, sample rate are set as equipment maximum sample rate, and quantization bit is set as equipment maximum quantization bit, and continuous acquisition simultaneously stores
10min。
Step 3: the playback of signal
Set playback signal state for GNSS signal acquisition playback apparatus, playback power setting for -100dBm~-
Suitable performance number within the scope of 120dBm, playback signal is sent into high precision GNSS receiver, and (by calibrating, pseudorange biases have been repaired
It just) is resolved, the corresponding amendment for closing each ionosphere, troposphere, multipath equal error item in receivers is avoided because of error
Amendment, which resolves pseudorange, introduces additional deviation, receiver in signal solution process storage Pseudo away from information such as, carrier phases.
At this point, shown in the pseudorange expression formula such as formula (3) that receiver resolves:
PRr=R+c (biasr+TtC)+Δρ (3)
Wherein, Δ ρ is the pseudorange biases for acquiring playback apparatus and introducing.
Step 4: pseudorange biases data processing
By the data such as pseudorange, carrier phase be sent into high-precision the poster processing soft, using the data such as carrier phase to pseudorange into
Row the disposal of gentle filter obtains high-precision pseudo range data, handles for pseudorange biases.
I-th pseudorange biases are expressed as the difference of formula (3) and formula (2):
Δρi=PRri-PRsi (4)
The mean value of pseudorange calibration result pseudorange biases indicates that calculation formula is as follows:
Wherein, n is pseudorange biases data record number.
Step 5: pseudo range measurement uncertainty data processing
Playback apparatus is acquired for GNSS signal, mainly there is GNSS letter in the uncertainty of measurement source that pseudorange calibration introduces
Number pseudorange accuracy of simulator, the pseudorange accuracy of GNSS high-precision receiver and the measurement for acquiring playback signal pseudorange biases Δ ρ
Repeatability introduces.
Pseudorange accuracy to GNSS signal simulator is X1, and the uncertainty introduced is evaluated by B class method, taken
(being uniformly distributed) then:
For high precision GNSS receiver fixation pseudorange measurement accuracy in X2, the uncertainty introduced presses B class method
Evaluation, takes(being uniformly distributed) then:
For the uncertainty that the measured value repeatability of pseudorange biases Δ ρ introduces, by A class uncertainty evaluation:
Then combined standard uncertainty μcAre as follows:
Then expanded uncertaintyrelAre as follows:
μrel=k μc (10)
Wherein, k is spreading factor, generally takes k=2.
Step 6: pseudorange accuracy calibration result
For the pseudorange calibration result Δ ρ of GNSS signal acquisition playback apparatus, do not known by pseudorange biases and pseudo range measurement
Two parts are spent to constitute:
Δ ρ=EΔρ+μrel (11)
As shown in Fig. 2, in another embodiment, a kind of pseudorange essence for GNSS signal acquisition playback apparatus
Calibration system is spent, which includes:
GNSS satellite navigation signal simulator 1, for providing GNSS satellite navigation simulation signal；
GNSS signal acquires playback apparatus 2, for acquiring, storing and play back GNSS satellite navigation simulation signal；
GNSS receiver 3, for storage Pseudo away from and carrier phase information, carry out signal resolving；And
Main control computer 4, for configuring the simulating scenes of GNSS satellite navigation signal simulator, configuration GNSS receiver and
Satellitosis, setting GNSS signal acquire working condition, sample rate and the quantization bit of playback apparatus, count to pseudorange biases
According to processing, data processing is carried out to pseudo range measurement uncertainty, obtains pseudorange accuracy calibration result.
In the embodiment of the present invention, GNSS receiver is high precision GNSS receiver.
It should be noted that the pseudorange accuracy calibration system in the embodiment of the present invention for GNSS signal acquisition playback apparatus,
GNSS signal is acquired using the pseudorange accuracy calibration system for being used for GNSS signal acquisition playback apparatus in previous embodiment and is played back
The pseudorange accuracy of equipment is calibrated, and specific calibration steps repeats no more again.
It should be understood that pseudo range measurement uncertainty source includes the puppet of GNSS signal simulator in the embodiment of the present invention
Measurement reproducibility away from precision, the pseudorange accuracy of GNSS receiver and acquisition playback signal pseudorange biases introduces.
In the present invention, in the way of Data Post, satellite navigation that GNSS satellite navigation signal simulator is exported
Analog signal be sent into GNSS signal acquisition playback apparatus be acquired storage, then GNSS signal acquisition playback apparatus by signal again
It is played back to high precision GNSS receiver to be resolved, the information such as output pseudorange, carrier phase, at pseudorange accuracy calibration data
Reason and analysis.In the present invention, acquisition, storage and the replayed section for obtaining acquiring playback apparatus because of GNSS signal lead input satellite
The error size that the pseudorange of signal that navigates introduces, realizes the calibration to GNSS signal acquisition playback apparatus pseudorange accuracy.
In the description of the present application unless specifically defined or limited otherwise, belong to " setting ", " connection " should do broad sense reason
Solution, such as may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection, be also possible to
Electrical connection；It can make to be connected directly, can also be connected by intermediary, can be the connection inside two elements.For this
For the those of ordinary skill in field, the above-mentioned concrete meaning belonged in this application can be understood as the case may be.
Each embodiment is described in a progressive manner in the application, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.
It should be noted that in present specification, the relational terms of such as " first " and " second " etc are used merely to
One entity or operation and another entity or operate is distinguished, without necessarily requiring or implying these entities or
There are any actual relationship or orders between person's operation.In addition, the terms "include", "comprise" or its any other
Variant is intended to non-exclusive inclusion, so that process, circuit, article or equipment including a series of elements are not only
It including those elements, but also including other elements that are not explicitly listed, or further include for this process, circuit, object
Product or the intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...",
Be not precluded is including that there is also other identical elements in the process of the element, circuit, article or equipment.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (10)
1. a kind of pseudorange accuracy calibration method for GNSS signal acquisition playback apparatus, which is characterized in that the pseudorange accuracy
Calibration method includes:
Configure the simulating scenes of GNSS satellite navigation signal simulator；
It acquires and stores GNSS satellite navigation simulation signal；
Play back the GNSS satellite navigation simulation signal；
Data processing is carried out to pseudorange biases；
Data processing is carried out to pseudo range measurement uncertainty；And
Obtain pseudorange accuracy calibration result.
2. pseudorange accuracy calibration method according to claim 1, which is characterized in that the configuration GNSS satellite navigation signal
The simulating scenes of simulator include:
The GNSS satellite navigation signal simulator emulation setting in close receiver clock-offsets, satellite clock delay, satellite delay,
The emulation of ionosphere and tropospheric error, multipath error item；
Stationary state is set by receiver and satellite；
Fixed value is set by pseudorange；And
The signal pseudorange that the GNSS satellite navigation signal simulator exports is expressed as the first formula:
PRs=R+c (biasr+TtC),
Wherein, PRsFor the signal pseudorange of GNSS satellite navigation signal simulator output, R is fixed pseudorange distance, and c is light
Speed, biasrFor receiver time delay, TtC prolonging between the GNSS satellite navigation signal simulator and pseudo-code initial code phase positions
Slow deviation.
3. pseudorange accuracy calibration method according to claim 2, which is characterized in that the acquisition simultaneously stores the GNSS and defends
Star navigation simulation signal includes:
The analog signal of the GNSS satellite navigation signal simulator is sent into the acquisition of the GNSS signal acquisition playback apparatus
Port；
The GNSS signal acquisition playback apparatus is set for acquisition signal condition；
It sets the GNSS signal and acquires playback apparatus as single channel acquisition；
The sample rate of the GNSS signal acquisition playback apparatus is set as equipment maximum sample rate；
The quantization bit of the GNSS signal acquisition playback apparatus is set as equipment maximum quantization bit；And
It is acquired with preset duration and stores the GNSS satellite navigation simulation signal.
4. pseudorange accuracy calibration method according to claim 3, which is characterized in that the preset duration is 10 minutes.
5. pseudorange accuracy calibration method according to claim 3, which is characterized in that the playback GNSS satellite navigation
Analog signal includes:
It is playback signal state that the GNSS signal acquisition playback apparatus, which is arranged,；
Set the playback power of GNSS signal acquisition playback apparatus, the playback power bracket for -100dBm~-
120dBm；
Playback signal feeding GNSS receiver is resolved；
The amendment in ionosphere, troposphere, multipath error item is closed in the GNSS receiver；
The GNSS receiver in signal solution process storage Pseudo away from and carrier phase information；
The pseudorange that the GNSS receiver resolves is expressed as the second formula:
PRr=R+c (biasr+ TtC)+Δ ρ,
Wherein, Δ ρ is the pseudorange biases that the GNSS signal acquires that playback apparatus introduces.
6. pseudorange accuracy calibration method according to claim 5, which is characterized in that described to be carried out at data to pseudorange biases
Reason includes:
The disposal of gentle filter is carried out to pseudorange；
I-th pseudorange biases are expressed as to the difference of first formula and second formula:
Δρi=PRri-PRsi,
Wherein, PRriFor the i-th pseudorange indicated according to second formula, PRsiFor what is indicated according to first formula
The i-th pseudorange, Δ ρiFor the difference of first formula and second formula；And
Pseudorange calibration result is expressed as to the mean value of pseudorange biases:
Wherein, n is pseudorange biases data record number, EΔρFor the mean value of pseudorange biases.
7. pseudorange accuracy calibration method according to claim 6, which is characterized in that it is described to pseudo range measurement uncertainty into
Row data processing includes:
The pseudorange accuracy of the GNSS signal simulator is set as X1, the uncertainty μ of introducing1Are as follows:
The fixation pseudorange measurement accuracy of the GNSS receiver is set as X2, the uncertainty μ of introducing2Are as follows:
The uncertainty μ that the measured value repeatability of pseudorange biases Δ ρ introducesAAre as follows:
Standard uncertainty u is calculated according to the following formulac:
And
Expanded uncertainty μ is calculated according to the following formularel:
μrel=k μc,
Wherein, k is spreading factor and k=2.
8. pseudorange accuracy calibration method according to claim 7, which is characterized in that pseudorange accuracy calibration result Δ ρ is obtained,
Wherein Δ ρ=EΔρ+μrel。
9. a kind of pseudorange accuracy calibration system for GNSS signal acquisition playback apparatus, which is characterized in that the system comprises:
GNSS satellite navigation signal simulator, for providing GNSS satellite navigation simulation signal；
GNSS signal acquires playback apparatus, for acquiring, storing and play back the GNSS satellite navigation simulation signal；
GNSS receiver, for storage Pseudo away from and carrier phase information, carry out signal resolving；And
Main control computer configures the GNSS and receives for configuring the simulating scenes of the GNSS satellite navigation signal simulator
Working condition, sample rate and the quantization bit of the GNSS signal acquisition playback apparatus is arranged in machine and satellitosis, inclined to pseudorange
Difference carries out data processing, carries out data processing to pseudo range measurement uncertainty, obtains pseudorange accuracy calibration result.
10. pseudorange accuracy calibration system according to claim 9, which is characterized in that the pseudo range measurement uncertainty is come
Source includes the pseudorange accuracy of the GNSS signal simulator, the pseudorange accuracy of the GNSS receiver and acquisition playback signal pseudorange
The measurement reproducibility of deviation introduces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910501262.9A CN110196419B (en) | 2019-06-11 | 2019-06-11 | Pseudo range precision calibration method and system for GNSS signal acquisition playback equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910501262.9A CN110196419B (en) | 2019-06-11 | 2019-06-11 | Pseudo range precision calibration method and system for GNSS signal acquisition playback equipment |
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|---|---|
| CN110196419A true CN110196419A (en) | 2019-09-03 |
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| CN110764118A (en) * | 2019-12-30 | 2020-02-07 | 湖南卫导信息科技有限公司 | Calibration and calibration method and device for RDSS user machine test system |
| CN111025345A (en) * | 2019-12-27 | 2020-04-17 | 北京无线电计量测试研究所 | Pseudo-range precision calibration method and system for GNSS signal acquisition playback equipment |
| CN111123310A (en) * | 2020-02-04 | 2020-05-08 | 广州计量检测技术研究院 | GPS receiver calibration device and calibration method |
| CN111562600A (en) * | 2020-05-21 | 2020-08-21 | 上海市计量测试技术研究院 | A kind of precision calibration system and calibration method |
| CN114384562A (en) * | 2021-12-31 | 2022-04-22 | 北京无线电计量测试研究所 | A calibration method, device and system for a GNSS signal acquisition and playback instrument |
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| CN115473594A (en) * | 2022-09-05 | 2022-12-13 | 灿芯技术(深圳)有限公司 | GNSS recording data laboratory playback calibration method and equipment |
| CN115657089A (en) * | 2022-11-15 | 2023-01-31 | 湖南矩阵电子科技有限公司 | Low-earth-orbit satellite navigation enhancement load calibration method and system |
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| CN114829981A (en) * | 2019-12-19 | 2022-07-29 | 罗伯特·博世有限公司 | Method and device for detecting a group delay change of a navigation sensor of a navigation system of a vehicle, and navigation sensor having such a device |
| CN111025345A (en) * | 2019-12-27 | 2020-04-17 | 北京无线电计量测试研究所 | Pseudo-range precision calibration method and system for GNSS signal acquisition playback equipment |
| CN111025345B (en) * | 2019-12-27 | 2021-12-14 | 北京无线电计量测试研究所 | Pseudo-range precision calibration method and system for GNSS signal acquisition playback equipment |
| CN110764118A (en) * | 2019-12-30 | 2020-02-07 | 湖南卫导信息科技有限公司 | Calibration and calibration method and device for RDSS user machine test system |
| CN110764118B (en) * | 2019-12-30 | 2020-05-12 | 湖南卫导信息科技有限公司 | Calibration and calibration method and device for RDSS user machine test system |
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| CN111562600A (en) * | 2020-05-21 | 2020-08-21 | 上海市计量测试技术研究院 | A kind of precision calibration system and calibration method |
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| CN114384562A (en) * | 2021-12-31 | 2022-04-22 | 北京无线电计量测试研究所 | A calibration method, device and system for a GNSS signal acquisition and playback instrument |
| CN115473594A (en) * | 2022-09-05 | 2022-12-13 | 灿芯技术(深圳)有限公司 | GNSS recording data laboratory playback calibration method and equipment |
| CN115657089A (en) * | 2022-11-15 | 2023-01-31 | 湖南矩阵电子科技有限公司 | Low-earth-orbit satellite navigation enhancement load calibration method and system |
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