CN110221325B - Error correction method and device for pseudo-range differential positioning - Google Patents
Error correction method and device for pseudo-range differential positioning Download PDFInfo
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- 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
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Abstract
An error correction method for pseudo-range differential positioning, comprising: after receiving the difference correction number sent by the reference station, the mobile station calculates the ionosphere error and the troposphere error of the reference station; correcting the difference correction numbers by using the ionospheric error and the tropospheric error of the reference station to generate correction numbers without ionospheric error and without tropospheric error; in the differential positioning process, calculating own ionosphere error and troposphere error; correcting the ionosphere error and the convection process error in the pseudo-range observation value by using the ionosphere error and the troposphere error; and correcting the residual satellite orbit error and the satellite clock error in the pseudo-range observation value by using the correction numbers without the ionosphere error and the convection layer error.
Description
Technical Field
The present disclosure relates to the field of satellite navigation technologies, and in particular, to an error correction method and apparatus for pseudorange differential positioning.
Background
At present, pseudo-range point positioning of a Global Navigation Satellite System (GNSS) is a relatively common positioning technology, has the characteristics of all weather, no influence of weather, small volume, easy carrying and the like, and is widely applied to various fields. However, GNSS pseudorange single-point positioning is affected by various errors, and the positioning accuracy can only reach several meters. In order to improve the precision of Satellite Positioning, technologies such as DGNSS (Differential Global Navigation Satellite System), RTK (Real-Time Kinematic), PPP (precision Point Positioning), and the like are proposed in sequence. The DGNSS has the characteristics of relatively simple algorithm implementation, superior positioning precision to single-point positioning and the like, and is widely applied to multiple fields of lane-level navigation, shipborne channel navigation, pedestrian navigation and the like.
Disclosure of Invention
The application provides an error correction method and device for pseudo-range differential positioning, which can improve the positioning precision of DGNSS.
In one aspect, the present application provides an error correction method for pseudo-range differential positioning, including: after receiving the difference correction number sent by the reference station, the mobile station calculates the ionosphere error and the troposphere error of the reference station; the mobile station corrects the difference correction number by using the ionospheric error and the tropospheric error of the reference station to generate correction numbers without ionospheric error and without tropospheric error; the mobile station calculates the ionospheric error and tropospheric error of the mobile station in the differential positioning process; the mobile station corrects the ionospheric error and the convection current error in the pseudo-range observation value of the mobile station by using the ionospheric error and the convection layer error of the mobile station; and the mobile station corrects the residual satellite orbit error and satellite clock error in the pseudo-range observation value of the mobile station by using the correction numbers without the ionosphere error and the convection layer error.
In another aspect, the present application provides an error correction apparatus for pseudo-range differential positioning, including: the receiving module is suitable for receiving the differential correction number sent by the reference station; a first calculation module adapted to calculate ionospheric and tropospheric errors of the reference station; the first correction module is suitable for correcting the differential correction numbers by utilizing the ionosphere error and the troposphere error of the reference station to generate correction numbers without the ionosphere error and the troposphere error; a second calculation module adapted to calculate ionospheric and tropospheric errors of the mobile station during differential positioning; a second correction module adapted to correct an ionospheric error and a tropospheric error in the pseudorange observation of the mobile station using the ionospheric error and the tropospheric error of the mobile station; and correcting the residual satellite orbit error and the satellite clock error in the pseudo-range observation value of the mobile station by using the correction numbers of the ionosphere-free error and the convection-free error.
In another aspect, the present application provides an error correction system for pseudo-range differential positioning, including: a reference station and a mobile station; wherein the reference station is adapted to resolve a differential correction and transmit the differential correction; the mobile station is adapted to calculate ionospheric and tropospheric errors of the reference station using the known coordinates and the first time information of the reference station after receiving the differential corrections; correcting the difference correction number by using the ionospheric error and the tropospheric error of the reference station to generate correction numbers without ionospheric error and without tropospheric error; in the differential positioning process, calculating an ionospheric error and a tropospheric error of the mobile station by using self coordinates and second time information; correcting the ionospheric error and the convection process error in the pseudo-range observation value of the mobile station by using the ionospheric error and the tropospheric error of the mobile station; and correcting the residual satellite orbit error and the satellite clock error in the pseudo-range observation value of the mobile station by using the correction numbers of the ionosphere-free error and the convection-free error.
In another aspect, the present application provides a mobile device comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the error correction method provided above.
In another aspect, the present application provides a computer-readable storage medium storing a computer program that, when executed, implements the steps of the error correction method provided above.
In the method, the mobile station can calculate the ionospheric error and the tropospheric error of the reference station, and corrects the difference correction number sent by the reference station by using the ionospheric error and the tropospheric error of the reference station to generate the correction numbers without the ionospheric error and the tropospheric error; the method comprises the following steps that a mobile station calculates own ionosphere error and troposphere error in the differential positioning process; correcting the ionosphere error and the convection process error in the pseudo-range observation value by using the ionosphere error and the troposphere error per se; and correcting the residual satellite orbit error and the satellite clock error in the pseudo-range observation value by using the obtained correction numbers without the ionosphere error and the convection layer error. By the aid of the method, the weakening of error correlation between troposphere and ionosphere of the reference station and the mobile station caused by large elevation difference between the reference station and the mobile station, long baseline and large difference age can be eliminated without external information assistance, and accordingly differential positioning accuracy is improved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. Other advantages of the application may be realized and attained by the instrumentalities and combinations particularly pointed out in the specification, claims, and drawings.
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The accompanying drawings are included to provide an understanding of the present disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the examples serve to explain the principles of the disclosure and not to limit the disclosure.
Fig. 1 is an interactive schematic diagram of an error correction system for pseudo-range differential positioning according to an embodiment of the present disclosure;
fig. 2 is a flowchart of an error correction method for pseudo-range differential positioning according to an embodiment of the present disclosure;
fig. 3 is a diagram of an application example of an error correction method for pseudo-range differential positioning according to an embodiment of the present application;
fig. 4 is a schematic diagram of an error correction apparatus for pseudo-range differential positioning according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a mobile device provided in an exemplary embodiment of the present application.
Detailed Description
The present application describes embodiments, but the description is illustrative rather than limiting and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or instead of any other feature or element in any other embodiment, unless expressly limited otherwise.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive concept as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive aspects to form yet another unique inventive aspect, as defined by the claims. Thus, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not limited except as by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.
Further, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other orders of steps are possible as will be understood by those of ordinary skill in the art. Therefore, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Further, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present application.
The GNSS single-point positioning is influenced by errors of satellite orbits, clock errors, ionosphere, troposphere and the like, and the accuracy can only reach several meters. The DGNSS can completely eliminate satellite clock error by utilizing the correlation of errors of a reference station and a mobile station, eliminate most errors of satellite orbits, ionosphere and troposphere and improve the positioning precision to a sub-meter level.
In the DGNSS mode of operation, the reference station may obtain the satellite-to-satellite geometric distance from the known antenna coordinates and the satellite coordinates calculated from the broadcast ephemeris, and send the difference between the satellite-to-satellite geometric distance and the satellite-to-pseudorange observations as a pseudorange correction to the mobile station. The correction number can be used for correcting various errors including satellite orbits, clock errors, ionosphere and troposphere of reference station positions and the like. The mobile station can eliminate the satellite clock error and most of the satellite orbit error, ionosphere error and troposphere error by directly utilizing the correction number.
When the elevation difference between the reference station and the mobile station is small, the baseline distance is short, and the difference age is small, the satellite orbit, ionosphere and troposphere errors have high correlation, most errors can be eliminated during pseudo-range difference, and the positioning accuracy is high. However, if the elevation difference between the reference station and the mobile station reaches more than hundred meters, the deviation of the troposphere can reach decimeter level; if the base line distance is longer, the elevation angle and the azimuth angle of the reference station and the mobile station to the same satellite are different, and the component of the satellite orbit error in the satellite observation direction is also different for the reference station and the mobile station; meanwhile, the penetration points of satellite signals in the troposphere and the ionosphere are different, and the error deviations of the satellite orbit, the troposphere and the ionosphere contained in the observation values of the reference station and the mobile station can be increased, namely the correlation between the troposphere and the ionosphere delay of the reference station and the mobile station is weakened, and the residual error can be increased after direct difference; when the difference age is larger, due to the movement of the satellite, the elevation angle and the azimuth angle of the mobile station to the satellite are changed, the penetration point of the satellite signal in the troposphere and the ionosphere is changed, so that the ionosphere and troposphere delay contained in the pseudo range of the mobile station changes along with time, the correlation of the ionosphere and troposphere errors with the observation time of the reference station is weakened, and the residual errors of the ionosphere and the troposphere can be increased after direct difference.
Therefore, the current DGNSS pseudo range differential technology has the following limitations: when the elevation difference of the mobile station of the reference station becomes large, the troposphere error residual becomes large after difference, and the positioning precision is reduced along with the increase of the elevation difference; when the base line is lengthened, the residual error of the ionized layer and the troposphere after difference is enlarged, so that the positioning accuracy is reduced along with the increase of the length of the base line; when the difference age increases, the residual error between the ionosphere and the troposphere after the difference is large, so that the positioning accuracy is reduced along with the increase of the difference age.
The embodiment of the application provides an error correction method and device for pseudo-range differential positioning, which utilize ionosphere and troposphere models to eliminate weak troposphere and ionosphere error correlation of a reference station and a mobile station caused by large elevation difference, long baseline and large difference age between the reference station and the mobile station under the condition of not needing external information assistance, thereby improving the DGNSS positioning accuracy.
An embodiment of the present application provides an error correction system for pseudo-range differential positioning, including: a reference station and a mobile station; the reference station is suitable for resolving a difference correction number and sending the difference correction number; the mobile station is adapted to calculate ionospheric and tropospheric errors of the reference station after receiving the differential corrections; correcting the difference correction number by using the ionospheric error and the tropospheric error of the reference station to generate correction numbers without ionospheric error and without tropospheric error; in the differential positioning process, calculating an ionospheric error and a tropospheric error of the mobile station; correcting an ionospheric error and a convection process error in a pseudo-range observation value of the mobile station by using the ionospheric error and the tropospheric error of the mobile station; and correcting the residual satellite orbit error and satellite clock error in the pseudo-range observed value of the mobile station by using the correction numbers without the ionosphere error and the convection layer error.
In practical application, the reference station may include a set of GNSS receiver and related supporting facilities, and an antenna of the reference station may be fixed in an open and non-blocking environment; the antenna of the mobile station may be directly fixed to the vehicle platform. However, this is not limited in this application.
Fig. 1 is an interaction diagram of an error correction system for pseudo-range differential positioning according to an embodiment of the present disclosure. As shown in fig. 1, the interactive process of the error correction system provided in this embodiment may include:
and S100, after the pseudo-range observation value and the carrier phase observation value are obtained by the reference station, the differential correction is calculated in real time.
Wherein L of the reference station b to the satellite i can be defined1Pseudo-range observed value on frequency point is
Comprehensively considering signal propagation errors, satellite related errors and the like,
can be expressed as:
in the formula (1), the reaction mixture is,
l representing the reference station b at time t to the satellite i1The pseudo-range observations at the frequency points,
representing the geometric distance, dt, between the satellite i and the reference station b at time tb(t) and dtsi(t) represents receiver clock difference at time t and satellite clock difference calculated from broadcast ephemeris, Tgd represents group wave delay, c represents speed of light,
representing the tropospheric error at time t,
indicating ionospheric error, δ ps, at time ti(t) represents the orbital error of the satellite i at time t, δ tsi(t) represents the clock error at time t,
representing the pseudorange noise.
Since the position of the reference station b is precisely known, the geometric distance between the reference station b and the satellite i
Can be accurately calculated.
At this time, t can be obtained based on the formula (1)0The expression of the time difference correction is shown in equation (2):
in the formula (2), the reaction mixture is,
represents t0The number of differential corrections of the time of day,
represents t0The pseudorange observations from the time reference station b to the satellite i,
represents t0Geometric distance, dts, between time satellite i and reference station bi(t0) Represents t0The satellite clock difference is calculated by a broadcast ephemeris at the moment, Tgd represents group wave delay, and c represents light speed; dtb(t0) Represents t0The time of day is the difference in the receiver clock,
represents t0The tropospheric error at the time of day,
represents t0Ionospheric error at time, δ psi(t0) Represents t0Orbital error of satellite i at time, δ tsi(t0) Represents t0The clock error of the time of day. Note that, in equation (2), pseudo-range noise is ignored
In practical use, pseudo range noise can be weakened by adopting a corresponding method. The pseudorange noise reduction method is not limited in the present application.
And S101, the reference station outwards broadcasts the calculated difference correction number.
S102, after receiving the difference correction, the mobile station corrects the pseudo-range observation value.
And S103, the mobile station carries out differential positioning calculation by using the corrected pseudo-range observation value.
In this embodiment, in order to eliminate the influence of the ionospheric error and the tropospheric error of the reference station on the mobile station as much as possible, the difference correction number of the equation (2) may be corrected; wherein the mobile station can generate a differential correction number at time t from the reference station0(corresponding to the first time information), respectively calculating to obtain the ionosphere error of the reference station by using Klobuchar current layer model algorithm and Saastamoinen troposphere model algorithm
And tropospheric error
The corrected correction number is:
t in formula (3)0Clock difference dt of time receiverb(t0) The subtraction can be done by averaging over several stars.
It should be noted that other troposphere model algorithms may be used in the present application, as long as it is ensured that the same troposphere model algorithm is used to calculate the troposphere errors of the reference station and the mobile station.
In the present embodiment, moveAnd the moving station r records the pseudo-range observed value of the satellite numbered i as
The pseudorange observation equation for the mobile station r may be expressed as:
in the formula (4), the reaction mixture is,
represents pseudorange observations of the mobile station r to the satellite i at time t,
representing the geometric distance, dt, between the satellite i and the mobile station r at time tr(t) and dtsi(t) represents receiver clock difference at time t and satellite clock difference calculated from broadcast ephemeris, Tgd represents group wave delay, c represents speed of light,
representing the tropospheric error at time t,
indicating ionospheric error, δ ps, at time ti(t) represents the orbital error of the satellite i at time t, δ tsi(t) represents the clock error at time t,
representing the pseudorange noise term.
Wherein, according to the time t (corresponding to the second time information) of the mobile station r, the ionosphere error of the mobile station can be calculated and obtained by using Klobuchar ionosphere model algorithm and Saastamoinen troposphere model algorithm respectively
And tropospheric error
Satellite clock difference dtsi(t) is obtained from ephemeris and the residual satellite orbit error and satellite clock error can be subtracted by the difference correction corrected according to equation (3). It should be noted that the mobile station may also use other troposphere model algorithms, as long as it is ensured that the same troposphere model is used to calculate the troposphere errors of the reference station and the mobile station.
Thus, the positioning observation equation can be obtained as follows:
order to
Equation (5) can be written as:
the mobile station r can obtain a plurality of observation equations of the similar formula (7) by using the tracked plurality of satellites, and can obtain high-precision position information by using a least square or Kalman filtering algorithm.
In this embodiment, by using the ionosphere model and the troposphere model, the ionosphere error and the troposphere error of the reference station and the mobile station are calculated for each satellite, and irrelevant parts of the ionosphere and the troposphere in the differential correction number are eliminated in the differential algorithm, so that the differential positioning accuracy in the scenarios of large elevation difference, long baseline distance, large differential age, and the like between the reference station and the mobile station can be improved.
Fig. 2 is a flowchart of an error correction method for pseudo-range differential positioning according to an embodiment of the present disclosure. As shown in fig. 2, the error correction method provided in this embodiment is applied to a mobile station, and includes:
s201, after receiving the difference correction number sent by the reference station, the mobile station calculates the ionosphere error and the troposphere error of the reference station.
In an exemplary embodiment, the mobile station may solve the ionospheric error of the reference station by using the Klobuchar model using the known coordinates of the reference station and the first time information; and solving the tropospheric error of the reference station by the tropospheric model by using the known coordinates and the first time information of the reference station. Illustratively, the troposphere model may be a Saastamoinen model. However, this is not limited in this application. The first time information is a time when the reference station generates the differential correction number (or referred to as a time point of the differential correction number). The reference station carries a time point for generating the differential correction number when the differential correction number is broadcast.
In this step, the ionospheric error and the tropospheric error of the reference station can be separated from other error amounts by solving the ionospheric error and the tropospheric error of the reference station.
S202, the mobile station corrects the difference correction number by using the ionospheric error and the tropospheric error of the reference station to generate correction numbers without ionospheric error and without tropospheric error.
In this step, the mobile station may correct the difference correction number obtained by the above equation (2) to generate a corrected correction number represented by the above equation (3). That is, the ionospheric error and tropospheric error of the reference station calculated in S201 are subtracted from the received differential corrections. Wherein the receiver clock error in the corrected correction number can be obtained by calculating an average value and subtracting the average value.
S203, the mobile station calculates the ionosphere error and the troposphere error of the mobile station in the differential positioning process.
In an exemplary embodiment, the mobile station can use its own coordinates and the second time information (the time when the mobile station performs differential positioning) to solve the ionospheric error of the mobile station through the Klobuchar model; and solving the troposphere error of the mobile station through the troposphere model by utilizing the self coordinates and the second time information. The troposphere model used in this step needs to be consistent with the troposphere model used in step S201. Illustratively, the troposphere model may be a Saastamoinen model.
Here, the own coordinates of the mobile station may be coordinates of the mobile station at a previous time, or may be coordinates of the current time estimated using the coordinates and the speed of the mobile station at the previous time.
S204, the mobile station corrects the ionospheric error and the convection current error in the pseudo-range observation value of the mobile station by using the ionospheric error and the tropospheric error of the mobile station.
In this step, the ionospheric error and tropospheric error of the mobile station, which are solved by the corresponding model algorithm in S203, may be used in the pseudo-range observation equation of the mobile station.
S205, the mobile station corrects the residual satellite orbit error and satellite clock error in the pseudo-range observed value of the mobile station by using the correction numbers without the ionospheric layer error and the convection-layer error.
The sequence of the above steps is not limited in the present application. For example, in the differential positioning process, after the ionospheric error of the mobile station is calculated, the ionospheric error in the pseudo-range observation value is corrected, then the tropospheric error of the mobile station is calculated, and then the tropospheric error in the pseudo-range observation value is corrected. Or, in the differential positioning process, the mobile station may calculate the ionospheric error and the tropospheric error of the mobile station, and then correct the ionospheric error and the tropospheric error in the pseudo-range observation value.
In the embodiment of the application, under the condition of not needing external information assistance, the weak correlation between the troposphere and the ionosphere of the reference station and the mobile station aiming at the same satellite, which is caused by the fact that the elevation difference between the reference station and the mobile station is larger, the base line is longer and the difference age is larger, can be eliminated by using the current stratum model and the troposphere model, and the DGNSS positioning accuracy is improved.
Fig. 3 is a diagram of an application example of an error correction method for pseudo-range differential positioning according to an embodiment of the present application. In the present exemplary embodiment, the processing procedure of the mobile station includes:
s301, the mobile station acquires a pseudo-range observation value and a carrier phase observation value.
S302, the mobile station performs carrier phase smoothing pseudorange processing.
S303, the mobile station judges whether a new difference correction number sent by the reference station is received; if a new difference correction is received, S304 is executed, and if a new difference correction is not received, S306 is executed.
S304, the mobile station calculates the ionosphere error and the troposphere error of the reference station by using the Klobuchar model and the Saastamoinen model respectively by using the known time points corresponding to the coordinates of the reference station and the difference correction number.
S305, the mobile station corrects the received difference correction number by using the ionosphere error and the troposphere error of the reference station obtained by calculation to obtain a corrected new correction number; wherein the mobile station may subtract the calculated ionospheric and tropospheric errors of the reference station from the received differential corrections to generate a new correction.
And S307, the mobile station calculates the ionosphere error and the troposphere error of the mobile station by using the Klobuchar model and the Saastamoinen model respectively by using the coordinates and the current time of the mobile station.
S308, the mobile station corrects the ionosphere error and the troposphere error in the pseudo-range observed value of the mobile station by using the ionosphere error and the troposphere error of the mobile station obtained through calculation.
S309, the mobile station corrects the orbit error and the clock error in the pseudo-range observed value of the mobile station by using the new correction value generated in S305.
And S310, the mobile station performs positioning calculation by adopting least square or Kalman filtering based on the corrected pseudo-range observation value.
If the mobile station does not receive a new differential correction number S306, the mobile station determines whether the previously received differential correction number is within the set differential age, and if so, executes S307, and otherwise, executes S311.
And S311, the mobile station carries out single-point positioning calculation processing.
In the exemplary embodiment, by adopting the ionosphere and troposphere models, the ionosphere and troposphere errors of the reference station and the mobile station are calculated respectively for each satellite, and the irrelevant parts of the ionosphere and the troposphere in the differential correction number are eliminated in the differential algorithm, so that the differential positioning accuracy is improved.
Fig. 4 is a schematic diagram of an error correction apparatus for pseudo-range differential positioning according to an embodiment of the present disclosure. As shown in fig. 4, the error correction apparatus provided in this embodiment, applied to a mobile station, includes: a receiving module 401, a first calculating module 402, a first correcting module 403, a second calculating module 404 and a second correcting module 405.
The receiving module 401 is adapted to receive the differential correction number sent by the reference station; a first calculation module 402 adapted to calculate ionospheric and tropospheric errors of the reference station; a first correction module 403 adapted to correct the differential corrections using the ionospheric error and the tropospheric error of the reference station to generate corrections without ionospheric error and without tropospheric error; a second calculation module 404 adapted to calculate ionospheric and tropospheric errors of the mobile station during the differential positioning; a second correction module 405 adapted to correct an ionospheric error and a tropospheric error in a pseudorange observation of the mobile station using the ionospheric error and the tropospheric error of the mobile station; and correcting the residual satellite orbit error and satellite clock error in the pseudo-range observed value of the mobile station by using the correction numbers without the ionosphere error and the convection layer error.
For the related description of the apparatus provided in this embodiment, reference may be made to the description of the method embodiments above, and therefore, the description thereof is not repeated herein.
An embodiment of the present application further provides a mobile device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the error correction method provided in the embodiments of the present application.
Fig. 5 is a schematic diagram of a mobile device according to an exemplary embodiment of the present application. As shown in fig. 5, in this example, mobile device 500 may include: a processor 502, a memory 501, a bus system 504 and a transceiver 503, wherein the processor 502, the memory 501 and the transceiver 503 are connected via the bus system 504, the memory 501 is used for storing instructions, and the processor 502 is used for executing the instructions stored in the memory 501 to control the transceiver 503 to receive signals. Specifically, the operations of the receiving module in the mobile device described above may be performed by the transceiver 503 under the control of the processor 502, and the operations of the first calculating module, the second calculating module, the first correcting module, and the second correcting module may be performed by the processor 502.
It should be understood that processor 502 may be a Central Processing Unit (CPU), and processor 502 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The bus system 504 may include a power bus, a control bus, a status signal bus, and the like, in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 504 in fig. 5.
Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed to implement the processing of any one of the methods described in the above embodiments, such as the steps shown in fig. 2 or fig. 3.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Claims (7)
1. An error correction method for pseudo-range differential positioning, comprising:
after receiving the difference correction number sent by the reference station, the mobile station calculates the ionosphere error and the troposphere error of the reference station;
the mobile station corrects the difference correction number by using the ionospheric error and the tropospheric error of the reference station to generate correction numbers without ionospheric error and without tropospheric error;
the mobile station calculates the ionospheric error and tropospheric error of the mobile station in the differential positioning process;
the mobile station corrects the ionospheric error and the convection current error in the pseudo-range observation value of the mobile station by using the ionospheric error and the convection layer error of the mobile station;
the mobile station correcting remaining satellite orbit errors and satellite clock errors in pseudorange observations of the mobile station using the ionosphere-free error and troposphere-free corrections,
the calculating ionospheric and tropospheric errors of the reference station comprises:
the mobile station solves the ionospheric error of the reference station through a Klobuchar model by using the known coordinates and the first time information of the reference station;
the mobile station uses the known coordinates of the reference station and the first time information to solve the troposphere error of the reference station through a troposphere model, the first time information is the time when the difference correction number is generated for the reference station,
the calculating ionospheric and tropospheric errors for the mobile station comprises:
the mobile station utilizes the self coordinates and the second time information to solve the ionospheric error of the mobile station through a Klobuchar model;
the mobile station uses the self-coordinate and the second time information to solve the troposphere error of the mobile station through a troposphere model,
the mobile station calculates the tropospheric error of the reference station and the tropospheric error of the mobile station using the same tropospheric model.
2. The method of claim 1, further comprising:
and the mobile station performs positioning calculation by adopting least square or Kalman filtering based on the corrected pseudo-range observed value.
3. The method of claim 1, wherein the mobile station is prior to performing differential positioning, the method further comprising: the mobile station determining whether the differential correction is within a set differential age; when the mobile station determines that the differential correction number is within a set differential age, the mobile station performs differential positioning processing; and when the mobile station determines that the differential correction is not within the set differential age, the mobile station performs the single-point positioning processing.
4. An error correction apparatus for pseudo-range differential positioning, comprising:
the receiving module is suitable for receiving the differential correction number sent by the reference station;
a first calculation module adapted to calculate ionospheric and tropospheric errors of the reference station;
the first correction module is suitable for correcting the differential correction numbers by utilizing the ionosphere error and the troposphere error of the reference station to generate correction numbers without the ionosphere error and the troposphere error;
a second calculation module adapted to calculate ionospheric and tropospheric errors of the mobile station during the differential positioning;
a second correction module adapted to correct an ionospheric error and a tropospheric error in the pseudorange observation of the mobile station using the ionospheric error and the tropospheric error of the mobile station; correcting satellite orbit errors and satellite clock errors remaining in pseudo-range observations of the mobile station using the corrections of the ionosphere-free errors and the convection-free errors,
the first calculation module is adapted to calculate the ionospheric error and the tropospheric error of the reference station by:
solving ionospheric errors of the reference station through a Klobuchar model by using the known coordinates and the first time information of the reference station; solving the troposphere error of the reference station by a troposphere model by using the known coordinates of the reference station and first time information, wherein the first time information is the time when the difference correction is generated by the reference station,
the second calculation module is adapted to calculate the ionospheric error and tropospheric error of the mobile station by:
solving an ionospheric error of the mobile station through a Klobuchar model by using the self-coordinates and the second time information; solving the troposphere error of the mobile station through a troposphere model by utilizing the self-coordinate and the second time information,
the first and second computation modules compute tropospheric errors of the reference station and tropospheric errors of the mobile station using the same tropospheric model.
5. An error correction system for pseudo-range differential positioning, comprising: a reference station and a mobile station;
the reference station is suitable for resolving a differential correction number and sending the differential correction number;
the mobile station is adapted to calculate ionospheric and tropospheric errors of the reference station using the known coordinates and the first time information of the reference station after receiving the differential corrections; correcting the difference correction number by using the ionospheric error and the tropospheric error of the reference station to generate correction numbers without ionospheric error and without tropospheric error; in the differential positioning process, calculating an ionospheric error and a tropospheric error of the mobile station by using self coordinates and second time information; correcting the ionospheric error and the convection process error in the pseudo-range observation value of the mobile station by using the ionospheric error and the tropospheric error of the mobile station; correcting satellite orbit errors and satellite clock errors remaining in pseudo-range observations of the mobile station using the corrections of the ionosphere-free errors and the convection-free errors,
the calculating ionospheric and tropospheric errors of the reference station comprises:
the mobile station solves the ionospheric error of the reference station through a Klobuchar model by using the known coordinates and the first time information of the reference station;
the mobile station uses the known coordinates of the reference station and the first time information to solve the troposphere error of the reference station through a troposphere model, the first time information is the time when the difference correction number is generated for the reference station,
the calculating ionospheric and tropospheric errors for the mobile station comprises:
the mobile station utilizes the self coordinates and the second time information to solve the ionospheric error of the mobile station through a Klobuchar model;
the mobile station uses the self-coordinate and the second time information to solve the troposphere error of the mobile station through a troposphere model,
the mobile station calculates the tropospheric error of the reference station and the tropospheric error of the mobile station using the same tropospheric model.
6. A mobile device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the error correction method according to any one of claims 1 to 3.
7. A computer-readable storage medium, characterized in that a computer program is stored which, when executed, carries out the steps of the error correction method according to any one of claims 1 to 3.
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| CN113466908A (en) * | 2021-08-21 | 2021-10-01 | 深圳市电咖测控科技有限公司 | GNSS positioning accuracy enhancing method |
| CN115079225A (en) * | 2022-07-07 | 2022-09-20 | 深圳市海伊石油技术有限公司 | Navigation positioning method and device of marine receiver |
| CN116520371B (en) * | 2023-04-28 | 2024-05-28 | 银河航天(成都)通信有限公司 | Method, device and storage medium for improving differential positioning precision of mobile terminal |
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