CN120405722B - Beidou satellite-based positioning method, device, equipment and storage medium - Google Patents
Beidou satellite-based positioning method, device, equipment and storage mediumInfo
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- CN120405722B CN120405722B CN202510896977.4A CN202510896977A CN120405722B CN 120405722 B CN120405722 B CN 120405722B CN 202510896977 A CN202510896977 A CN 202510896977A CN 120405722 B CN120405722 B CN 120405722B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- 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
- G01S19/072—Ionosphere corrections
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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
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
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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
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Power Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
本申请实施例公开了一种基于北斗卫星的定位方法、装置、设备及存储介质，包括：获取待处理信号并解析为单频或双频信号：单频时，获取穿刺点及对应有效格网点，计算穿刺点电离层垂直延迟；双频时，获取第一、第二导频分量计算无电离层组合伪距；获取卫星坐标及增强修正量以修正坐标，获取钟差修正量修正卫星钟差；用单频的电离层垂直延迟或双频的无电离层组合伪距，结合修正后的坐标与钟差，分别修正得到目标信号，再对目标信号定位解算，得出定位结果。通过融合单双频信号处理机制，结合穿刺点电离层垂直延迟与无电离层组合伪距算法，实现卫星轨道、钟差及电离层误差的高精度动态补偿，显著提升定位实时性与可靠性。
The embodiment of the present application discloses a positioning method, device, equipment and storage medium based on Beidou satellite, including: obtaining the signal to be processed and parsing it into a single-frequency or dual-frequency signal: in single-frequency, obtaining the puncture point and the corresponding valid grid point, and calculating the ionospheric vertical delay of the puncture point; in dual-frequency, obtaining the first and second pilot components to calculate the ionospheric-free combined pseudorange; obtaining the satellite coordinates and the enhanced correction amount to correct the coordinates, and obtaining the clock error correction amount to correct the satellite clock error; using the single-frequency ionospheric vertical delay or the dual-frequency ionospheric-free combined pseudorange, combined with the corrected coordinates and clock error, respectively correct the target signal, and then locate and solve the target signal to obtain the positioning result. By integrating the single-frequency and dual-frequency signal processing mechanism, combining the ionospheric vertical delay of the puncture point with the ionospheric-free combined pseudorange algorithm, high-precision dynamic compensation of satellite orbit, clock error and ionospheric error is achieved, significantly improving the real-time performance and reliability of positioning.
Description
Technical Field
The present application relates to the field of navigation positioning technologies, and in particular, to a positioning method, apparatus, device and storage medium based on a beidou satellite.
Background
In the current Beidou satellite navigation positioning technology, the traditional single-frequency and double-frequency positioning technology is mainly adopted for correction positioning, but the calculation of ionospheric delay in a single-frequency scene, satellite orbit errors in a double-frequency scene and clock difference time-varying characteristics in two frequency scenes has precision bottlenecks, and the high-precision positioning requirement is difficult to meet. And the correction quantity calculation under two scenes does not fully consider the parameter timeliness, so that hysteresis or deviation exists in error correction.
Therefore, how to reduce the calculation error and improve the real-time performance and accuracy of positioning is a problem to be solved.
Disclosure of Invention
In view of this, the method, the device, the equipment and the storage medium for positioning based on the Beidou satellite provided by the embodiment of the application can reduce calculation errors and improve the instantaneity and the accuracy of positioning. The positioning method, device and equipment based on the Beidou satellite and the storage medium provided by the embodiment of the application are realized as follows:
The embodiment of the application provides a positioning method, a device, equipment and a storage medium based on Beidou satellites, which comprise the following steps:
acquiring a signal to be processed, and analyzing the signal to be processed to obtain a first signal, wherein the first signal comprises a single-frequency signal or a double-frequency signal;
Under the condition that the first signal is a single-frequency signal, acquiring a puncture point in the first signal and an effective lattice point corresponding to the puncture point, and calculating according to a formula (1) to obtain the ionospheric vertical delay of the puncture point in the first signal;
(1)
Wherein, the 、The latitude and longitude of the puncture point respectively,For the number of effective lattice points corresponding to the puncture points,、For the coordinates of the active grid points,And is a weight coefficient for the active grid point, where i is the current active grid point,For the ionospheric vertical delay of the active mesh point,Ionospheric vertical delay for a puncture point in the first signal;
Under the condition that the first signal is a double-frequency signal, acquiring a first pilot frequency component and a second pilot frequency component of the first signal, and performing pseudo-range calculation on the first pilot frequency component and the second pilot frequency component to obtain an ionospheric-free combined pseudo-range of the first signal;
Acquiring coordinates of a satellite transmitting a signal to be processed and an enhanced correction quantity of the satellite, and carrying out correction processing on the coordinates according to the enhanced correction quantity to obtain corrected coordinates of the satellite;
Acquiring a clock correction amount of the satellite, correcting the clock error of the satellite according to the clock error correction amount to obtain a corrected satellite clock error;
When the first signal is a single-frequency signal, correcting the first signal according to the ionosphere vertical delay of a puncture point in the first signal, the coordinates of a corrected satellite and the corrected satellite clock difference to obtain a first target signal; when the first signal is a double-frequency signal, correcting the first signal according to the ionosphere-free combined pseudo range of the first signal, the coordinates of the corrected satellite and the corrected satellite clock difference to obtain a second target signal;
And carrying out positioning calculation on the first target signal or the second target signal to obtain a positioning result.
In some embodiments, the obtaining the first pilot component and the second pilot component of the first signal when the first signal is a dual-frequency signal, and performing pseudo-range calculation on the first pilot component and the second pilot component to obtain an ionospheric-free combined pseudo-range of the first signal includes:
Under the condition that the first signal is a double-frequency signal, acquiring a first pilot frequency component and a second pilot frequency component of the first signal, and performing pseudo-range calculation on the first pilot frequency component and the second pilot frequency component according to a formula (2) to obtain an ionosphere-free combined pseudo-range of the first signal;
(2)
Wherein, the As a ratio of the frequency of the first pilot component to the frequency of the second pilot component,In order to achieve the light velocity, the light beam is,AndThe observed pseudoranges for the first pilot component and the second pilot component respectively,AndThe delay differences of the first pilot component and the second pilot component, respectively.
In some embodiments, the acquiring the coordinates of the satellite transmitting the signal to be processed and the enhanced correction amount of the satellite, and performing correction processing on the coordinates according to the enhanced correction amount to obtain corrected coordinates of the satellite includes:
Acquiring coordinates of the satellite, slow correction parameters, a change rate of the slow correction parameters and transmission time of the slow correction parameters, and calculating according to a formula (3) to obtain an enhanced correction quantity of the satellite;
(3)
Wherein (x, y, z) is the coordinates of the satellite, 、、In order to slowly correct the parameters, the parameters are,、、In order to slowly correct the rate of change of the parameter,、、For the enhanced correction of the satellite,For a slow correction of the transmission time of the parameters,Is the current time;
And correcting the coordinates of the satellite according to the enhanced correction amount of the satellite to obtain corrected coordinates of the satellite.
In some embodiments, the obtaining the clock correction of the satellite, correcting the clock of the satellite according to the clock correction, to obtain the corrected clock of the satellite includes:
Under the condition that the first signal is a single-frequency signal, acquiring an initial clock correction parameter, a clock correction change rate and an enhancement correction parameter of the satellite, and calculating the clock correction of the satellite at the current time according to a formula (4);
(4)
Wherein, the For the current time the satellite's clock correction,Correcting parameters for an initial clock correction of the satellite,Correcting the rate of change for the satellite's clock bias,The parameters are modified for the augmentation of the satellite,For the transmission time of the enhanced correction parameter,Is the current time;
And correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.
In some embodiments, the obtaining the clock correction of the satellite, correcting the clock of the satellite according to the clock correction, to obtain the corrected clock of the satellite, further includes:
Under the condition that the first signal is a double-frequency signal, acquiring an initial clock correction parameter and a clock correction change rate of the satellite, and calculating the clock correction of the satellite at the current time according to a formula (5);
(5)
Wherein, the For the current time the satellite's clock correction,Correcting parameters for an initial clock correction of the satellite,Correcting the rate of change for the satellite's clock bias,The transmission time of the rate of change is corrected for the clock skew,For the current time period of time,Is the speed of light;
And correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.
In some embodiments, the number of effective lattice points corresponding to the puncture points is 4.
In some embodiments, the first pilot component has a frequency of 1575.42MHz and the second pilot component has a frequency of 1176.45MHz.
The positioning device based on the Beidou satellite provided by the embodiment of the application comprises:
The device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a signal to be processed, analyzing and processing the signal to be processed to obtain a first signal, and the first signal comprises a single-frequency signal or a double-frequency signal;
The computing module is used for acquiring the puncture points in the first signal and the effective lattice points corresponding to the puncture points under the condition that the first signal is a single-frequency signal, and computing according to a formula (1) to obtain the ionospheric vertical delay of the puncture points in the first signal;
(1)
Wherein, the 、The latitude and longitude of the puncture point respectively,For the number of effective lattice points corresponding to the puncture points,、For the coordinates of the active grid points,And is a weight coefficient for the active grid point, where i is the current active grid point,For the ionospheric vertical delay of the active mesh point,Ionospheric vertical delay for a puncture point in the first signal;
the calculation module is further configured to obtain a first pilot component and a second pilot component of the first signal when the first signal is a dual-frequency signal, and perform pseudo-range calculation on the first pilot component and the second pilot component to obtain an ionospheric-free combined pseudo-range of the first signal;
The processing module is used for acquiring the coordinates of the satellite transmitting the signal to be processed and the enhanced correction quantity of the satellite, and carrying out correction processing on the coordinates according to the enhanced correction quantity to obtain corrected coordinates of the satellite;
the processing module is further used for obtaining the clock error correction of the satellite, correcting the clock error of the satellite according to the clock error correction, and obtaining corrected satellite clock error;
The processing module is further used for carrying out correction processing on the first signal according to the ionosphere vertical delay of the puncture point in the first signal, the coordinates of the corrected satellite and the corrected satellite clock difference to obtain a first target signal when the first signal is a single-frequency signal, and carrying out correction processing on the first signal according to the ionosphere-free combined pseudo range of the first signal, the coordinates of the corrected satellite and the corrected satellite clock difference when the first signal is a double-frequency signal to obtain a second target signal;
the calculation module is further configured to perform positioning calculation on the first target signal or the second target signal, so as to obtain a positioning result.
The computer device provided by the embodiment of the application comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor realizes the method of the embodiment of the application when executing the program.
The computer readable storage medium provided by the embodiment of the present application stores a computer program thereon, which when executed by a processor implements the method provided by the embodiment of the present application.
The positioning method, the device, the equipment and the storage medium based on the Beidou satellite are characterized in that a signal to be processed is acquired and analyzed into a single-frequency or double-frequency signal, a puncture point and a corresponding effective lattice point are acquired in the single-frequency process, the ionosphere vertical delay of the puncture point is calculated, a first pilot frequency component and a second pilot frequency component are acquired in the double-frequency process, a non-ionosphere combined pseudo range is calculated, a satellite coordinate and an enhanced correction quantity are acquired to correct the coordinate, the clock correction quantity is acquired to correct the satellite clock, the corrected coordinate and the clock correction quantity are combined to respectively correct the target signal, and then the positioning result is obtained through positioning calculation of the target signal. In this way, by combining a single-double-frequency signal processing mechanism and combining a puncture point ionosphere vertical delay and ionosphere-free combined pseudo-range algorithm, high-precision dynamic compensation of satellite orbit, clock error and ionosphere error is realized, positioning instantaneity and reliability are remarkably improved, and the technical problem in the background technology is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly explain the embodiments of the present application or the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic implementation flow chart of a positioning method based on a beidou satellite provided by an embodiment of the present application;
fig. 2 is a schematic diagram of an implementation flow for correcting satellite coordinates in a positioning method based on a beidou satellite according to an embodiment of the present application;
fig. 3 is a positioning device based on a beidou satellite provided by an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Some of the techniques involved in the embodiments of the present application are described below to aid understanding, and they should be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, for the sake of clarity and conciseness, descriptions of well-known functions and constructions are omitted in the following description.
Fig. 1 is a schematic implementation flow chart of a positioning method based on a beidou satellite, which is provided by the embodiment of the application and comprises steps 101 to 107. In the embodiment of the present application, fig. 1 is only an execution sequence of the positioning method based on the beidou satellite, and does not represent a unique execution sequence, and the steps shown in fig. 1 may be executed in parallel or in reverse under the condition that the final result can be achieved.
Step 101, obtaining a signal to be processed, and analyzing the signal to be processed to obtain a first signal.
In the embodiment of the application, the signal to be processed transmitted by the Beidou satellite is acquired by the receiver, and the receiver can be a BDSBAS monitoring receiver platform in the application. After the signals are preprocessed through frequency conversion, amplification, analog-to-digital conversion and the like, single-frequency signals or double-frequency signals are analyzed and separated, and the single-frequency signals or the double-frequency signals are recorded as first signals. The single-frequency signal is a navigation signal with a single frequency (such as a Beidou B1C signal), and the double-frequency signal is a combination of navigation signals with two different frequencies (such as Beidou B1C and B2a signals).
Step 102, under the condition that the first signal is a single-frequency signal, acquiring a puncture point in the first signal and an effective lattice point corresponding to the puncture point, and calculating to obtain the ionospheric vertical delay of the puncture point in the first signal.
If the first signal is a single-frequency signal, calculating a virtual intersection point when the signal enters an earth ionosphere from space according to a propagation path of the single-frequency signal, wherein the projection position of the intersection point on the earth surface is a puncture point, and the puncture point is expressed by longitude and latitude. Discrete grid points which have significant contribution to the ionosphere delay calculation of the puncture points are screened out from the ionosphere grid model by taking the puncture points as the center, the number of effective grid points is usually 3 or 4, and in the application, the number of effective grid points is 4.
And (3) obtaining the ionosphere vertical delay value at the puncture point through a formula (1) by using the puncture point coordinates, the coordinates of the effective lattice points, the weight coefficient of each lattice point and the ionosphere vertical delay value corresponding to the lattice point, and using the ionosphere vertical delay value for subsequent error correction.
(1)
Wherein, the 、The latitude and longitude of the puncture point respectively,For the number of effective lattice points corresponding to the puncture points,、As the coordinates of the active grid points,Is the weight coefficient of the active grid point, where i is the current active grid point,The ionospheric vertical delay for an active lattice point,Ionospheric vertical delay for a puncture point in the first signal.
Step 103, under the condition that the first signal is a dual-frequency signal, acquiring a first pilot frequency component and a second pilot frequency component of the first signal, and performing pseudo-range calculation on the first pilot frequency component and the second pilot frequency component to obtain an ionosphere-free combined pseudo-range of the first signal.
In the embodiment of the present application, if the first signal is a dual-frequency signal, the pilot component (e.g., B1C pilot component) of the first frequency signal and the pilot component (e.g., B2a pilot component) of the second frequency signal are extracted from the dual-frequency signal, respectively.
And combining the two pseudo ranges through a specific weighting algorithm to construct a combined pseudo range without an ionosphere so as to eliminate the influence of ionosphere delay on signals.
And 104, acquiring coordinates of the satellite transmitting the signal to be processed and an enhanced correction amount of the satellite, and correcting the coordinate of the satellite according to the enhanced correction amount to obtain corrected coordinates of the satellite.
In the embodiment of the application, the position coordinates of the satellite transmitting the signal to be processed at the current moment are calculated according to GNSS broadcast ephemeris. The satellite position enhancement correction parameters broadcasted by the satellite-based enhancement system are acquired, wherein the satellite position enhancement correction parameters comprise a basic correction quantity and a correction quantity change rate, and the dynamic correction quantity is calculated by combining the time difference between the parameter broadcasting time and the current time, so that the original satellite coordinates are corrected in real time, and more accurate satellite position coordinates are obtained.
Step 105, obtaining the clock correction of the satellite, and correcting the clock of the satellite according to the clock correction, thereby obtaining the corrected clock of the satellite.
In the embodiment of the application, the clock difference of the satellite at the current moment is calculated according to the GNSS broadcast ephemeris, and the clock difference comprises the asynchronous error of the satellite clock and the receiver clock. The method comprises the steps of obtaining clock correction parameters broadcasted by a satellite-based enhancement system, wherein the clock correction parameters comprise a basic clock correction value, a clock change rate and special correction parameters of a specific system (such as special parameters of a GLONASS system), calculating comprehensive clock correction by combining time difference, and correcting original clock to obtain high-precision satellite clock.
And 106, when the first signal is a single-frequency signal, correcting the first signal according to the ionospheric vertical delay of the puncture point in the first signal, the coordinates of the corrected satellite and the corrected satellite clock difference to obtain a first target signal, and when the first signal is a double-frequency signal, correcting the first signal according to the ionospheric-free combined pseudo range of the first signal, the coordinates of the corrected satellite and the corrected satellite clock difference to obtain a second target signal.
In the embodiment of the application, the puncture point ionosphere vertical delay value of the single-frequency signal, the corrected satellite position coordinates and clock difference are substituted into a positioning model, and error compensation is carried out on the original signal to obtain a corrected first target signal. Substituting the ionosphere-free combined pseudo range of the double-frequency signal, the corrected satellite position coordinates and the clock error into a positioning model, and performing error compensation on the original signal to obtain a corrected second target signal.
And 107, performing positioning calculation on the first target signal or the second target signal to obtain a positioning result.
In the embodiment of the application, based on the corrected target signal, a positioning algorithm such as a least square method is adopted for resolving, and finally a positioning result is obtained.
According to the embodiment of the application, the single-frequency and double-frequency signals are processed in a differentiated mode, so that the positioning compatibility and efficiency are improved, the ionosphere vertical delay of the puncture point is accurately obtained by using an ionosphere grid model and a weighted calculation method aiming at the single-frequency signals, the defect that the single-frequency signals cannot eliminate ionosphere errors by frequency difference is effectively compensated, and the positioning precision of single-frequency users is improved. Aiming at the double-frequency signals, the ionosphere-free combined pseudo range is constructed by utilizing the double-frequency pilot frequency components, the ionosphere first-order term errors are directly eliminated, the technical bottlenecks of limited single-frequency positioning precision and high complexity of a double-frequency algorithm in the prior art are broken through multi-dimensional error correction and signal differentiation processing, and the high precision, the high reliability and the high compatibility of Beidou satellite positioning are realized.
In some embodiments, when the first signal is a dual-frequency signal, a first pilot frequency component and a second pilot frequency component of the first signal are obtained, pseudo-range calculation is performed on the first pilot frequency component and the second pilot frequency component to obtain an ionospheric-free combined pseudo-range of the first signal, and when the first signal is a dual-frequency signal, a first pilot frequency component and a second pilot frequency component of the first signal are obtained, pseudo-range calculation is performed on the first pilot frequency component and the second pilot frequency component to obtain the ionospheric-free combined pseudo-range of the first signal.
Specifically, when the received first signal is a dual-frequency signal, two pilot components with different frequencies (for example, a pilot component of a B1C frequency point and a pilot component of a B2a frequency point of the beidou) are separated from the signal.
And respectively performing pseudo-range measurement on each pilot frequency component to obtain observed pseudo-range values corresponding to the two pilot frequency components.
The time delay difference of the two pilot components in the receiver is calculated by a signal processing technology. The ratio of the frequencies of the two pilot components is calculated, in the present application the first pilot component has a frequency of 1575.42MHz and the second pilot component has a frequency of 1176.45MHz. A constant of the speed of light is introduced as a reference parameter for distance and time conversion.
Based on the frequency ratio, the light speed parameter, the observed pseudo-range value and the time delay difference, constructing the ionosphere-free combined pseudo-range through a formula (2). The influence of ionosphere delay on signal propagation time is eliminated through mathematical transformation, and the first-order term elimination of ionosphere errors is realized.
(2)
Wherein, the As the ratio of the frequency of the first pilot component to the frequency of the second pilot component,In order to achieve the light velocity, the light beam is,AndThe observed pseudoranges for the first pilot component and the second pilot component respectively,AndThe delay differences of the first pilot component and the second pilot component, respectively.
According to the embodiment of the application, through the refined processing of the frequency characteristic and the time delay difference of the double-frequency pilot frequency component, the accurate calculation of the ionosphere-free combined pseudo range is realized, and the positioning reliability and the positioning precision of the double-frequency signal in the ionosphere active environment are further improved.
On the basis of the above-mentioned fig. 1, the embodiment of the present application further provides a schematic implementation flow chart for correcting satellite coordinates in a positioning method based on a beidou satellite, as shown in fig. 2, including steps 201 to 202:
step 201, obtaining coordinates of the satellite, the slow correction parameter, a change rate of the slow correction parameter and a transmission time of the slow correction parameter, and calculating to obtain an enhanced correction amount of the satellite.
In the embodiment of the application, the initial coordinates of the satellite corresponding to the signal to be processed at the current moment are obtained through the Beidou satellite broadcast ephemeris or other navigation messages. And receiving satellite position correction parameters broadcast by the satellite-based augmentation system or the foundation augmentation system, wherein the satellite position correction parameters comprise slow correction parameters of satellite coordinates in the directions of three coordinate axes. And acquiring the time-dependent change rate parameters of the slow correction parameters in the directions of three coordinate axes. The transmission time of the slow correction parameter (i.e., the parameter broadcasting time) is recorded and used as a time reference for subsequent calculation. And calculating the time difference between the current positioning time and the slow correction parameter sending time.
Based on the time difference, combining the slow correction parameter and the change rate thereof, calculating the dynamic enhancement correction quantity of the satellite in the directions of three coordinate axes through a formula (3).
(3)
Wherein (x, y, z) is the coordinates of the satellite,、、In order to slowly correct the parameters, the parameters are,、、In order to slowly correct the rate of change of the parameter,、、For the enhanced correction of the satellite,For a slow correction of the transmission time of the parameters,Is the current time.
And 202, correcting the coordinates of the satellite according to the enhanced correction amount of the satellite to obtain the corrected coordinates of the satellite.
In the embodiment of the application, the calculated enhanced correction amounts in the three coordinate axis directions are respectively applied to initial satellite coordinates, and the satellite positions are calibrated in real time to obtain corrected satellite coordinates. The corrected coordinates are closer to the real position of the satellite, and the influence of satellite orbit errors on positioning accuracy is effectively compensated.
According to the embodiment of the application, by introducing a dynamic correction mechanism of the satellite position and combining the slow correction parameter and the change rate thereof, the real-time tracking and compensation of satellite orbit errors are realized, and the positioning accuracy and reliability of the positioning system under a high dynamic scene are obviously improved.
In some embodiments, obtaining the clock correction of the satellite, correcting the clock of the satellite according to the clock correction, and obtaining the corrected clock of the satellite comprises obtaining an initial clock correction parameter, a clock correction change rate and an enhanced correction parameter of the satellite when the first signal is a single frequency signal, and calculating the clock correction of the satellite at the current time.
Specifically, initial clock correction parameters of the satellite (used for compensating the basic deviation between the satellite clock and the receiver clock) are extracted from the Beidou satellite broadcast ephemeris or navigation message. The change rate parameter of the satellite clock difference with time (used for describing the dynamic change trend of the satellite clock difference) is obtained. The satellite clock correction enhancement parameters (supplementary parameters for further improving the clock correction accuracy) broadcasted by the satellite-based augmentation system are received. And recording the sending time of the enhancement correction parameters as a time reference for subsequent calculation. And calculating the time difference between the current positioning time and the transmission time of the enhanced correction parameter.
Based on the time difference, the initial clock correction parameter, the clock correction change rate and the enhanced correction parameter are combined, and the clock correction quantity of the satellite at the current moment is calculated through a formula (4).
(4)
Wherein, the For the clock correction amount of the current time satellite,The parameters are corrected for the initial clock correction of the satellite,The rate of change is corrected for the satellite's clock skew,The parameters are modified for the augmentation of the satellite,In order to enhance the transmission time of the correction parameters,Is the current time.
Further, the clock correction of the satellite is carried out according to the clock correction amount, and the corrected satellite clock is obtained.
Specifically, the calculated clock correction is applied to the original clock of the satellite, and the satellite clock is calibrated in real time to obtain the corrected satellite clock. The corrected clock error is closer to the real clock state of the satellite, and the influence of the satellite clock error on positioning accuracy is effectively compensated.
According to the embodiment of the application, by introducing a dynamic correction mechanism of satellite clock error and combining with multi-source correction parameters, the real-time tracking and compensation of satellite clock error are realized, and the accuracy and reliability of single-frequency signal positioning in a high dynamic scene are obviously improved.
In some embodiments, the method comprises the steps of obtaining a clock correction of the satellite, correcting the clock of the satellite according to the clock correction, obtaining corrected clock of the satellite, obtaining initial clock correction parameters and clock correction change rate of the satellite when the first signal is a double-frequency signal, and calculating the clock correction of the satellite at the current time.
Specifically, initial clock correction parameters of the satellite (used for compensating the basic deviation between the satellite clock and the receiver clock) are extracted from the Beidou satellite broadcast ephemeris or navigation message. The change rate parameter of the satellite clock difference with time (used for describing the dynamic change trend of the satellite clock difference) is obtained. And recording the sending time of the clock error correction change rate parameter as a time reference for subsequent calculation. And calculating the time difference between the current positioning time and the time of sending the clock correction change rate parameter.
Based on the time difference, the initial clock difference correction parameter and the clock difference correction change rate are combined, and the clock difference correction quantity of the satellite at the current moment is calculated through a formula (5). A light velocity constant is introduced in the calculation process for converting the clock correction amount of the time unit into the distance unit.
(5)
Wherein, the For the clock correction amount of the current time satellite,The parameters are corrected for the initial clock correction of the satellite,The rate of change is corrected for the satellite's clock skew,The transmission time of the rate of change is corrected for clock skew,For the current time period of time,Is the speed of light.
Further, the clock correction of the satellite is carried out according to the clock correction amount, and the corrected satellite clock is obtained.
Specifically, the calculated clock correction is applied to the original clock of the satellite, and the satellite clock is calibrated in real time to obtain the corrected satellite clock. The corrected clock error is closer to the real clock state of the satellite, and the influence of the satellite clock error on positioning accuracy is effectively compensated.
According to the embodiment of the application, by introducing a dynamic correction mechanism of satellite clock error and combining clock error change rate parameters, real-time tracking and compensation of satellite clock error are realized, and the accuracy and reliability of positioning the dual-frequency signal in a high dynamic scene are remarkably improved.
Although the application provides method operational steps as an example or a flowchart, more or fewer operational steps may be included based on conventional or non-inventive labor. The order of steps recited in the present embodiment is only one way of performing the steps in a plurality of steps, and does not represent a unique order of execution. When implemented by an actual device or client product, the method of the present embodiment or the accompanying drawings may be performed sequentially or in parallel (e.g., in a parallel processor or a multithreaded environment).
As shown in fig. 3, the embodiment of the application further provides a positioning device 300 based on the beidou satellite. The device comprises:
The acquiring module 301 is configured to acquire a signal to be processed, and analyze the signal to be processed to obtain a first signal, where the first signal includes a single-frequency signal or a dual-frequency signal;
The computing module 302 is configured to obtain a puncture point in the first signal and an effective lattice point corresponding to the puncture point when the first signal is a single-frequency signal, and perform computing according to formula (1) to obtain an ionospheric vertical delay of the puncture point in the first signal;
(1)
Wherein, the 、The latitude and longitude of the puncture point respectively,For the number of effective lattice points corresponding to the puncture points,、As the coordinates of the active grid points,Is the weight coefficient of the active grid point, where i is the current active grid point,The ionospheric vertical delay for an active lattice point,Ionospheric vertical delay for a puncture point in the first signal;
The calculation module 302 is further configured to obtain a first pilot component and a second pilot component of the first signal if the first signal is a dual-frequency signal, and perform pseudo-range calculation on the first pilot component and the second pilot component to obtain an ionospheric-free combined pseudo-range of the first signal;
the processing module 303 is configured to obtain coordinates of a satellite transmitting a signal to be processed and an enhanced correction amount of the satellite, and correct the coordinate of the satellite according to the enhanced correction amount to obtain corrected coordinates of the satellite;
The processing module 303 is further configured to obtain a clock correction amount of the satellite, correct the clock of the satellite according to the clock correction amount, and obtain a corrected clock of the satellite;
The processing module 303 is further configured to, when the first signal is a single-frequency signal, perform correction processing on the first signal according to the ionospheric vertical delay of the puncture point in the first signal, the coordinates of the corrected satellite, and the corrected satellite clock difference to obtain a first target signal;
the calculation module 302 is further configured to perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.
In some embodiments, the calculating module 302 is further configured to obtain, when the first signal is a dual-frequency signal, a first pilot component and a second pilot component of the first signal, and perform pseudo-range calculation on the first pilot component and the second pilot component according to formula (2), to obtain an ionospheric-free combined pseudo-range of the first signal;
(2)
Wherein, the As the ratio of the frequency of the first pilot component to the frequency of the second pilot component,In order to achieve the light velocity, the light beam is,AndThe observed pseudoranges for the first pilot component and the second pilot component respectively,AndThe delay differences of the first pilot component and the second pilot component, respectively.
In some embodiments, the calculating module 302 is further configured to obtain coordinates of the satellite, the slow correction parameter, a rate of change of the slow correction parameter, and a transmission time of the slow correction parameter, and calculate according to formula (3) to obtain an enhanced correction amount of the satellite;
(3)
Wherein (x, y, z) is the coordinates of the satellite, 、、In order to slowly correct the parameters, the parameters are,、、In order to slowly correct the rate of change of the parameter,、、For the enhanced correction of the satellite,For a slow correction of the transmission time of the parameters,Is the current time;
The processing module 303 is further configured to correct the coordinates of the satellite according to the enhanced correction amount of the satellite, and obtain corrected coordinates of the satellite.
In some embodiments, the calculating module 302 is further configured to obtain an initial clock correction parameter, a clock correction change rate, and an enhanced correction parameter of the satellite when the first signal is a single frequency signal, and calculate a clock correction amount of the satellite at the current time according to formula (4);
(4)
Wherein, the For the clock correction amount of the current time satellite,The parameters are corrected for the initial clock correction of the satellite,The rate of change is corrected for the satellite's clock skew,The parameters are modified for the augmentation of the satellite,In order to enhance the transmission time of the correction parameters,Is the current time;
The processing module 303 is further configured to correct the clock error of the satellite according to the clock error correction amount, so as to obtain a corrected clock error of the satellite.
In some embodiments, the calculating module 302 is further configured to obtain an initial clock correction parameter and a clock correction change rate of the satellite when the first signal is a dual-frequency signal, and calculate a clock correction amount of the satellite at the current time according to formula (5);
(5)
Wherein, the For the clock correction amount of the current time satellite,The parameters are corrected for the initial clock correction of the satellite,The rate of change is corrected for the satellite's clock skew,The transmission time of the rate of change is corrected for clock skew,For the current time period of time,Is the speed of light;
The processing module 303 is further configured to correct the clock error of the satellite according to the clock error correction amount, so as to obtain a corrected clock error of the satellite.
Some of the modules of the apparatus of the present application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The apparatus or module set forth in the embodiments of the application may be implemented in particular by a computer chip or entity, or by a product having a certain function. For convenience of description, the above devices are described as being functionally divided into various modules, respectively. The functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the embodiments of the present application. Of course, a module that implements a certain function may be implemented by a plurality of sub-modules or a combination of sub-units.
The methods, apparatus or modules described herein may be implemented in computer readable program code means and in any suitable manner, e.g., the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application-specific integrated circuits (english: application SPECIFIC INTEGRATED Circuit; ASIC), programmable logic controllers and embedded microcontrollers, examples of which include, but are not limited to, ARC 625D, atmel AT91SAM, microchip PIC18F26K20 and Silicone Labs C8051F320, and the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller can be regarded as a hardware component, and means for implementing various functions included therein can also be regarded as a structure within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The embodiment of the application also provides equipment, which comprises a processor, a memory for storing executable instructions of the processor, and a method for realizing the embodiment of the application when the processor executes the executable instructions.
Embodiments of the present application also provide a non-transitory computer readable storage medium having stored thereon a computer program or instructions which, when executed, cause a method as described in embodiments of the present application to be implemented.
In addition, each functional module in the embodiments of the present invention may be integrated into one processing module, each module may exist alone, or two or more modules may be integrated into one module.
The storage medium includes, but is not limited to, a random access Memory (English: random Access Memory; RAM), a Read-Only Memory (ROM), a Cache (English: cache), a hard disk (English: HARD DISK DRIVE; HDD), or a Memory Card (English: memory Card). The memory may be used to store computer program instructions.
From the above description of embodiments, it will be apparent to those skilled in the art that the present application may be implemented in software plus necessary hardware. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product or may be embodied in the implementation of data migration. The computer software product may be stored on a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., comprising instructions for causing a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to perform the methods described in the various embodiments or portions of the embodiments of the application.
In this specification, each embodiment is described in a progressive manner, and the same or similar parts of each embodiment are referred to each other, and each embodiment is mainly described as a difference from other embodiments. All or portions of the present application are operational with numerous general purpose or special purpose computer system environments or configurations. Such as a personal computer, a server computer, a hand-held or portable device, a tablet device, a mobile communication terminal, a multiprocessor system, a microprocessor-based system, a programmable electronic device, a network PC, a minicomputer, a mainframe computer, a distributed computing environment that includes any of the above systems or devices, and the like.
The foregoing embodiments are only for illustrating the technical solution of the present application, but not for limiting the same, and although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that modifications may be made to the technical solution described in the foregoing embodiments, or equivalents may be substituted for some or all of the technical features thereof, without departing from the spirit of the corresponding technical solution from the scope of the technical solution of the present application.
Claims (10)
1. The positioning method based on the Beidou satellite is characterized by comprising the following steps of:
acquiring a signal to be processed, and analyzing the signal to be processed to obtain a first signal, wherein the first signal comprises a single-frequency signal or a double-frequency signal;
Under the condition that the first signal is a single-frequency signal, acquiring a puncture point in the first signal and an effective lattice point corresponding to the puncture point, and calculating according to a formula (1) to obtain the ionospheric vertical delay of the puncture point in the first signal;
(1)
Wherein, the 、The latitude and longitude of the puncture point respectively,For the number of effective lattice points corresponding to the puncture points,、For the coordinates of the active grid points,And is a weight coefficient for the active grid point, where i is the current active grid point,For the ionospheric vertical delay of the active mesh point,Ionospheric vertical delay for a puncture point in the first signal;
Under the condition that the first signal is a double-frequency signal, acquiring a first pilot frequency component and a second pilot frequency component of the first signal, and performing pseudo-range calculation on the first pilot frequency component and the second pilot frequency component to obtain an ionospheric-free combined pseudo-range of the first signal;
Acquiring coordinates of a satellite transmitting a signal to be processed and an enhanced correction quantity of the satellite, and carrying out correction processing on the coordinates according to the enhanced correction quantity to obtain corrected coordinates of the satellite;
Acquiring a clock correction amount of the satellite, correcting the clock error of the satellite according to the clock error correction amount to obtain a corrected satellite clock error;
When the first signal is a single-frequency signal, correcting the first signal according to the ionosphere vertical delay of a puncture point in the first signal, the coordinates of a corrected satellite and the corrected satellite clock difference to obtain a first target signal; when the first signal is a double-frequency signal, correcting the first signal according to the ionosphere-free combined pseudo range of the first signal, the coordinates of the corrected satellite and the corrected satellite clock difference to obtain a second target signal;
And carrying out positioning calculation on the first target signal or the second target signal to obtain a positioning result.
2. The method of claim 1, wherein the obtaining the first pilot component and the second pilot component of the first signal in the case where the first signal is a dual-frequency signal, and performing pseudo-range calculation on the first pilot component and the second pilot component to obtain the ionospheric-free combined pseudo-range of the first signal, comprises:
Under the condition that the first signal is a double-frequency signal, acquiring a first pilot frequency component and a second pilot frequency component of the first signal, and performing pseudo-range calculation on the first pilot frequency component and the second pilot frequency component according to a formula (2) to obtain an ionosphere-free combined pseudo-range of the first signal;
(2)
Wherein, the As a ratio of the frequency of the first pilot component to the frequency of the second pilot component,In order to achieve the light velocity, the light beam is,AndThe observed pseudoranges for the first pilot component and the second pilot component respectively,AndThe delay differences of the first pilot component and the second pilot component, respectively.
3. The method according to claim 1, wherein the acquiring coordinates of the satellite transmitting the signal to be processed and the enhanced correction amount of the satellite, and performing correction processing on the coordinates according to the enhanced correction amount, to obtain corrected coordinates of the satellite, includes:
Acquiring coordinates of the satellite, slow correction parameters, a change rate of the slow correction parameters and transmission time of the slow correction parameters, and calculating according to a formula (3) to obtain an enhanced correction quantity of the satellite;
(3)
Wherein (x, y, z) is the coordinates of the satellite, 、、In order to slowly correct the parameters, the parameters are,、、In order to slowly correct the rate of change of the parameter,、、For the enhanced correction of the satellite,For a slow correction of the transmission time of the parameters,Is the current time;
And correcting the coordinates of the satellite according to the enhanced correction amount of the satellite to obtain corrected coordinates of the satellite.
4. The method of claim 1, wherein the obtaining the clock correction of the satellite, correcting the clock of the satellite according to the clock correction, and obtaining the corrected clock of the satellite comprises:
Under the condition that the first signal is a single-frequency signal, acquiring an initial clock correction parameter, a clock correction change rate and an enhancement correction parameter of the satellite, and calculating the clock correction of the satellite at the current time according to a formula (4);
(4)
Wherein, the For the current time the satellite's clock correction,Correcting parameters for an initial clock correction of the satellite,Correcting the rate of change for the satellite's clock bias,The parameters are modified for the augmentation of the satellite,For the transmission time of the enhanced correction parameter,Is the current time;
And correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.
5. The method of claim 1, wherein the obtaining the clock correction of the satellite, correcting the clock of the satellite according to the clock correction, and obtaining the corrected clock of the satellite, further comprises:
Under the condition that the first signal is a double-frequency signal, acquiring an initial clock correction parameter and a clock correction change rate of the satellite, and calculating the clock correction of the satellite at the current time according to a formula (5);
(5)
Wherein, the For the current time the satellite's clock correction,Correcting parameters for an initial clock correction of the satellite,Correcting the rate of change for the satellite's clock bias,The transmission time of the rate of change is corrected for the clock skew,For the current time period of time,Is the speed of light;
And correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.
6. The method of claim 1, wherein the number of effective lattice points corresponding to the puncture points is 4.
7. The method of claim 1, wherein the first pilot component has a frequency of 1575.42MHz and the second pilot component has a frequency of 1176.45MHz.
8. Positioning device based on big dipper satellite, its characterized in that includes:
The device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a signal to be processed, analyzing and processing the signal to be processed to obtain a first signal, and the first signal comprises a single-frequency signal or a double-frequency signal;
The computing module is used for acquiring the puncture points in the first signal and the effective lattice points corresponding to the puncture points under the condition that the first signal is a single-frequency signal, and computing according to a formula (1) to obtain the ionospheric vertical delay of the puncture points in the first signal;
(1)
Wherein, the 、The latitude and longitude of the puncture point respectively,For the number of effective lattice points corresponding to the puncture points,、For the coordinates of the active grid points,And is a weight coefficient for the active grid point, where i is the current active grid point,For the ionospheric vertical delay of the active mesh point,Ionospheric vertical delay for a puncture point in the first signal;
the calculation module is further configured to obtain a first pilot component and a second pilot component of the first signal when the first signal is a dual-frequency signal, and perform pseudo-range calculation on the first pilot component and the second pilot component to obtain an ionospheric-free combined pseudo-range of the first signal;
The processing module is used for acquiring the coordinates of the satellite transmitting the signal to be processed and the enhanced correction quantity of the satellite, and carrying out correction processing on the coordinates according to the enhanced correction quantity to obtain corrected coordinates of the satellite;
the processing module is further used for obtaining the clock error correction of the satellite, correcting the clock error of the satellite according to the clock error correction, and obtaining corrected satellite clock error;
The processing module is further used for carrying out correction processing on the first signal according to the ionosphere vertical delay of the puncture point in the first signal, the coordinates of the corrected satellite and the corrected satellite clock difference to obtain a first target signal when the first signal is a single-frequency signal, and carrying out correction processing on the first signal according to the ionosphere-free combined pseudo range of the first signal, the coordinates of the corrected satellite and the corrected satellite clock difference when the first signal is a double-frequency signal to obtain a second target signal;
the calculation module is further configured to perform positioning calculation on the first target signal or the second target signal, so as to obtain a positioning result.
9. A computer device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the program is executed.
10. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any one of claims 1 to 7.
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| CN119535515A (en) * | 2024-11-22 | 2025-02-28 | 重庆邮电大学 | A Beidou precise point positioning method based on dual-frequency combination |
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