CN111045052B - Pseudo-range differential positioning and quality control method for intelligent terminal - Google Patents
Pseudo-range differential positioning and quality control method for intelligent terminal Download PDFInfo
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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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- G—PHYSICS
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- 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
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Abstract
The invention relates to the field of high-precision positioning, and discloses a pseudo-range differential positioning and quality control method for an intelligent terminal, which comprises the following steps: decoding to obtain satellite data and reference station data received by the intelligent terminal, wherein the satellite data comprises observation data and broadcast ephemeris of the intelligent terminal; controlling the signal-to-noise ratio in the observation data of the intelligent terminal; discarding invalid pseudo-range observed quantities of the intelligent terminal according to a difference value between the pseudo-range observed quantities of the intelligent terminal and the pseudo-range observed quantities of the reference station; and acquiring a single-point positioning result, performing Kalman filtering on the positioning result, performing quality control on original data of the intelligent terminal, filtering by using influence factors such as signal-to-noise ratio, pseudo-range residual error, pseudo-range double difference and the like, and removing abnormal data or reducing the weight of the abnormal data. And improving the positioning accuracy of the intelligent terminal through pseudo-range difference and corresponding quality control.
Description
Technical Field
The invention relates to the technical field of high-precision positioning, and discloses a pseudo-range differential positioning and quality control method for an intelligent terminal.
Background
An intelligent terminal adopting satellite positioning, such as a mobile phone and the like, generally adopts a single-frequency positioning mode, the positioning precision is mostly within 10 meters, and the precision of the intelligent terminal cannot meet the requirement of modernized high precision.
In the method for improving the navigation positioning accuracy of the mobile phone by adopting the GPS differential correction number, the positioning of the intelligent terminal is corrected by utilizing the GPS differential correction number, the principle is that the pseudo-range error correction number of a reference station is calculated by utilizing the position between observation data of the reference station near the intelligent terminal and a satellite and the known coordinates of the reference station, and the intelligent terminal is corrected by utilizing the correction number during positioning.
However, the intelligent terminal receives the differential correction number, and directly corrects the positioning data of the intelligent terminal. In an actual application scenario, errors of some original positioning data received by the intelligent terminal from the satellite are large, and the positioning accuracy of the intelligent terminal is poor.
Disclosure of Invention
In view of the problems in the background art, the present invention is directed to a pseudo-range differential positioning and quality control method for an intelligent terminal.
In order to achieve the purpose, the invention adopts the following technical scheme:
the pseudo-range differential positioning and quality control method for the intelligent terminal comprises the following steps: decoding to obtain satellite data and reference station data received by the intelligent terminal, wherein the satellite data comprises observation data and broadcast ephemeris of the intelligent terminal; controlling the signal-to-noise ratio in the observation data of the intelligent terminal; discarding invalid pseudo-range observed quantities of the intelligent terminal according to a difference value between the pseudo-range observed quantities of the intelligent terminal and the pseudo-range observed quantities of the reference station; and acquiring a single-point positioning result, and performing Kalman filtering on the positioning result.
Preferably, the controlling the signal-to-noise ratio in the observation data of the intelligent terminal specifically comprises: storing a signal-to-noise ratio value for a first number of epochs of the satellite; comparing the signal-to-noise ratio of a second number of epochs of the satellite to the mean of the signal-to-noise ratios of the first number of epochs earlier, the second number being greater than the first number; if the signal-to-noise ratio is smaller than the average value, judging that the signal-to-noise ratio of the second number of epochs of the satellite is abnormal; and if the signal to noise ratio is not less than the mean value, judging that the signal to noise ratio of the second number of epochs of the satellite is normal.
Preferably, if the value is not less than the average value, storing the signal-to-noise value of the satellite in the second number of epochs, deleting the signal-to-noise value of the first epoch, and repeating the above steps to continue the control of the signal-to-noise value of the satellite in the next epoch.
Preferably, if the number of the satellites with reduced signal-to-noise ratio of a certain epoch reaches sixty percent of the total number of the satellites, the signal-to-noise ratio of the epoch is judged to be normal.
Preferably, when an absolute value of a difference between the pseudo-range observation of the smart terminal and the pseudo-range observation of the reference station is greater than a set threshold value, the pseudo-range observation of the smart terminal is discarded, and the set threshold value is 290000.
Preferably, in the first iteration, performing gross error detection on pseudo-range observed quantity of the intelligent terminal, specifically, solving by using the positioning result of the intelligent terminal calculated this time and the position of a satellite to obtain a satellite-ground distance, and correcting an ionosphere error and a troposphere error; calculating a difference value between the satellite-ground distance and a pseudo range observed quantity of the intelligent terminal to obtain a satellite pseudo range residual error; and (3) carrying out median and median error solution on the satellite pseudo-range residual errors of all the satellites, carrying out difference on each satellite pseudo-range residual error and the median, judging that the satellite pseudo-range of the satellite is abnormal if the difference value exceeds 3 times of the median error, marking the satellite and carrying out weight reduction.
Preferably, the doppler observation is subjected to median robust processing, and the single-point result is subjected to kalman filtering, where the filtering frequency is 1.
Preferably, the quality control is performed on the observation data of the reference station, single-point positioning is performed by using the observation data of the reference station and ephemeris data, then pseudo-range residual values of each satellite are solved, the pseudo-range residual values of each satellite are sequenced, a median and a median error are obtained, then the pseudo-range residual values of each satellite and the median are subjected to subtraction to obtain a secondary difference, if the obtained value of the secondary difference is greater than 3 times the median error, the satellite marking the reference station is abnormal, and the satellite does not participate in calculation in subsequent calculation.
Preferably, a computer-readable storage medium, on which a computer program is stored, is characterized in that the computer program realizes the steps of any of the above methods when executed by a processor.
Preferably, the pseudo-range differential positioning and quality control method for the intelligent terminal comprises the following steps: the decoding module is used for decoding satellite data and reference station data received by the intelligent terminal, wherein the satellite data comprises observation data and broadcast ephemeris of the intelligent terminal; the signal-to-noise ratio control module is used for controlling the signal-to-noise ratio in the observation data of the intelligent terminal; the selection module is used for discarding invalid pseudo-range observed quantities of the intelligent terminal according to the difference value of the pseudo-range observed quantities of the intelligent terminal and the reference station; and the acquisition module is used for acquiring the single-point positioning result and carrying out Kalman filtering on the positioning result.
Compared with the prior art, the invention provides a pseudo-range differential positioning and quality control method for an intelligent terminal, which comprises the following steps: decoding to obtain satellite data and reference station data received by the intelligent terminal, wherein the satellite data comprises observation data and broadcast ephemeris of the intelligent terminal; controlling the signal-to-noise ratio in the observation data of the intelligent terminal; discarding invalid pseudo-range observed quantities of the intelligent terminal according to a difference value between the pseudo-range observed quantities of the intelligent terminal and the pseudo-range observed quantities of the reference station; and acquiring a single-point positioning result, performing Kalman filtering on the positioning result, performing quality control on original data of the intelligent terminal, filtering by using influence factors such as signal-to-noise ratio, pseudo-range residual error, pseudo-range double difference and the like, and removing abnormal data or reducing the weight of the abnormal data. And improving the positioning accuracy of the intelligent terminal through pseudo-range difference and corresponding quality control.
Drawings
Fig. 1 is a schematic flowchart of a pseudo-range differential positioning and quality control method of an intelligent terminal according to the present invention;
fig. 2 is a block diagram of a pseudo-range differential positioning and quality control system of a smart terminal according to the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, some of which are illustrated in the accompanying drawings and described below, wherein like reference numerals refer to like elements throughout. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, based on the embodiments and the graphics of the invention, are within the scope of protection of the invention.
The method mainly comprises the steps of performing quality control on original data of the intelligent terminal, filtering by utilizing influence factors such as signal-to-noise ratio, pseudo-range residual errors and pseudo-range double differences, and rejecting abnormal data or reducing the weight of the abnormal data. And improving the positioning accuracy of the intelligent terminal through pseudo-range difference and corresponding quality control. The intelligent terminal can be any equipment provided with a high-precision positioning module, such as a child watch, a work card, a helmet, an interphone and the like.
Fig. 1 provides a pseudo-range differential positioning and quality control method for an intelligent terminal according to the present invention, including: s1, decoding to obtain satellite data and reference station data received by the intelligent terminal, wherein the satellite data comprises observation data and broadcast ephemeris of the intelligent terminal; s2, controlling the signal-to-noise ratio in the observation data of the intelligent terminal; s3, discarding invalid intelligent terminal pseudo range observed quantity according to the difference value of the pseudo range observed quantity of the intelligent terminal and the pseudo range observed quantity of the reference station; s4, acquiring a single-point positioning result, and performing Kalman filtering on the positioning result.
In one embodiment, first, when the intelligent terminal starts positioning, satellite data is received from a satellite, wherein the satellite data includes observation data and broadcast ephemeris of the original intelligent terminal. The observation data of the intelligent terminal comprises pseudo-range observation quantity of the intelligent terminal. The intelligent terminal also receives observation data from nearby reference stations, the observation data of the reference stations including pseudo-range observations of the reference stations. Positioning is performed using RTK.
The satellite data is data received by the intelligent terminal from a satellite. The reference station data is the data received by the intelligent terminal from the reference station. The decoding intelligent terminal receives original satellite data and original reference station data from a reference station, the base station and the rover station are all reference stations, some original observation data of the reference station are compiled by adopting a custom protocol or a standard protocol, and the reference station data are obtained by analyzing the original observation data of the reference station. Similarly, the original data received by the intelligent terminal from the satellite is decoded to obtain satellite data.
Controlling the signal-to-noise ratio in the observation data of the intelligent terminal; in this embodiment, a setting mode of a sliding window is adopted to perform dynamic threshold setting. Storing a signal-to-noise ratio value for a first number of epochs for the satellite; comparing the signal-to-noise ratio of a second number of epochs of the satellite to the mean of the signal-to-noise ratios of the first number of epochs earlier, the second number being greater than the first number; if the signal-to-noise ratio is smaller than the average value, judging that the signal-to-noise ratio of the second number of epochs of the satellite is abnormal; and if the signal to noise ratio is not less than the mean value, judging that the signal to noise ratio of the second number of epochs of the satellite is normal. If not, storing the signal-to-noise ratio value of the satellite in the second number of epochs, deleting the signal-to-noise ratio value of the first epoch, and repeating the steps to continue the control of the signal-to-noise ratio value of the satellite in the next epoch. And if the number of the satellites with the reduced signal-to-noise ratio of a certain epoch reaches sixty percent of the total number of the satellites, judging that the signal-to-noise ratio of the epoch is normal.
In an embodiment, the intelligent terminal is set as a mobile phone terminal, but in other embodiments, the intelligent terminal may be any intelligent terminal. The first number is set to be 50 and the second number is set to be 51, however, in other embodiments, the first number and the second number may be other numbers, and the number is not limited herein. The method comprises the steps of processing satellite data of 50 epochs aiming at a single satellite by using the mobile terminal sampling rate of 1s, storing the signal-to-noise ratio value of each satellite, judging whether the signal-to-noise ratio of the 51 st epoch is smaller than the mean value of the former 50 signal-to-noise ratios when the 51 st epoch is, marking that the signal-to-noise ratio of the satellite in the 51 st epoch is abnormal if the signal-to-noise ratio of the satellite is smaller than the mean value of the former 50 signal-to-noise ratios, not considering the satellite when a reference satellite is selected in the follow-up process, and not storing the signal-to-noise ratio value of the satellite in a memory of the signal-to-noise ratio. And if the signal-to-noise ratio of the satellite in the epoch is not less than the mean signal-to-noise ratio, storing the signal-to-noise ratio of the satellite, and simultaneously removing the first signal-to-noise ratio, so that the sliding window of each time is ensured to be 50 signal-to-noise ratios, and then continuing to judge the signal-to-noise ratio of the next epoch.
In an embodiment, if the proportion of the satellites with the reduced signal-to-noise ratio of a certain epoch is greater than 60% of the total number of the satellites, it is considered that the observation environment of the intelligent terminal is changed, for example, there is a blockage, which causes the satellite signals received by the antenna of the intelligent terminal to be not good enough, at this time, the satellites collectively enter a reduction stage, and the signal-to-noise ratio at this time is not marked as abnormal or is performed normally.
In one embodiment, invalid intelligent terminal pseudo-range observed quantities are abandoned according to a difference value of the pseudo-range observed quantities of the intelligent terminal and the pseudo-range observed quantities of the reference station; and when the absolute value of the difference value of the pseudo-range observed quantity of the intelligent terminal and the pseudo-range observed quantity of the reference station is larger than a set threshold value, discarding the pseudo-range observed quantity of the intelligent terminal.
Taking a mobile phone end as an example, the quality control is carried out on the original observation data of the mobile phone end, and the effectiveness judgment is carried out on the pseudo-range observation quantity received by the mobile phone end. In this embodiment, the threshold is set to 290000, when an RTK is applied to a general mobile phone terminal, a short baseline is set between the mobile phone terminal and a reference station, the reference station may be a reference station or a reference station of a CORS network, a difference between a pseudo-range observed quantity of the mobile phone terminal and a pseudo-range observed quantity of the reference station is within a certain range, threshold constraint is performed on an absolute value of the difference, that is, the difference between the pseudo-range observed quantity of the mobile phone terminal and the pseudo-range observed quantity of the reference station is within a range of-290000 to 290000, threshold constraint is performed on the absolute value of the difference of-290000 and 290000, and if the absolute value of the difference is not within a range of 0 to 290000, it is determined that the pseudo-range of the corresponding mobile phone terminal is incorrect, that is invalid, and the pseudo-range observed quantity of the corresponding mobile phone terminal is discarded. Therefore, the incorrect pseudo-range observed quantity of the mobile phone terminal is eliminated. Therefore, the positioning precision of the mobile phone end is improved.
In one embodiment, a single-point positioning result is obtained, and kalman filtering is performed on the positioning result. The pseudorange is used to obtain a single-point positioning result, which is as follows:
pseudo-range observation equation of mobile phone terminal
Rho is a pseudo-range observation value, r is a distance between a receiver antenna and a satellite, delta T is a satellite clock error and a receiver clock error, I is an ionosphere error, T is a troposphere error, and epsilon is measurement noise.
Based on the actual observed value, the error representation form of the pseudo-range observation equation is obtained as follows:
in the formula, A k To design the matrix, V k For the observation vector L k The residual vector of (a) is calculated,
is the system state parameter vector estimate.
In one embodiment, when a single-point positioning result is obtained, the maximum iteration time is 10, and in the first iteration, gross error detection of pseudo-range observed quantity of the intelligent terminal is carried out; and performing satellite-ground distance solution by using the position of the mobile phone end and the position of the satellite calculated at this time, and then performing ionosphere, troposphere and other corrections to obtain a difference value with pseudo-range observed quantity, namely a satellite pseudo-range residual error. Solving by using the calculated positioning result of the intelligent terminal and the position of the satellite to obtain a satellite-ground distance, and correcting an ionosphere error and a troposphere error; calculating the difference value of the satellite-ground distance and the pseudo-range observed quantity of the intelligent terminal to obtain a satellite pseudo-range residual error; and forming a data column by the residual errors of all the satellites, solving median and median errors of the satellite pseudo-range residual errors of all the satellites, carrying out difference between each satellite pseudo-range residual error and the median, judging that the satellite pseudo-range of the satellite is abnormal if the difference value exceeds 3 times of the median error, and marking and reducing the weight of the satellite.
Similarly, the doppler observations are subjected to median robust processing, which is the same as the satellite pseudorange residuals. For doppler observations, this is called doppler residuals. Meanwhile, the satellite altitude of the intelligent terminal is limited within the altitude threshold, for example, the altitude threshold of the mobile phone can be set to 5 degrees or 10 degrees.
In one embodiment, during single-point positioning, a positioning result is obtained by using least squares, and kalman filtering is performed on the single-point result, where the filtering frequency is 1. And performing state updating by taking the single-point positioning result as an initial value, wherein the state updating comprises position updating and matrix updating, the position updating is to perform coordinate calculation by utilizing the initial value of the single-point positioning result and a design matrix, and the calculated coordinate is used as a coordinate value before filtering. The matrix update refers to a weight matrix update of the position vector.
Kalman filtering, the state equations and observation equations solved by standard Kalman filtering are expressed as follows:
X k ＝Φ k,k-1 X k-1 +Γ k-1 w k
L k ＝H k X k +v k
in the above formula, X k 、X k-1 Respectively representing the state vectors at the k-th and k-1-th epoch time, phi k,k-1 Representing the state transition matrix, Γ, from the k-1 epoch to the kth epoch time k-1 Driving a matrix for system noise; l is k Is the observation vector at the k epoch time, H k Is a corresponding coefficient matrix, w k And v k Respectively representing system state noise and observation noise vectors which are zero mean white noise which are mutually uncorrelated. The matrix is obtained in both state update and non-difference.
In Kalman filtering, an anti-difference process is added, wherein the process mainly comprises the step of carrying out weight matrix process on Kalman filtering quantity, and the formula is as follows:
vk＝-QRv；
wherein R is a covariance matrix of the observed quantity, Q is set to H'. P.H + R, H is a corresponding coefficient matrix, and H is a coefficient matrix obtained in the non-difference processing.
When the absolute value of vk and the corresponding element in the corresponding covariance amount R satisfy the following condition:
when 2< | (vk [ i ]) |/sqrt (R [ i + i × n ]) < 4; r [ i + i × n ] ═ 5.0;
when | (vk [ i ]) |/sqrt (R [ i + i ×) 4; r [ i + i × n ] ═ 10.0;
the above is a weight reduction for the weight matrix R of v.
In one embodiment, quality control is performed on observation data of a reference station, the observation data of the reference station comprises pseudo-range observation quantity of the reference station, single-point positioning is performed by using the observation data of the reference station and ephemeris data, then pseudo-range residual values of all satellites are solved, the pseudo-range residual values of all the satellites are sequenced to obtain a median and a median error, then the pseudo-range residual values of all the satellites are subtracted from the median to obtain a secondary difference, if the obtained value of the secondary difference is greater than 3 times of the median error, the satellite of the reference station is considered to be abnormal, abnormal observation quantity marking is performed, and the satellite does not participate in calculation in subsequent calculation. And meanwhile, judging the signal intensity of each satellite by using a set threshold value of the set signal-to-noise ratio, if the signal intensity is lower than the set threshold value, marking that the satellite is abnormal, and not taking the satellite marked as the abnormal satellite as a reference satellite when the reference satellite is selected subsequently. Similarly, if the altitude of a satellite is below a given threshold, which is set to 10 degrees for the reference station, then the satellite is not involved in the calculation.
After the data of the mobile phone terminal and the reference station are processed, the common view star of the mobile phone terminal and the reference station needs to be selected. When the mobile phone terminal selects the common view satellite, whether the altitude angle of the satellite meets a given threshold value or not needs to be considered, at this time, two altitude angles need to be considered, one is the altitude angle of the satellite of the reference station, and the other is the altitude angle of the satellite of the mobile phone terminal, and if the satellite meets the given threshold value for both the reference station and the mobile phone terminal, the satellite can be preliminarily selected as the common view satellite. Because the given thresholds of the mobile phone end and the reference station can be the same or different, when the data quality of the mobile phone end is poor, more satellites need to be considered, and the altitude angle threshold of the satellite needs to be reduced. For the reference station, the observation environment is better, and the requirement of the height angle is not reduced.
In one embodiment, the set of double differences is differentially filtered; and performing non-difference processing before constructing the double-difference observed quantity to obtain the non-difference observed quantity, and then constructing the double difference by using the non-difference observed quantity.
Non-difference processing: the positioning result of the single-point Kalman is used as an initial value of the position of the mobile phone, satellite-to-ground distance solution is carried out by utilizing the original observed quantity of the mobile phone and ephemeris, model correction such as ionosphere troposphere is carried out, then pseudo-range single difference is solved, the value is called as non-difference observed quantity and is the non-difference observed quantity of each satellite, the non-difference observed quantity comprises a reference station and a mobile phone end, and a design matrix is obtained in the process so as to carry out Kalman filtering.
After the non-difference observation quantity is obtained, selecting a reference star, wherein the selection of the reference star needs to meet the following conditions: the altitude angle meets the threshold requirement, no pseudo range gross error, no Doppler gross error, no abnormal signal-to-noise ratio, the signal-to-noise ratio is larger than the mean signal-to-noise ratio of the system, and the altitude angle is the largest. And when the reference star is determined, constructing double differences, wherein the pseudo-range double differences utilize non-differential observation quantity inter-station single differences, and then inter-star double differences. It should be noted that when the reference station has no doppler data, the doppler data for the handset only has a single difference between the planets.
For example: the variance of the double-difference observed quantity adopts a model of integrating an altitude angle and a signal-to-noise ratio as follows:
k*pow(a,b*snr)/(sinel*sinel)+c*c+dt*dt*0.0015；
a, b and c are respectively: a is 10, b is-0.05,
and c is bl/100000, and bl is the length of the baseline.
Different satellite systems, K is different:
for the GPS system: k is 8;
for a BSS system: k is 5;
for the GLONASS system: k is 15;
and (4) forming a double-difference equation, and then performing filtering processing according to the Kalman, wherein the filtering process is the same as that of the single-point Kalman.
In an embodiment, when the distance between the mobile phone end and the reference station, that is, the length of the base line exceeds a certain distance threshold, and the coordinate of the reference station changes, the reference station is switched, and the state vector at the switching time is reinitialized. The above process is repeated.
Fig. 2 shows that the pseudo-range differential positioning and quality control system for an intelligent terminal provided by the present invention includes: s10, a decoding module for decoding to obtain satellite data and reference station data received by the intelligent terminal, wherein the satellite data comprises observation data and broadcast ephemeris of the intelligent terminal; s20, a signal-to-noise ratio control module is used for controlling the signal-to-noise ratio in the observation data of the intelligent terminal; s30, a selecting module is used for discarding invalid intelligent terminal pseudo-range observed quantity according to the difference value of the pseudo-range observed quantity of the intelligent terminal and the pseudo-range observed quantity of the reference station; and S40, an obtaining module, configured to obtain a single-point positioning result, and perform Kalman filtering on the positioning result.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of any of the methods described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. A pseudo-range differential positioning and quality control method for an intelligent terminal is characterized by comprising the following steps:
decoding to obtain satellite data and reference station data received by the intelligent terminal, wherein the satellite data comprises observation data and broadcast ephemeris of the intelligent terminal;
controlling the signal-to-noise ratio in the observation data of the intelligent terminal; the signal-to-noise ratio in the observation data of the intelligent terminal is specifically controlled as follows: storing a signal-to-noise ratio value for a first number of epochs of the satellite; comparing the signal-to-noise ratio of a second number of epochs of the satellite to the mean of the signal-to-noise ratios of the first number of epochs earlier, the second number being greater than the first number; if the signal-to-noise ratio is smaller than the average value, judging that the signal-to-noise ratio of the second number of epochs of the satellite is abnormal; if the signal to noise ratio is not less than the mean value, the signal to noise ratio of the second number of epochs of the satellite is judged to be normal;
discarding invalid pseudo-range observed quantities of the intelligent terminal according to a difference value between the pseudo-range observed quantities of the intelligent terminal and the pseudo-range observed quantities of the reference station;
and acquiring a single-point positioning result, and performing Kalman filtering on the positioning result.
2. The method of claim 1, wherein: if not, storing the signal-to-noise ratio value of the satellite in the second number of epochs, deleting the signal-to-noise ratio value of the first epoch, and repeating the steps to continue the control of the signal-to-noise ratio value of the satellite in the next epoch.
3. The method of claim 2, wherein: and if the number of the satellites with the reduced signal-to-noise ratio of a certain epoch reaches sixty percent of the total number of the satellites, judging that the signal-to-noise ratio of the epoch is normal.
4. The method of claim 1, wherein: and if the absolute value of the difference value between the pseudo-range observed quantity of the intelligent terminal and the pseudo-range observed quantity of the reference station is larger than a set threshold value, discarding the pseudo-range observed quantity of the intelligent terminal, wherein the set threshold value is 290000.
5. The method of claim 1, wherein: in the first iteration, the pseudorange observed quantity of the intelligent terminal is subjected to gross error detection, specifically,
solving by using the calculated positioning result of the intelligent terminal and the position of the satellite to obtain a satellite-ground distance, and correcting an ionosphere error and a troposphere error;
calculating the difference value of the satellite-ground distance and the pseudo-range observed quantity of the intelligent terminal to obtain a satellite pseudo-range residual error;
and (3) carrying out median and median error solution on the satellite pseudo-range residual errors of all the satellites, carrying out difference on each satellite pseudo-range residual error and the median, judging that the satellite pseudo-range of the satellite is abnormal if the difference value exceeds 3 times of the median error, marking the satellite and carrying out weight reduction.
6. The method of claim 5, wherein: and carrying out median robust processing on the Doppler observed quantity, and carrying out Kalman filtering on the single-point result, wherein the filtering frequency is 1.
7. The method of claim 1, wherein: the method comprises the steps of performing quality control on observation data of a reference station, performing single-point positioning by using the observation data of the reference station and ephemeris data, then solving pseudo-range residual values of all satellites, sequencing the pseudo-range residual values of all the satellites, acquiring a median and a median error, then performing subtraction on the pseudo-range residual values of all the satellites and the median to obtain a secondary difference, and if the obtained value of the secondary difference is more than 3 times the median error, marking that the satellite of the reference station is abnormal, wherein the satellite does not participate in calculation in subsequent calculation.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
9. The pseudo-range differential positioning and quality control system for the intelligent terminal is characterized by comprising the following steps:
the decoding module is used for decoding satellite data and reference station data received by the intelligent terminal, wherein the satellite data comprises observation data and broadcast ephemeris of the intelligent terminal;
the signal-to-noise ratio control module is used for controlling the signal-to-noise ratio in the observation data of the intelligent terminal; the signal-to-noise ratio in the observation data of the intelligent terminal is specifically controlled as follows: storing a signal-to-noise ratio value for a first number of epochs of the satellite; comparing the signal-to-noise ratio of a second number of epochs of the satellite to the mean of the signal-to-noise ratios of the first number of epochs earlier, the second number being greater than the first number; if the signal-to-noise ratio is smaller than the average value, judging that the signal-to-noise ratio of the second number of epochs of the satellite is abnormal; if the signal to noise ratio is not less than the mean value, the signal to noise ratio of the second number of epochs of the satellite is judged to be normal;
the selection module is used for discarding invalid pseudo-range observed quantities of the intelligent terminal according to the difference value of the pseudo-range observed quantities of the intelligent terminal and the reference station;
and the acquisition module is used for acquiring the single-point positioning result and carrying out Kalman filtering on the positioning result.
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