CN110865402B - Precise single point positioning method, positioning device and recording medium - Google Patents

Abstract

Precise single point positioning method and positioning device. The precise point positioning method includes obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, and the satellite positioning data includes corrected code data and corrected carrier phase data.

Description

Precise single point positioning method, positioning device and recording medium

technical field

The present invention relates to satellite positioning technology, and more particularly, to a precise point positioning method, a positioning device and a recording medium.

Background technique

With the development of electronic information, the information of the map is also electronic. In conjunction with other technologies including satellite positioning system (SPS) technology, positioning components on an electronic map has become a common phenomenon. In practical applications, when a user carries a movable user equipment (UE), such as a mobile phone or a navigation device, it generally has a positioning function, which can show the user's location on a map. There are many ways of positioning, of which satellite positioning is one method.

SUMMARY OF THE INVENTION

The present invention provides precise single-point positioning technology, which can at least accelerate its initial convergence time.

In one embodiment, the present invention provides a precise point positioning method, executed by a user equipment, including obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, and the satellite positioning data includes corrected code data and corrected carrier phase data.

In one embodiment, the present invention also provides a precise point positioning device including a processor and a buffer, which are jointly configured to process the following operations, including obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, and the satellite positioning data includes corrected code data and corrected carrier phase data.

In one embodiment, the present invention also provides a precise point positioning method, which is executed by a user equipment, and includes receiving an error-corrected satellite positioning signal from the target satellite every time interval, wherein the current is the nth time. Receiving, n is a positive integer, wherein the satellite positioning signal includes the nth code data and carrier phase data. A smoothing process is performed on the current n-th telegram data to obtain the n-th telegram data after smoothing. The smoothing process recursively at the current time point n includes: taking the current nth telegram data as the first item, taking the n-1th smoothed telegram data plus the current nth carrier phase data and the previous The sum of the carrier phase data of the n-1th time is the second item, and the weights of parameters a' and (1-a') are added between the first item and the second item, respectively, to obtain the current nth item. The code data after recursive smoothing. The parameter a' contains the satellite elevation angle of the satellite relative to the user equipment, and the parameter a' decreases as the satellite elevation angle increases.

In an embodiment, the present invention also provides a recording medium for recording program codes, the program codes are obtained by the processor of the user equipment to execute the above-mentioned precise point positioning method.

In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are given and described in detail with the accompanying drawings as follows.

Description of drawings

FIG. 1 is a schematic diagram of a positioning mechanism of a satellite positioning system according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of the structure of a precise single point positioning device in a user equipment according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of a precise single point positioning method according to an embodiment of the present invention.

4 is a schematic diagram of an elevation angle smoothing mechanism in a precise single-point positioning method according to an embodiment of the present invention.

List of reference signs

50: Satellite Group

50a, 50b, 50c: Satellites

52: User Equipment

54: Reference Station

56: Network Control Center

58: Ground connection system

60: Network

105: Antenna

110: Receiver

120: Processor

130: Buffer

140: Memory device

142: Error correction module

144: Differential processing module

146: Adaptive carrier smoothing processing module

148: Precision single point positioning (PPP) processing module

150: Input and output device

200: Precision single point positioning device

S100, S102, S104, S106, S108, S110: Steps

Detailed ways

The present invention relates to precise single point positioning technology used in satellite positioning systems. The precise single-point positioning technology provided by the present invention can at least shorten the convergence time.

Hereinafter, the present invention will be described with reference to a plurality of embodiments, but the present invention is not limited to the described embodiments.

When the user equipment needs to be positioned on the ground, it receives radio signals from satellites. This radio signal provides coordinate information for the satellite. Generally, the position of the user equipment can be obtained from the signals of four satellites in different positions. Satellite positioning systems include, for example, the Global Positioning System (GPS), the Global Navigation Satellite System (GNSS), more such as the Beidou Navigation Satellite System (BDS) of the Chinese system, the European system Galileo (Galileo) and the Russian system of global navigation satellite system (Globalnaya navigatsionnaya sputnikovaya sistema, GLONASS) and so on.

In the positioning mechanism of satellite positioning system, Precise Point Positioning (PPP) is a technology that has been widely used and studied in recent years. The limit of the baseline distance between reference stations, and can provide users with positioning accuracy ranging from tens of centimeters to several centimeters.

The performance of precise point positioning is related to its convergence time. The initial convergence time of precise single point positioning is too long, for example, 20 to 40 minutes or longer, which is a problem that needs to be considered.

FIG. 1 is a schematic diagram of a positioning mechanism of a satellite positioning system according to an embodiment of the present invention. Referring to FIG. 1, the satellite positioning system includes a satellite group 50, which is composed of a plurality of satellites 50a, 50b, and 50c. In this embodiment, three satellites are used as an example. These satellites may be of the same type or different types, for example, satellites of the GLONASS (Global Navigation Satellite System) system, satellites of the GPS (Global Positioning System) system, and the like.

The user equipment 52 having a receiver of a satellite positioning system is, for example, provided on a vehicle, the position of which may be moved as required. The receiver of the satellite positioning system may also include a reference station 54 located at a fixed location. The number of reference stations 54 is not limited to one, and there may be a plurality of them as needed.

Each satellite 50a, 50b, 50c of the satellite group 50 can transmit information about the current position of the satellite to the reference station 54 and the user equipment 52, respectively. The signal directly received by the user equipment 52 is the original first signal. A reference station 54 located at a fixed location also simultaneously receives the signal transmitted by the satellite. The signals received by these reference stations 54 are first processed to obtain general error correction data, and the error correction data is used as the second signal. In one embodiment, the error correction data is primary error correction data. The reference station 54 transmits the second signal to the user equipment 52 through the network control center 56 and the network 60, so that the user equipment 52 obtains the second signal. The user equipment 52 obtains a satellite signal corresponding to the working frequency after correcting the first signal according to the second signal. Satellite signals of different frequencies can be provided by the same satellite or different satellites with multi-frequency functions, and are generally provided by the same satellite.

In addition, according to actual needs, the user equipment 52 may also obtain the second signal without going through the network 60. For example, the network control center 56 transmits the second signal to the ground uplink system 58 and then transmits it to the satellite 50c, and then the satellite 50c transmits the second signal. transmitted to the user equipment 52 .

The reception of satellite signals involves a variety of errors, including, for example, satellite timing errors, receiver timing errors, satellite orbit offset errors, ionospheric errors, tropospheric errors, noise, and the like. The second signal generated by the reference station 54 may provide general error corrections for the satellite, such as satellite orbit offset errors and satellite timing errors.

For a typical multi-frequency satellite, the satellites in the satellite positioning system use at least one carrier frequency signal. The user equipment receives a carrier frequency signal from the satellite during the positioning operation. To eliminate the effect of the ionosphere, another carrier frequency signal can be obtained. After combining multiple carrier frequency signals, the error effect of the ionosphere can be eliminated. The other carrier frequency signal can be acquired by the same satellite on multiple frequencies or by different satellites.

In one embodiment, the precise point positioning device is provided or placed in the user equipment 52 . In one embodiment, the user equipment 52 may be mobile, such as a vehicle, train, ship, airplane or drone, which may move rapidly, or sometimes enter and exit a tunnel, to re-receive satellite signals . FIG. 2 is a schematic diagram of the structure of a precise single point positioning device in a user equipment according to an embodiment of the present invention. FIG. 3 is a schematic diagram of a precise single point positioning method according to an embodiment of the present invention.

The above-mentioned user equipment 52, in one of several embodiments, may include the structure of the precise point positioning apparatus 200 shown in FIG. 2 or its components. Referring to FIG. 2 , the precise point positioning device 200 at least includes a receiver 110 , a processor 120 , a register 130 , a memory device 140 , and an input/output device 150 . In another embodiment, the precise point positioning device 200 may include the antenna 105 . The precise point positioning device 200 can eliminate various error sources, such as receiver timing errors, receiver hardware delays, and initial phase errors, based on the between satellite single difference (BSSD) technique on the received signals. In addition, the precision point positioning device 200 can further introduce adaptive carrier smoothing technology to reduce the noise level of the code observation after the first difference, and then perform a precision point positioning (PPP) operation on the processed signal. The entire architecture is explained below.

The precise point positioning device 200 is, for example, a smart phone, or a navigation device (Navigation Device) used in vehicles, such as vehicles, trains, ships, airplanes, or drones.

The receiver 110 is used for wirelessly communicating with different communication systems, and receiving radio signals sent from satellites. This radio signal provides relative position information for the corresponding satellite. In one embodiment, the position and/or velocity of the user equipment may be obtained from signals of multiple, eg, three, satellites at different positions. Described communication systems such as satellite positioning systems include, for example, Global Positioning System (Global Positioning System, GPS), Global Navigation Satellite System (Global Navigation Satellite System, GNSS), European system Galileo (Galileo), China system Beidou satellite navigation system (Beidou Navigation Satellite System, BDS), or the Russian system Global Navigation Satellite System (Globalnaya navigatsionnaya sputnikovaya sistema, GLONASS) and so on.

The processor 120 may be, for example, a central processing unit (CPU), microcontroller (microcontroller), application specific integrated circuit (ASIC), etc., or programmable logic with specific design programming A device (programmable logic device, PLD) or a field programmable gate array (field programmable gate array, FPGA), etc.

The register 130 is used to temporarily store information required to be temporarily stored in the operation process of the processor 120 , such as a cache (Cache Memory) and the like.

The memory device 140 is used to store various functional modules that can be processed by the processor 120, and in this embodiment, includes, for example, an error correction module 142, a differential processing module 144 for performing between satellite single difference (BSSD), a An adaptive carrier smoothing processing module 146 and a precision point positioning (Precise Point Positioning, PPP) processing module 148 . The memory device 140 may be a volatile memory (Volatile memory), such as a random access memory (Random Access Memory, RAM), a read-only memory (Read-Only Memory, ROM). The memory device 140 may also be a non-volatile memory (Non-volatile memory), such as a hard disk, flash memory, or solid state storage.

The Input/Output device 150 is used for outputting or inputting data. The processor 120 of the precise point positioning device 200 eliminates various error sources based on the inter-satellite first differential technology (BSSD) for the received signal, and can introduce adaptive carrier smoothing technology to reduce the noise level of the code observation after the first differential. After the processed signal is subjected to a precise point positioning (PPP) operation, it is output through the Input/Output device 150. In one embodiment, in a navigation system, a screen (not shown) can be used for The current location is displayed on the map.

Please refer to FIG. 3 , which is a schematic diagram of a precise single-point positioning method according to an embodiment of the present invention. In one embodiment, the precise single-point positioning method of FIG. 3 can be performed according to the structure of the precise single-point positioning apparatus 200 of FIG. 2 .

In one embodiment, the operation of precise point positioning may involve the use of handler code. The program code required for this is recorded on a recording medium. The recording medium may be the memory device 140 containing the internal settings, or may be an external recording medium that can be read by the precise point positioning device 200 of the user equipment. In one embodiment, the error correction module 142 , the differential processing module 144 , the adaptive carrier smoothing processing module 146 , and the precise point positioning processing module 148 may be hardware, firmware, or stored in the memory device 140 by the processor 120 . Loaded software or machine executable program code for execution.

In step S100, the receiver 110 receives the reception of the code data and the carrier phase data. In step S102, the error correction module 142 corrects the ionospheric error. In one embodiment, after the operation starts, data is acquired and processed every predetermined time interval, and the time point n represents the nth time to acquire data. In one embodiment, the operation is cyclically continuous. Corresponding to the accumulation of time, the nth time refers to the time point after n time intervals, and n is a positive integer. Initially, taking n=1 as an example, n=1 represents the first time to receive satellite signals, and it will continue to receive raw satellite signals belonging to each satellite. In one embodiment, the subsequent signal smoothing process is recursive and will refer to the data at the previous time point. Therefore, the satellite positioning data obtained when n=1 has not been smoothed, and can be used for the data at the time point n=2. Smoothing is used in recursive operations.

In step S100, the receiver 110 receives the original first frequency signal, and the original first frequency signal is corrected by the primary error correction data to become the satellite signal of the first frequency, and the satellite signal of the first frequency includes the measured signal. Code observation data and carrier-phase observation data, code observation data is abbreviated as code data, represented by P ₁ (n) or P ₁ , and carrier phase observation data is abbreviated as carrier-phase data, represented by Φ ₁ (n) or Φ ₁ denotes, wherein the subscript 1 denotes the satellite signal of the first frequency. In one embodiment, the receiver 110 receives the original second frequency signal, and the original second frequency signal is corrected by the primary error correction data to become the second frequency satellite signal, and the ionospheric error can be eliminated by using the second frequency satellite signal. , the satellite signal of the second frequency includes code data P ₂ (n) and carrier phase data Φ ₂ (n), and the subscript 2 represents the satellite signal of the second frequency. In one embodiment, the satellite signal of the second frequency may be transmitted by a different frequency channel from the same satellite that transmitted the satellite signal of the first frequency. In another embodiment, the satellite signal of the second frequency may be transmitted by a different satellite than the satellite signal of the first frequency. In one embodiment, the satellite signal (P ₁ , Φ ₁ ) of the first frequency and the satellite signal (P ₂ , Φ ₂ ) of the second frequency are signals after correction of satellite orbit offset errors and satellite time table errors.

In step S102, the error correction module 142 performs the process of eliminating the ionospheric error according to the combination of the satellite signal of the first frequency (P ₁ , Φ ₁ ) and the satellite signal of the second frequency (P ₂ , Φ ₂ ) to obtain a non-ionization Layer (ionosphere-free) satellite signal, subscript 3 to distinguish including code data P ₃ and carrier phase data Φ ₃ , such as formula (1):

P3: Pointer corresponding to ionospheric-free code data

Φ3: The pointer corresponding to the phase data of the carrier without ionosphere

ρ: the geometric distance from the receiver to the satellite

c: speed of light

r: Relative receiver index

dt ^r : receiver clock error

T: Tropospheric delay

ε: Unmodeled errors, such as some temperature noise, multipath effects, etc.

N’: Undetermined value of carrier without ionosphere combination

λ: wavelength

In one embodiment, the satellite signal (P ₁ , Φ ₁ ) of the first frequency and the satellite signal (P ₂ , Φ ₂ ) of the second frequency are linearly combined to eliminate the ionospheric error and obtain the code data P ₃ and the carrier wave Phase data Φ ₃ .

In one embodiment, the convergence time of the precise point positioning technique may be longer because the dual-frequency ionospheric-free linear combination eliminates the ionospheric error, but may also amplify the noise energy.

Step S104 is executed after step S102, and the differential processing module 144 performs a mechanism of first-order differential between satellites to eliminate errors related to the receiver. In one embodiment, the receiver is, for example, the precise point positioning device 200 shown in FIG. 2 . In one embodiment, the receiver-related errors include receiver timing errors, receiver hardware delays, and initial phase errors. In one embodiment, the processing of a differential may slightly amplify the noise level of the observation. In an embodiment of the present invention, the adaptive carrier smoothing processing module 146 is used to perform step S106 to perform smoothing processing, which can effectively shorten the convergence time and improve the positioning efficiency.

In one embodiment, the code data and the carrier phase data to be smoothed in the adaptive carrier smoothing processing module 146 are subjected to a first-order difference mechanism between satellites. That is, the mechanism of performing the first-order difference between satellites in step S104 is performed first, and then the smoothing process in step S106 is performed.

The mechanism of the first-order difference between satellites is first described below. For a plurality of satellites, any one of them can be taken as a reference satellite. In this embodiment, the pointer k is used to represent the reference satellite, for example, the satellite 50a in FIG. 1 is used as an example. Among the plurality of satellites, any one of the valid satellites other than the reference satellite, such as the satellite expected to be incorporated into the satellite positioning, is called the target satellite. In one embodiment, data of at least three target satellites are required for positioning. In this embodiment, the target satellite is represented by a pointer l, and l is variable and determined according to the actual number of satellites involved in positioning. The target satellite is, for example, one of the satellites 50b, 50c and the like.

That is to say, the first-order difference between satellites is that one of a plurality of satellites is used as a reference satellite to provide a reference satellite signal, and one or more of the plurality of satellites other than the reference satellite is a target satellite that provides a target satellite signal , wherein the reference satellite signal is combined with the target satellite signal to eliminate common errors.

In one embodiment, the target satellite signal after eliminating the ionospheric error is the first satellite signal (P ^l ₃ , Φ ^l ₃ ), and the reference satellite signal after eliminating the ionospheric error is the second satellite signal (P ^k ₃ , Φ l 3 ). ^k ₃ ). After a differential processing between satellites, the combined satellite signal is obtained, and the combined satellite signal includes the BSSD code data P ^kl ₃ and the BSSD carrier phase data Φ ^kl ₃ , as shown in formula (2):

ρ ^kl : the subtraction of the geometric distance from the receiver to the satellite k and the satellite l

T ^kl : the subtraction of the tropospheric delay from the receiver to satellite k and satellite l

N': receiver-to-carrier-undetermined subtraction of the ionospheric-free combination of satellite k and satellite l

λ: wavelength

Δε _P3 : Subtraction of unmodeled errors from receiver to satellite k and satellite l's code data

Δε _Φ3 : the subtraction of the unmodeled error of the carrier phase data from the receiver to satellite k and satellite l

In one embodiment, the error of the last item Δε _P3 of the code data may be slightly amplified after the first difference processing between satellites, and then smoothing processing can be performed, such as step S106 to perform smoothing processing, wherein the BSSD used for smoothing processing is The code data and the BSSD carrier phase data are the data that have completed the first differential processing between satellites.

The smoothing mechanism of the adaptive carrier smoothing processing module 146 is described below, which is a recursive mechanism and can use the buffer 130 and the processor 120 to perform temporary storage processing. As shown in FIG. 3, the buffer 130 records the n-1th BSSD carrier phase data and the smoothed BSSD code data, step S110, and after the adaptive carrier smoothing processing module 146 completes the nth smoothing processing, Step S106, update the nth BSSD carrier phase data and the smoothed BSSD code data in the buffer 130 (step S110), and output the nth BSSD carrier phase data and the smoothed BSSD code data to the precision The single-point positioning processing module 148 performs subsequent processing of precise single-point positioning, step S108 , to obtain the location of the precise single-point positioning device 200 , which can be positioned for the precise single-point positioning device 200 . In FIG. 2 , the adaptive carrier smoothing processing module 146 outputs the smoothed code data and carrier phase data after the first-order differential processing and smoothing between satellites to the precise single-point positioning processing module 148 , as in step S108 , and the subsequent first step is performed. Positioning processing of n times of precise single-point positioning. In one embodiment, the precise point positioning processing module 148 performs positioning based on the data of multiple target satellites, wherein the reference satellites of each target satellite may be shared, or there may be different reference satellites for different target satellites. The invention is not limited to the selection of reference satellites. In one embodiment, the satellite positioning data includes corrected code data and corrected carrier phase data, the nth BSSD carrier phase data is corrected carrier phase data, and the nth smoothed BSSD code data satellite positioning data is corrected. post code data.

In one embodiment, the smoothing processing of the present invention performs smoothing processing on the code data P ^k1 ₃ . In one embodiment, if according to the recursion of time point n, referring to equation (3), the code data P ^kl _3,SM (n) obtained by the smoothing process at time point n is the smoothed code data of the n-1th time. The data P ^kl _3,SM (n-1), the nth BSSD code data P ^kl ₃ (n) and the BSSD carrier phase data Φ ₃ ^kl are weighted and summed with the parameters "a" and "(1-a)" , which is shown in formula (3):

The parameter "a" of "a" and "(1-a)" is continuously changed with the processing time, a=1/n.

与(1-a)的乘积。第一项与第二相加总得到平滑处理后的电码数据P^kl _3,SM(n)。当观测时间增加，其表示n值加大，平滑后的电码数据P^kl _3,SM(n)的第二项

的效应会加大。另外上标“kl”是指参考卫星k与目标卫星l之间已完成卫星间一次差分的处理。The pointer n is the time point at which data is received for the nth time, which is the time point at which n time intervals have elapsed from the start point in terms of time. The subscript "SM" represents the result after smoothing. The first item of the formula (3) is the product of the parameter "a" and the code data P ^kl ₃ (n) of the current time point n that has undergone a differential process between satellites. The second item contains

The product of (1-a). The first term and the second term are added together to obtain the smoothed code data P ^kl _3,SM (n). When the observation time increases, it means that the value of n increases, and the second term of the smoothed code data P ^kl _3,SM (n)

effect will increase. In addition, the superscript “k1” refers to the processing of a difference between the satellites that has been completed between the reference satellite k and the target satellite 1.

In addition, step S106 is a recursive method, and an appropriate initial value can be input in the first recursive smoothing process, for example, p ^kl _{3, SM} (1)=p ^kl ₃ (1).

4 is a schematic diagram of an elevation angle smoothing mechanism in a precise single-point positioning method according to an embodiment of the present invention. Referring to FIG. 4 , in an embodiment, when the satellite elevation angle θ ₂ is larger, the satellite is closer to the top of the receiver. The quality of the satellite signal at this time may be better. Conversely, when the satellite elevation angle θ ₁ is small, the satellite is closer to the horizontal direction of the receiver, and the quality of the satellite signal may be poor.

Based on the factor of the satellite elevation angle θ, the smoothing process can add the effect of the satellite elevation angle θ to add the correction of the satellite elevation angle to the code data, as shown in equation (4), and modify the parameter a as:

的权重加大，可以增加平滑速度。反之当卫星仰角θ小时(例如接近0度)，如式(3)的第二项的权重会减小，则会减缓平滑速度，与未考虑卫星仰角θ的平滑处理的速度相同或相似。In this way, referring to equations (3) and (4), when the satellite elevation angle θ is large (for example, close to 90 degrees), the parameter "a" is closer to zero, as shown in the second term of equation (3).

Increasing the weight of , can increase the smoothing speed. Conversely, when the satellite elevation angle θ is small (for example, close to 0 degrees), the weight of the second term in equation (3) will decrease, which will slow down the smoothing speed, which is the same or similar to the smoothing speed without considering the satellite elevation angle θ.

In one embodiment, considering the smoothing effect of the satellite elevation angle θ, it can also be applied to data without first-order differential processing between satellites, that is, step S104 is omitted. For the current target satellite, taking pointer l as an example, Equation (3) is changed to Equation (5):

In view of the foregoing description, the present invention may have at least the following features.

In one embodiment, the present invention provides a precise point positioning method, executed by a user equipment, including obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, and the satellite positioning data includes corrected code data and corrected carrier phase data.

In one embodiment, the present invention provides a precise point positioning device including a processor and a buffer, which are jointly configured to process the following operations, including obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, and the satellite positioning data includes corrected code data and corrected carrier phase data.

In one embodiment, in the precise point positioning method or device, the step or operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal includes: eliminating the The first ionospheric error of the first satellite signal and the second ionospheric error of the second satellite signal are canceled.

In one embodiment, in the precise point positioning method or device, the step or operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further comprises: using the The first satellite signal and the second satellite signal are subjected to a differential process between satellites to eliminate common errors.

In one embodiment, in the precise point positioning method or device, the first difference between satellites is to take one of a plurality of satellites as the reference satellite, and the reference satellite provides the second satellite signal, except for the reference satellite. One of the plurality of satellites other than the satellite is the target satellite, and the target satellite provides the first satellite signal.

In an embodiment, in the precise single point positioning method or device, the smoothing process includes: taking the current code data of the combined satellite signal as the first item, and taking the previous recursive smoothing of the combined satellite signal. The sum of the code data plus the current recursive carrier phase data and the previous recursive carrier phase data is the second item, and the first item and the second item are summed with the weights of parameters a and (1-a) respectively , and obtain the current recursive smoothed satellite positioning data.

In one embodiment, in the precise point positioning method or device, the parameter a includes a satellite elevation angle of the satellite relative to the user equipment, wherein the parameter a decreases as the satellite elevation angle increases.

In one embodiment, in the precise point positioning method or device, the parameter a is 1/n, wherein the first satellite signal and the second satellite signal are received every time interval, and the parameter n is The first satellite signal and the second satellite signal are received for the nth time, where n is a positive integer.

In one embodiment, in the precise point positioning method or device, the parameter a is (1-θ/90)/n, and the parameter θ is the satellite elevation angle, wherein the first time interval is received once every time interval. The satellite signal and the second satellite signal, wherein the parameter n is the nth reception of the first satellite signal and the second satellite signal, and n is a positive integer.

In one embodiment, in the precise point positioning method or apparatus, each of the first satellite signal and the second satellite signal of the user equipment includes primary error correction data received by a reference station, wherein the reference The station receives the radio signals of the reference satellite and the target satellite, respectively, and generates the primary error correction data.

In one embodiment, in the precise point positioning method or device, each of the first satellite signal and the second satellite signal includes code data and carrier phase data.

In one embodiment, the present invention also provides a precise single point positioning method, which is executed by a user equipment, and includes receiving a satellite positioning signal obtained after error correction processing by a target satellite every time interval, wherein the current is the nth satellite positioning signal. reception, n is a positive integer, wherein the satellite positioning signal includes the code data and carrier phase data of the nth time. A smoothing process is performed on the current n-th telegram data to obtain the n-th telegram data after smoothing. The smoothing process recursively at the current time point n includes: taking the current nth telegram data as the first item, taking the n-1th smoothed telegram data plus the current nth carrier phase data and the previous The sum of the carrier phase data of the n-1th time is the second item, and the weights of parameters a' and (1-a') are added between the first item and the second item, respectively, to obtain the current nth item. The code data after recursive smoothing. The parameter a' contains the correction of the satellite elevation angle of the satellite relative to the user equipment, so that the parameter a' decreases as the satellite elevation angle increases.

In one embodiment, in the precise point positioning method, the parameter a' includes a multiplier of (1-θ/90), and the parameter θ is the elevation angle of the satellite.

In one embodiment, in the precise single point positioning method, the time-varying parameter a' is (1-θ/90)/n.

In one embodiment, the present invention also provides a recording medium for recording program codes, the program codes are obtained by the processor of the user equipment to execute the above-mentioned precise point positioning method.

Although the present invention has been disclosed as above with examples, it is not intended to limit the present invention. Any person skilled in the art can make some changes and modifications without departing from the spirit and scope of the present invention, so the protection of the present invention The scope is defined by the claims.

Claims (13)

1. A precise single point positioning method, executed by user equipment, comprising: Obtain the first satellite signal of the target satellite and the second satellite signal of the reference satellite; combining the first satellite signal and the second satellite signal to eliminate signal errors and obtain a combined satellite signal; and Perform smooth processing on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, the satellite positioning data including the corrected code data and the corrected carrier phase data The smoothing process includes: Take the current code data of this combined satellite signal as the first item, and take the sum of the code data of the combined satellite signal after the previous recursive smoothing plus the current recursive carrier phase data and the previous recursive carrier phase data as the second item, the weights of parameters a and (1-a) are added up between the first item and the second item, respectively, to obtain the current recursive smoothed satellite positioning data, wherein the parameter a includes the satellite elevation angle of the satellite relative to the user equipment, wherein the parameter a is (1-θ/90)/n, wherein the first satellite signal and the second satellite signal are received every time interval, The parameter n is the nth reception of the first satellite signal and the second satellite signal, n is a positive integer, and the parameter θ is the elevation angle of the satellite. 2. The precise point positioning method of claim 1, wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal comprises: canceling the first ionospheric error of the first satellite signal; and A second ionospheric error of the second satellite signal is canceled. 3. The precise point positioning method of claim 2, wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further comprises: Using the first satellite signal and the second satellite signal to perform a differential process between satellites to eliminate common errors. 4. The precise point positioning method as claimed in claim 3, wherein the first difference between satellites is to take one of a plurality of satellites as the reference satellite, and the reference satellite provides the second satellite signal except for the reference satellite One of the plurality of satellites is the target satellite, and the target satellite provides the first satellite signal. 5. The precise point positioning method of claim 1, wherein each of the first satellite signal and the second satellite signal of the user equipment includes primary error correction data received by a reference station, wherein the reference The station receives the radio signals of the reference satellite and the target satellite, respectively, and generates the primary error correction data. 6 . The precise point positioning method of claim 1 , wherein each of the first satellite signal and the second satellite signal includes code data and carrier phase data. 7 . 7. A precise single point positioning device, comprising a processor and a buffer, configured to handle the following operations, comprising: Obtain the first satellite signal of the target satellite and the second satellite signal of the reference satellite; combining the first satellite signal and the second satellite signal to eliminate signal errors and obtain a combined satellite signal; and Perform smooth processing on the code data combined with the satellite signal to obtain satellite positioning data required for positioning, the satellite positioning data including the corrected code data and the corrected carrier phase data The smoothing process includes: Take the current code data of this combined satellite signal as the first item, and take the sum of the code data of the combined satellite signal after the previous recursive smoothing plus the current recursive carrier phase data and the previous recursive carrier phase data as the second item, the weights of parameters a and (1-a) are added up between the first item and the second item, respectively, to obtain the current recursive smoothed satellite positioning data, wherein the parameter a includes the satellite elevation angle of the satellite relative to the user equipment, wherein the parameter a is (1-θ/90)/n, wherein the first satellite signal and the second satellite signal are received every time interval, The parameter n is the nth reception of the first satellite signal and the second satellite signal, n is a positive integer, and the parameter θ is the elevation angle of the satellite. 8. The precise point positioning device of claim 7, wherein the operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal comprises: canceling the first ionospheric error of the first satellite signal; and A second ionospheric error of the second satellite signal is canceled. 9. The precise point positioning device of claim 8, wherein the operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further comprises: Using the first satellite signal and the second satellite signal to perform a differential process between satellites to eliminate common errors. 10. The precise point positioning device of claim 9, wherein the first difference between satellites is to take one of a plurality of satellites as the reference satellite, and the reference satellite provides the second satellite signal except for the reference satellite One of the plurality of satellites is the target satellite, and the target satellite provides the first satellite signal. 11. The precise point positioning device of claim 7, wherein each of the first satellite signal and the second satellite signal of the user equipment comprises primary error correction data received by a reference station, wherein the reference The station receives the radio signals of the reference satellite and the target satellite, respectively, and generates the primary error correction data. 12. The precise point positioning device of claim 7, wherein each of the first satellite signal and the second satellite signal includes code data and carrier phase data. 13. A recording medium recording program codes, the program codes being obtained by a processor of a user equipment to execute the precise point positioning method as claimed in claim 1.

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