CN110221325A - A kind of error correcting method and device for pseudo range difference positioning - Google Patents
A kind of error correcting method and device for pseudo range difference positioning Download PDFInfo
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- CN110221325A CN110221325A CN201910330429.XA CN201910330429A CN110221325A CN 110221325 A CN110221325 A CN 110221325A CN 201910330429 A CN201910330429 A CN 201910330429A CN 110221325 A CN110221325 A CN 110221325A
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- 238000000034 method Methods 0.000 title claims abstract description 53
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
A kind of error correcting method for pseudo range difference positioning, comprising: after movement station receives the differential corrections that base station is sent, the ionospheric error and tropospheric error at calculating benchmark station；Differential corrections are corrected using the ionospheric error and tropospheric error of base station, are generated without ionospheric error and without the correction of tropospheric error；During Differential positioning, itself ionospheric error and tropospheric error are calculated；Using itself ionospheric error and tropospheric error, ionospheric error in the Pseudo-range Observations of itself is corrected and to process error；Using no ionospheric error and without the correction of tropospheric error, remaining satellite orbital error and star clock error in Pseudo-range Observations are corrected.
Description
Technical field
Present document relates to technical field of satellite navigation, espespecially a kind of error correcting method and dress for pseudo range difference positioning
It sets.
Background technique
Currently, Global Navigation Satellite System (GNSS, Global Navigation Satellite System) pseudorange list
Point location be using commonplace location technology, with it is round-the-clock, be protected from weather influences, the spies such as be easy to carry about with one small in size
Point, is widely used in every field.However, GNSS pseudorange One-Point Location is influenced by a variety of errors, positioning accuracy can only reach
To several meters.In order to improve the precision of satellite positioning, DGNSS (Differential Global Navigation Satellite
System, differential global navigation satellite system), RTK (Real-Time Kinematic, in real time dynamic), PPP (Precise
Point Positioning, Static Precise Point Positioning) etc. technologies successively proposed.Wherein, DGNSS there is algorithm to realize relatively simple
Single, positioning accuracy is better than the features such as One-Point Location, and it is more to be widely used in lane grade navigation, boat-carrying Waterway navigation, pedestrian navigation etc.
A field.
Summary of the invention
This application provides a kind of error correcting methods and device for pseudo range difference positioning, and it is fixed that DGNSS can be improved
Position precision.
On the one hand, this application provides a kind of error correcting methods for pseudo range difference positioning, comprising: movement station receives
After the differential corrections that base station is sent, the ionospheric error and tropospheric error of the base station are calculated；The movement station benefit
The differential corrections are corrected with the ionospheric error and tropospheric error of the base station, are generated without ionospheric error and without right
The correction of fluid layer error；The movement station calculates ionospheric error and the convection current of the movement station during Differential positioning
Layer error；The movement station utilizes the ionospheric error and tropospheric error of the movement station, corrects the pseudorange of the movement station
Ionospheric error in observation and to process error；The movement station is using the no ionospheric error and without tropospheric error
Correction, correct remaining satellite orbital error and star clock error in the Pseudo-range Observations of the movement station.
On the other hand, the application provides a kind of error correction device for pseudo range difference positioning, comprising: receiving module,
The differential corrections sent suitable for receiving base station；First computing module, suitable for calculate the base station ionospheric error and
Tropospheric error；First correction module, suitable for the ionospheric error and the tropospheric error amendment difference using the base station
Divide correction, generates without ionospheric error and without the correction of tropospheric error；Second computing module is suitable in Differential positioning mistake
Cheng Zhong calculates the ionospheric error and tropospheric error of the movement station；Second correction module, suitable for utilizing the movement station
Ionospheric error and tropospheric error correct ionospheric error in the Pseudo-range Observations of the movement station and to process error；
Using the no ionospheric error and without the correction of tropospheric error, correct remaining in the Pseudo-range Observations of the movement station
Satellite orbital error and star clock error.
On the other hand, the application provides a kind of error correction systems for pseudo range difference positioning, comprising: base station and shifting
Dynamic station；Wherein, the base station is suitable for resolving differential corrections, and sends the differential corrections；The movement station is suitable for
After receiving the differential corrections, using the known coordinate and first time information of the base station, the base station is calculated
Ionospheric error and tropospheric error；The differential correcting is corrected using the ionospheric error and tropospheric error of the base station
Number is generated without ionospheric error and without the correction of tropospheric error；During Differential positioning, own coordinate and second are utilized
Temporal information calculates the ionospheric error and tropospheric error of the movement station；Using the movement station ionospheric error and
Tropospheric error corrects ionospheric error in the Pseudo-range Observations of the movement station and to process error；Utilize the no electricity
Absciss layer error and correction without tropospheric error, correct remaining satellite orbital error in the Pseudo-range Observations of the movement station
With star clock error.
On the other hand, the application provides a kind of mobile device, comprising: memory, processor and is stored in the storage
On device and the computer program that can run on the processor, realized when the computer program is executed by the processor
The step of error correcting method of offer is provided.
On the other hand, the application provides a kind of computer readable storage medium, is stored with computer program, the computer
Program is performed the step of error correcting method for realizing above-mentioned offer.
In this application, movement station can utilize base station with the ionospheric error and tropospheric error at calculating benchmark station
The differential corrections that ionospheric error and tropospheric error amendment base station are sent, generate without ionospheric error and miss without troposphere
The correction of difference；Movement station calculates itself ionospheric error and tropospheric error during Differential positioning；And utilize itself
Ionospheric error and tropospheric error, correct Pseudo-range Observations in ionospheric error and to process error；Utilize what is obtained
Without ionospheric error and without the correction of tropospheric error, corrects remaining satellite orbital error and star clock in Pseudo-range Observations and miss
Difference.In this way, can eliminate in the case where not needing external information auxiliary due to the elevation between base station and movement station
The troposphere and ionospheric error correlation of base station caused by difference becomes larger, baseline is elongated, difference age becomes larger and movement station become
It is weak, to promote Differential positioning precision.
Other features and advantage will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood and implementing the application.Other advantages of the application can be by specification, claims
And scheme described in attached drawing is achieved and obtained.
Detailed description of the invention
Attached drawing is used to provide the understanding to technical scheme, and constitutes part of specification, with the application's
Embodiment is used to explain the technical solution of the application together, does not constitute the limitation to technical scheme.
Fig. 1 is the interaction schematic diagram of the error correction systems provided by the embodiments of the present application for pseudo range difference positioning；
Fig. 2 is the flow chart of the error correcting method provided by the embodiments of the present application for pseudo range difference positioning；
Fig. 3 applies exemplary diagram for the one of the error correcting method provided by the embodiments of the present application for pseudo range difference positioning；
Fig. 4 is the schematic diagram of the error correction device provided by the embodiments of the present application for pseudo range difference positioning；
Fig. 5 is the schematic diagram for the mobile device that the application exemplary embodiment provides.
Specific embodiment
This application describes multiple embodiments, but the description is exemplary, rather than restrictive, and for this
It is readily apparent that can have more in the range of embodiments described herein includes for the those of ordinary skill in field
More embodiments and implementation.Although many possible feature combinations are shown in the attached drawings, and in a specific embodiment
It is discussed, but many other combinations of disclosed feature are also possible.Unless the feelings specially limited
Other than condition, any feature or element of any embodiment can be with any other features or element knot in any other embodiment
It closes and uses, or any other feature or the element in any other embodiment can be substituted.
The application includes and contemplates the combination with feature known to persons of ordinary skill in the art and element.The application is
It can also combine with any general characteristics or element through disclosed embodiment, feature and element, be defined by the claims with being formed
Unique scheme of the invention.Any feature or element of any embodiment can also be with features or member from other scheme of the invention
Part combination, to form the unique scheme of the invention that another is defined by the claims.It will thus be appreciated that showing in this application
Out and/or any feature of discussion can be realized individually or in any suitable combination.Therefore, in addition to according to appended right
It is required that and its other than the limitation done of equivalent replacement, embodiment is not limited.Furthermore, it is possible in the guarantor of appended claims
It carry out various modifications and changes in shield range.
In addition, method and/or process may be rendered as spy by specification when describing representative embodiment
Fixed step sequence.However, in the degree of this method or process independent of the particular order of step described herein, this method
Or process should not necessarily be limited by the step of particular order.As one of ordinary skill in the art will appreciate, other steps is suitable
Sequence is also possible.Therefore, the particular order of step described in specification is not necessarily to be construed as limitations on claims.This
Outside, the claim for this method and/or process should not necessarily be limited by the step of executing them in the order written, art technology
Personnel are it can be readily appreciated that these can sequentially change, and still remain in the spirit and scope of the embodiment of the present application.
GNSS One-Point Location is influenced by satellite orbit, clock deviation, ionosphere, troposphere equal error, and precision can only achieve
Several meters.DGNSS can completely eliminate satellite clock correction error, elimination is largely defended using the correlation of base station and mobile station error
Positioning accuracy can be promoted to sub-meter grade by star orbital road, ionosphere and tropospheric error.
Under DGNSS operating mode, base station can be sat according to the satellite that known antenna coordinate and broadcast ephemeris calculate
Mark, must arrive at a station star geometric distance, and the difference between star geometric distance and satellite Pseudo-range Observations that will stand is as differential correctional
It is sent to movement station.This correction can be used for correcting comprising satellite orbit, clock deviation, the ionosphere of benchmark station location and convection current
A variety of errors such as layer.Movement station directly using this correction can eliminate satellite clock correction and most of satellite orbital error,
Ionospheric error, tropospheric error.
When the depth displacement of base station and movement station is smaller, parallax range is shorter, difference age is smaller, satellite orbit, electricity
Absciss layer and tropospheric error correlation with higher, can eliminate most errors in pseudo range difference, positioning accuracy compared with
It is high.However, tropospheric deviation is up to decimetre rank if the depth displacement of base station and movement station reaches rice up to a hundred or more；
If parallax range is longer, base station and movement station exist to the elevation angle of same satellite and azimuth difference, satellite orbital error
The component stood in star observed direction would also vary from base station and movement station；Satellite-signal is in troposphere, ionization simultaneously
Breakthrough point in layer is different, satellite orbit, troposphere, ionospheric error deviation included in base station and movement station observation
It will increase, i.e. the troposphere of base station and movement station and the correlation of ionosphere delay dies down, then residual error after direct differential
It will increase；Be on duty the age-group phase it is larger when, due to the movement of satellite, movement station is changing the elevation angle of satellite and azimuth, satellite
Breakthrough point of the signal in troposphere, ionosphere is changing, thus the ionosphere for including in the pseudorange of movement station and troposphere delay
It changes over time, causes the correlation of the ionosphere for observing the moment with base station and tropospheric error to weaken, lead to direct differential
Ionosphere and tropospheric residual error will increase afterwards.
It can be seen that the following limitations exist for current DGNSS pseudo range difference technology: the depth displacement of base station movement station becomes
When big, tropospheric error residual error becomes larger after difference, and positioning accuracy is caused to become larger with depth displacement and decline；When baseline is elongated, difference
Ionosphere and troposphere residual error become larger afterwards, and positioning accuracy is caused to increase with baseline length and decline；When difference age increases, difference
Ionosphere and troposphere residual error are larger afterwards, and positioning accuracy is caused to increase with difference age and decline.
The embodiment of the present application provides a kind of error correcting method and device for pseudo range difference positioning, is not needing outside
In the case that information assists, using ionosphere and Tropospheric Models, eliminate since the depth displacement of base station and movement station becomes larger, base
The troposphere and ionospheric error correlation of base station caused by line is elongated, difference age becomes larger and movement station die down, to mention
High DGNSS positioning accuracy.
The embodiment of the present application provides a kind of error correction systems for pseudo range difference positioning, comprising: base station and movement
It stands；Wherein, base station is suitable for resolving differential corrections, and sends the differential corrections；Movement station is suitable for the difference in reception and changes
After positive number, the ionospheric error and tropospheric error at calculating benchmark station；Utilize the ionospheric error and tropospheric error of base station
The differential corrections are corrected, are generated without ionospheric error and without the correction of tropospheric error；During Differential positioning, calculate
The ionospheric error and tropospheric error of movement station；Using the ionospheric error and tropospheric error of movement station, movement station is corrected
Pseudo-range Observations in ionospheric error and to process error；Using no ionospheric error and without the correction of tropospheric error
Number, corrects remaining satellite orbital error and star clock error in the Pseudo-range Observations of movement station.
In practical applications, base station may include a set of GNSS receiver and related auxiliary facility, the antenna of base station
It can be fixed in spacious unobstructed environment；The antenna of movement station can be directly anchored on vehicular platform.However, the application
This is not limited.
Fig. 1 is the interaction schematic diagram of the error correction systems provided by the embodiments of the present application for pseudo range difference positioning.Such as
Shown in Fig. 1, the interactive process of error correction systems provided in this embodiment may include:
After S100, base station obtain Pseudo-range Observations and carrier phase observation data, real-time resolving goes out differential corrections.
Wherein it is possible to define base station b to the L of satellite i1Pseudo-range Observations on frequency point areComprehensively consider signal biography
Error and satellite correlated error etc. are broadcast,It can be expressed as:
In formula (1),Indicate t moment base station b to the L of satellite i1Pseudo-range Observations on frequency point,Table
Show the geometric distance between t moment satellite i to base station b, dtb(t) and dtsi(t) t moment receiver clock-offsets are respectively indicated and are led to
The calculated satellite clock correction of broadcast ephemeris is crossed, Tgd indicates the delay of group's wave, and c indicates the light velocity,Indicate the convection current of t moment
Layer error,Indicate the ionospheric error of t moment, δ psi(t) orbit error of t moment satellite i, δ ts are indicatedi(t)
Indicate the star clock error of t moment,Indicate pseudorange noise.
Since the position of base station b is accurately known, the geometric distance between base station b and satellite iIt can be by
It is precisely calculated.
At this point, can obtain t based on formula (1)0The expression formula of moment differential corrections, as shown in formula (2):
In formula (2),Indicate t0The differential corrections at moment,Indicate t0Moment, base station b was to satellite i
Pseudo-range Observations,Indicate t0Geometric distance between moment satellite i to base station b, dtsi(t0) indicate t0Moment is logical
The calculated satellite clock correction of broadcast ephemeris is crossed, Tgd indicates the delay of group's wave, and c indicates the light velocity；dtb(t0) indicate t0Reception machine clock
Difference,Indicate t0The tropospheric error at moment,Indicate t0The ionospheric error at moment, δ psi(t0)
Indicate t0The orbit error of moment satellite i, δ tsi(t0) indicate t0The star clock error at moment.It should be noted that in formula (2),
Have ignored pseudorange noiseIn actual use, pseudorange noise can be weakened using correlation method.The application makes an uproar for pseudorange
The crippled mode of sound does not limit.
S101, base station broadcast the differential corrections for resolving and obtaining outward.
S102, movement station correct Pseudo-range Observations after receiving differential corrections.
S103, movement station carry out Differential positioning resolving using revised Pseudo-range Observations.
In the present embodiment, in order to eliminate as much as base station ionospheric error and tropospheric error to the shadow of movement station
It rings, the differential corrections of formula (2) can be modified；Wherein, movement station can generate differential corrections according to base station
Moment t0(corresponding above-mentioned first time information), utilizes Klobuchar current sheet model algorithm and Saastamoinen convection current
Layer model algorithm calculates separately the ionospheric error for obtaining base stationAnd tropospheric errorInto
And revised correction can be obtained are as follows:
T in formula (3)0Reception machine clock deviation dtb(t0) can be deducted with the mode that more stars are averaging.
It should be noted that the application can also use other Tropospheric Models algorithms, as long as guaranteeing using identical right
The tropospheric error at fluid layer model algorithm calculating benchmark station and movement station.
In the present embodiment, movement station r is denoted as the Pseudo-range Observations that number is i satelliteThen the pseudorange of movement station r is seen
Surveying equation can indicate:
In formula (4),Indicate t moment movement station r to the Pseudo-range Observations of satellite i,Indicate that t moment is defended
Geometric distance between star i to movement station r, dtr(t) and dtsi(t) t moment receiver clock-offsets are respectively indicated and by broadcast star
Calculated satellite clock correction is gone through, Tgd indicates the delay of group's wave, and c indicates the light velocity,Indicate the tropospheric error of t moment,Indicate the ionospheric error of t moment, δ psi(t) orbit error of t moment satellite i, δ ts are indicatedi(t) when indicating t
The star clock error at quarter,Indicate pseudorange noise item.
Wherein, according to t at the time of movement station r (corresponding the second above-mentioned temporal information), the ionosphere Klobuchar mould is utilized
Type algorithm and Saastamoinen Tropospheric Models algorithm, can calculate separately to obtain the ionospheric error of movement stationAnd tropospheric errorSatellite clock correction dtsi(t) it is obtained by ephemeris, remaining satellite orbital error
It can be by being deducted according to the revised differential corrections of formula (3) with star clock error.It should be noted that movement station can also be adopted
With other Tropospheric Models algorithms, as long as guaranteeing to miss using the troposphere of identical Tropospheric Models calculating benchmark station and movement station
Difference.
In this way, available location observation equation are as follows:
It enables
Then formula (5) can be written as:
Movement station r utilizes minimum using the multi-satellite traced into, the observational equation of available multiple similar formulas (7)
Two multiply or high-precision location information can be obtained in Kalman filtering algorithm.
In the present embodiment, by utilizing ionospheric model and Tropospheric Models, it is directed to every satellite calculating benchmark station respectively
With the respective ionospheric error of movement station and tropospheric error, ionosphere and convection current in differential corrections are eliminated in difference algorithm
The uncorrelated part of layer, the depth displacement so as to improve between base station and movement station becomes larger, parallax range is elongated, difference age
The Differential positioning precision that phase becomes larger etc. under scenes.
Fig. 2 is the flow chart of the error correcting method provided by the embodiments of the present application for pseudo range difference positioning.Such as Fig. 2 institute
Show, error correcting method provided in this embodiment, be applied to movement station, comprising:
After S201, movement station receive the differential corrections that base station is sent, the ionospheric error at calculating benchmark station and convection current
Layer error.
In one exemplary embodiment, movement station can use the known coordinate and first time information of base station, pass through
Klobuchar model solution goes out the ionospheric error of base station；Using the known coordinate and first time information of base station, pass through
Tropospheric Models solve the tropospheric error of base station.Illustratively, Tropospheric Models can be Saastamoinen model.
However, the application does not limit this.At the time of wherein, station generates differential corrections on the basis of first time information (or be
The time point of differential corrections).Wherein, base station can carry the time for generating the differential corrections when broadcasting differential corrections
Point.
It, can be by the ionization of base station by solving the ionospheric error and tropospheric error of base station in this step
Layer error and tropospheric error are separated with other margins of error.
S202, movement station correct differential corrections using the ionospheric error and tropospheric error of base station, generate without electricity
Absciss layer error and correction without tropospheric error.
In this step, movement station can be modified the differential corrections that above-mentioned formula (2) obtain, and generate above-mentioned formula (3)
Shown in revised correction.That is, by the ionospheric error of the S201 base station being calculated and tropospheric error from reception
To differential corrections in deduct.Wherein, the receiver clock-offsets in revised correction can be obtained by calculating average value,
And it therefrom deducts.
S203, movement station calculate the ionospheric error and tropospheric error of movement station during Differential positioning.
In one exemplary embodiment, movement station can use own coordinate and the second temporal information (it is poor that movement station carries out
At the time of dividing positioning), the ionospheric error of movement station is gone out by Klobuchar model solution；When using own coordinate and second
Between information, the tropospheric error of movement station is solved by Tropospheric Models.Wherein, Tropospheric Models adopted in this step need
It is consistent with the Tropospheric Models that step S201 is used.Illustratively, Tropospheric Models can be Saastamoinen model.
Wherein, the own coordinate of movement station can be the coordinate of previous moment movement station, or can be and utilize movement station
Previous moment coordinate and speed calculation current time coordinate.
S204, movement station utilize the ionospheric error and tropospheric error of movement station, correct the Pseudo-range Observations of movement station
In ionospheric error and to process error.
In this step, it can use in the pseudorange observation equation of movement station and be resolved in S203 by corresponding model algorithm
The ionospheric error and tropospheric error of movement station out.
Using no ionospheric error and without the correction of tropospheric error, the pseudorange for correcting movement station is seen for S205, movement station
Remaining satellite orbital error and star clock error in measured value.
It should be noted that the application does not limit the sequence of above-mentioned steps.For example, movement station is in Differential positioning mistake
Cheng Zhong can correct the ionospheric error in Pseudo-range Observations after calculating the ionospheric error of movement station, then calculate and move
The tropospheric error at dynamic station, then correct the tropospheric error in Pseudo-range Observations.Alternatively, movement station is during Differential positioning,
The ionospheric error and tropospheric error of movement station can be first calculated, then, then the ionosphere corrected in Pseudo-range Observations is missed
Difference and tropospheric error.
In the embodiment of the present application, in the case where not needing external information auxiliary, electric current layer model and troposphere mould are utilized
Type can be eliminated due to the depth displacement between base station and movement station becomes larger, baseline is elongated, difference age becomes larger caused benchmark
It stands and movement station is for the troposphere of same satellite and the weak dependence in ionosphere, to improve DGNSS positioning accuracy.
Fig. 3 is that a kind of of the error correcting method for pseudo range difference positioning provided by the embodiments of the present application applies example
Figure.In the present example embodiment, the treatment process of movement station includes:
S301, movement station obtain Pseudo-range Observations and carrier phase observation data.
S302, movement station carry out carrier phase smoothing pseudo-range processing.
S303, movement station judge whether to receive the new differential corrections of base station transmission；If receiving new differential correcting
Number, then execute S304, if not receiving new differential corrections, execute S306.
S304, movement station utilize known benchmark station coordinates and differential corrections corresponding time point, use respectively
The ionospheric error and tropospheric error of Klobuchar model and Saastamoinen model calculating benchmark station.
The ionospheric error and tropospheric error of the calculated base station of S305, movement station, correct the difference received
Divide correction, obtains revised new correction；Wherein, movement station can by the ionospheric error for the base station being calculated and
Tropospheric error is deducted from the differential corrections received, to generate new correction.
S307, movement station using movement station coordinate and current time, respectively with Klobuchar model with
The ionospheric error and tropospheric error of Saastamoinen model calculating movement station.
The ionospheric error and tropospheric error of the calculated movement station of S308, movement station, amendment movement station are pseudo-
Away from the ionospheric error and tropospheric error in observation.
S309, movement station correct the orbit error in movement station Pseudo-range Observations using the new correction generated in S305
With star clock error.
S310, movement station are based on revised Pseudo-range Observations, carry out positioning solution using least square or Kalman filtering
It calculates.
When S306, movement station do not receive new differential corrections, movement station judges the differential corrections received before
Whether within the difference age of setting, if executing S307 within the difference age of setting, if not within the difference age of setting,
Execute S311.
S311, movement station carry out One-Point Location resolving processing.
In the present example embodiment, by using ionosphere and Tropospheric Models, it is directed to every satellite respectively, calculates base
Quasi- station and the respective ionosphere of movement station and tropospheric error, eliminate ionosphere and convection current in differential corrections in difference algorithm
The uncorrelated part of layer, and then promote Differential positioning precision.
Fig. 4 is the schematic diagram of the error correction device provided by the embodiments of the present application for pseudo range difference positioning.Such as Fig. 4 institute
Show, error correction device provided in this embodiment, be applied to movement station, comprising: receiving module 401, the first computing module 402,
First correction module 403, the second computing module 404 and the second correction module 405.
Wherein, receiving module 401, the differential corrections sent suitable for receiving base station；First computing module 402, is suitable for
The ionospheric error and tropospheric error at calculating benchmark station；First correction module 403, suitable for the ionospheric error using base station
Differential corrections are corrected with tropospheric error, are generated without ionospheric error and without the correction of tropospheric error；Second calculates mould
Block 404 is suitable for during Differential positioning, calculates the ionospheric error and tropospheric error of movement station；Second correction module
405, suitable for the ionospheric error and tropospheric error using movement station, the ionosphere corrected in the Pseudo-range Observations of movement station is missed
Difference and to process error；Using no ionospheric error and without the correction of tropospheric error, the Pseudo-range Observations of movement station are corrected
In remaining satellite orbital error and star clock error.
Related description about device provided in this embodiment is referred to the description of above method embodiment, therefore not in this
It repeats again.
The embodiment of the present application also provides a kind of mobile device, comprising: memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, the computer program are realized in the embodiment of the present application when being executed by processor and are provided
Error correcting method the step of.
Fig. 5 is the schematic diagram for the mobile device that one exemplary embodiment of the application provides.As shown in figure 5, in this example,
Mobile device 500 can include: processor 502, memory 501, bus system 504 and transceiver 503, wherein the processor
502, the memory 501 is connected with the transceiver 503 by the bus system 504, which for storing instruction, should
Processor 502 is used to execute the instruction of the memory 501 storage, receives signal to control the transceiver 503.Specifically, above-mentioned
The operation of receiving module in mobile device can be executed under the control of processor 502 by transceiver 503, the first computing module,
The operation of second computing module, the first correction module and the second correction module can be executed by processor 502.
It should be understood that processor 502 can be central processing unit (CPU, Central Processing Unit), processing
Device 502 can also be other general processors, digital signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components etc..It is logical
It can be microprocessor with processor or the processor be also possible to any conventional processor etc..
Memory 501 may include read-only memory and random access memory, and provide instruction sum number to processor 502
According to.The a part of of memory 501 can also include nonvolatile RAM.For example, memory 501 can also store
The information of device type.
Bus system 504 can also include that power bus, control bus and status signal are total in addition to including data/address bus
Line etc..But for the sake of clear explanation, various buses are all designated as bus system 504 in Fig. 5.
The embodiment of the present application also provides a kind of computer readable storage mediums, are stored thereon with computer program, the meter
Calculation machine program is performed the processing for realizing the method either as described in above-described embodiment, such as Fig. 2 or step shown in Fig. 3.
It will appreciated by the skilled person that whole or certain steps, system, dress in method disclosed hereinabove
Functional module/unit in setting may be implemented as software, firmware, hardware and its combination appropriate.In hardware embodiment,
Division between the functional module/unit referred in the above description not necessarily corresponds to the division of physical assemblies；For example, one
Physical assemblies can have multiple functions or a function or step and can be executed by several physical assemblies cooperations.Certain groups
Part or all components may be implemented as by processor, such as the software that digital signal processor or microprocessor execute, or by
It is embodied as hardware, or is implemented as integrated circuit, such as specific integrated circuit.Such software can be distributed in computer-readable
On medium, computer-readable medium may include computer storage medium (or non-transitory medium) and communication media (or temporarily
Property medium).As known to a person of ordinary skill in the art, term computer storage medium is included in for storing information (such as
Computer readable instructions, data structure, program module or other data) any method or technique in the volatibility implemented and non-
Volatibility, removable and nonremovable medium.Computer storage medium include but is not limited to RAM, ROM, EEPROM, flash memory or its
His memory technology, CD-ROM, digital versatile disc (DVD) or other optical disc storages, magnetic holder, tape, disk storage or other
Magnetic memory apparatus or any other medium that can be used for storing desired information and can be accessed by a computer.This
Outside, known to a person of ordinary skill in the art to be, communication media generally comprises computer readable instructions, data structure, program mould
Other data in the modulated data signal of block or such as carrier wave or other transmission mechanisms etc, and may include any information
Delivery media.
Claims (12)
1. a kind of error correcting method for pseudo range difference positioning characterized by comprising
After movement station receives the differential corrections that base station is sent, the ionospheric error and troposphere for calculating the base station are missed
Difference；
The movement station corrects the differential corrections using the ionospheric error and tropospheric error of the base station, generates nothing
Ionospheric error and correction without tropospheric error；
The movement station calculates the ionospheric error and tropospheric error of the movement station during Differential positioning；
The movement station utilizes the ionospheric error and tropospheric error of the movement station, corrects the pseudorange observation of the movement station
Ionospheric error in value and to process error；
The movement station utilizes the no ionospheric error and the correction without tropospheric error, corrects the pseudorange of the movement station
Remaining satellite orbital error and star clock error in observation.
2. the method according to claim 1, wherein the ionospheric error for calculating the base station and convection current
Layer error, comprising:
The movement station utilizes the known coordinate and first time information of the base station, is gone out by Klobuchar model solution
The ionospheric error of the base station；
The movement station utilizes the known coordinate and first time information of the base station, is solved by Tropospheric Models described
The tropospheric error of base station.
3. the method according to claim 1, wherein the ionospheric error for calculating the movement station and convection current
Layer error, comprising:
The movement station utilizes own coordinate and the second temporal information, goes out the movement station by Klobuchar model solution
Ionospheric error；
The movement station utilizes own coordinate and the second temporal information, and the convection current of the movement station is solved by Tropospheric Models
Layer error.
4. the method according to claim 1, wherein the movement station calculates institute using identical Tropospheric Models
State the tropospheric error of base station and the tropospheric error of the movement station.
5. the method according to claim 1, wherein the method also includes:
The movement station is based on revised Pseudo-range Observations, carries out positioning calculation using least square or Kalman filtering.
6. the method according to claim 1, wherein the movement station is before carrying out Differential positioning, the side
Method further include: whether the movement station determines the differential corrections within the difference age of setting；When the movement station determines
For the differential corrections within the difference age of setting, the movement station carries out Differential positioning processing；When the movement station determines
For the differential corrections not within the difference age of setting, the movement station carries out One-Point Location processing.
7. a kind of error correction device for pseudo range difference positioning characterized by comprising
Receiving module, the differential corrections sent suitable for receiving base station；
First computing module, suitable for calculating the ionospheric error and tropospheric error of the base station；
First correction module, suitable for the ionospheric error and the tropospheric error amendment differential correcting using the base station
Number is generated without ionospheric error and without the correction of tropospheric error；
Second computing module is suitable for during Differential positioning, calculates the ionospheric error and tropospheric error of movement station；
Second correction module corrects the movement station suitable for the ionospheric error and tropospheric error using the movement station
Ionospheric error in Pseudo-range Observations and to process error；Using the no ionospheric error and without the correction of tropospheric error
Number, corrects remaining satellite orbital error and star clock error in the Pseudo-range Observations of the movement station.
8. device according to claim 7, which is characterized in that first computing module, suitable for counting in the following manner
Calculate the ionospheric error and tropospheric error of the base station:
Using the known coordinate and first time information of the base station, the base station is gone out by Klobuchar model solution
Ionospheric error；Using the known coordinate and first time information of the base station, solved by Tropospheric Models described
The tropospheric error of base station.
9. device according to claim 7, which is characterized in that second computing module, suitable for counting in the following manner
Calculate the ionospheric error and tropospheric error of the movement station:
Using own coordinate and the second temporal information, the ionospheric error of the movement station is gone out by Klobuchar model solution；
Using own coordinate and the second temporal information, the tropospheric error of the movement station is solved by Tropospheric Models.
10. a kind of error correction systems for pseudo range difference positioning characterized by comprising base station and movement station；
The base station is suitable for resolving differential corrections, and sends the differential corrections；
The movement station is suitable for after receiving the differential corrections, is believed using the known coordinate and first time of the base station
Breath, calculates the ionospheric error and tropospheric error of the base station；Utilize the ionospheric error and troposphere of the base station
Differential corrections described in error correction are generated without ionospheric error and without the correction of tropospheric error；In Differential positioning process
In, using own coordinate and the second temporal information, calculate the ionospheric error and tropospheric error of the movement station；Using described
The ionospheric error and tropospheric error of movement station, correct the ionospheric error in the Pseudo-range Observations of the movement station and convection current
Journey error；Using the no ionospheric error and without the correction of tropospheric error, the Pseudo-range Observations of the movement station are corrected
In remaining satellite orbital error and star clock error.
11. a kind of mobile device characterized by comprising memory, processor and be stored on the memory and can be
The computer program run on the processor realizes such as claim 1 when the computer program is executed by the processor
The step of to error correcting method described in any one of 6.
12. a kind of computer readable storage medium, which is characterized in that be stored with computer program, the computer program is held
It realizes when row such as the step of error correcting method described in any one of claims 1 to 6.
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| CN118091716A (en) * | 2024-02-29 | 2024-05-28 | 广东电网有限责任公司惠州供电局 | Underground cable line differential positioning method, device, electronic equipment and medium |
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