CN111045053B - Differential positioning method and system under VRS data interruption - Google Patents
Differential positioning method and system under VRS data interruption 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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The invention relates to the field of satellite positioning, and discloses a differential positioning method under data interruption, which comprises the following steps: when the rover station receives the reference station data, the rover station uses the received reference station data to carry out differential solution to obtain a first fixed solution; when the rover station does not receive the data of the reference station, the rover station records the finally calculated value of the correlation error quantity from the reference station; in a first time period in which the rover station cannot receive the data of the reference station, the rover station utilizes the correlation error quantity resolving value to resolve to obtain a second fixed solution of the rover station; and in a second time period when the rover station does not continuously receive the data of the reference station, the rover station utilizes the second fixed solution to carry out differential solution to obtain a third fixed solution. The method can obtain the fixed solution with high rover precision in a short time without depending on a network connected with the reference station or real-time data of the reference station under the condition that VRS data is interrupted, and obtain the positioning coordinate value with high rover precision of the user.
Description
Technical Field
The invention relates to the technical field of satellite differential positioning, and discloses a differential positioning method and a differential positioning system under VRS data interruption.
Background
When the RTK positioning is performed, sometimes due to a communication failure, the rover station cannot receive reference station data from the reference station, and differential solution cannot be performed, so that solution data is interrupted. Data interruption causes discontinuity of a calculation result obtained by calculation or deterioration of accuracy of the calculation result. Some existing service providers do not process data when the data are interrupted, and choose not to output a resolving result, so that users cannot obtain an accurate positioning result.
The existing patent proposes that after the data of a reference station is interrupted, the positioning is continuously carried out by using the locking inter-satellite single-difference ambiguity, but the method cannot ensure the normality of the result and the continuous fixation of the subsequent data under the cycle slip, when the cycle slip occurs to the data, the whole cycle ambiguity of the rover station changes, and if the ambiguity is continuously used, the precision of the calculated positioning result is very low.
Therefore, a method and system for solving the above problems are urgently needed.
Disclosure of Invention
In view of the problems faced by the background art, the present invention is directed to a differential positioning method and system under VRS data interruption.
In order to achieve the purpose, the invention adopts the following technical scheme:
a differential positioning method under data interruption comprises the following steps: 1. a differential positioning method under the condition of VRS data interruption comprises the following steps: when the rover station receives the reference station data, the rover station uses the received reference station data to carry out differential solution to obtain a first fixed solution; when the rover station does not receive the data of the reference station, the rover station records the finally calculated value of the correlation error quantity from the reference station; in a first time period in which the rover station cannot receive the data of the reference station, the rover station utilizes the correlation error quantity resolving value to resolve to obtain a second fixed solution of the rover station; and in a second time period when the rover station does not continuously receive the data of the reference station, the rover station utilizes the second fixed solution to carry out differential solution to obtain a third fixed solution.
Preferably, the first time period is not more than 5 seconds, the number of the second fixed solutions is at least two, and the rover uses the second fixed solution to carry out differential solution to obtain a third fixed solution, wherein the second fixed solution which is finally solved is applied.
Preferably, the time interval between the time when the second fixed solution is solved and the time when the third fixed solution is solved is not more than 5 seconds.
Preferably, after the time interval between the time when the second fixed solution is solved and the time when the third fixed solution is solved is greater than 5 seconds, the rover station performs single-point positioning to obtain a single-point solution.
Preferably, in the first time period, after the rover station uses the correlation error amount solution to solve to obtain the last second fixed solution of the rover station, the rover station uses the correlation error amount solution to solve to obtain the floating solution of the rover station.
Preferably, in the second time period, the rover station obtains the single-point solution by using the single-point positioning method after the time exceeds the time of solving the last second fixed solution by 5 seconds. Preferably, in a second time period when the rover station continues not receiving the data of the reference station, the rover station performs differential solution using the second fixed solution to obtain a third fixed solution specifically as follows:
assuming that data at the time t is interrupted, and the time to obtain a third fixed solution is t';
the observation equations for pseudorange and phase at time t may be expressed as follows:
the simple difference between the advanced planets is given by the following equation:
calculating pseudo-range and phase single difference items of a reference time t and a position time t' to be solved, and then carrying out difference between epochs:
and finally, filtering the equation set by using a Kalman filter to obtain a third fixed solution.
Preferably, the third fixed solution is checked, first, the posterior difference of the solution result is checked, and the posterior difference of the coordinate parameter is calculated as follows: if the posterior variance value is not greater than 0.1, outputting a fixed solution; if the difference value after the check is greater than 0.1 and less than 0.4, outputting a floating solution; and if the posterior square difference is not less than 0.4, the calculation result is considered to not meet the precision requirement, and the result is not output.
Preferably, a computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any of the above.
Preferably, a differential positioning system under VRS data interruption includes: the first fixed solution solving module is used for solving by the rover according to the received reference station data difference to obtain a first fixed solution when the rover receives the reference station data; the storage module is used for recording a final correlation error quantity calculation value from the reference station by the rover when the rover cannot receive the data of the reference station; the second fixed solution solving module is used for solving by the rover station by utilizing the correlation error quantity resolving value to obtain a second fixed solution of the rover station in a first time period when the rover station cannot receive the data of the reference station; and the third fixed solution solving module is used for carrying out differential solution by the rover by utilizing the second fixed solution to obtain a third fixed solution in a second time period when the rover cannot continuously receive the data of the reference station.
Compared with the prior art, the invention provides a differential positioning method under data interruption, which comprises the following steps: when the rover station receives the reference station data, the rover station uses the received reference station data to carry out differential solution to obtain a first fixed solution; when the rover station does not receive the data of the reference station, the rover station records the finally calculated value of the correlation error quantity from the reference station; in a first time period in which the rover station cannot receive the data of the reference station, the rover station utilizes the correlation error quantity resolving value to resolve to obtain a second fixed solution of the rover station; and in a second time period when the rover station does not continuously receive the data of the reference station, the rover station utilizes the second fixed solution to carry out differential solution to obtain a third fixed solution. The method can obtain the fixed solution with high rover precision in a short time without depending on a network connected with the reference station or real-time data of the reference station under the condition that VRS data is interrupted, and obtain the positioning coordinate value with high rover precision of the user.
Drawings
FIG. 1 is a schematic flow chart illustrating a differential positioning method under data interruption according to the present invention;
FIG. 2 is a block diagram of a differential positioning system with data interruption 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.
With the continuous development and popularization of satellite positioning technology and IT technology, the current multi-purpose RTK technology for users sends carrier phase data acquired by a reference station to a user receiver, and high-precision positioning is realized by solving the difference to calculate positioning coordinates. However, when the user is in an environment with poor signals such as a tunnel, the user receiver cannot receive the differential data from the reference station, the differential calculation cannot be performed, and a positioning result with low accuracy is obtained.
Therefore, as shown in fig. 1, the present invention provides a differential positioning method under data interruption, including: s1, when the rover station receives the data of the reference station, the rover station uses the received data of the reference station to carry out differential calculation to obtain a first fixed solution; s2, when the rover station can not receive the data of the reference station, the rover station records the final related error quantity solution value from the reference station; s3, in the first time period when the rover station cannot receive the data of the reference station, the rover station uses the related error quantity resolving value to resolve to obtain a second fixed solution of the rover station; and S4, in a second time period when the rover station cannot continuously receive the data of the reference station, the rover station carries out differential solution by using the second fixed solution to obtain a third fixed solution.
S1, when the rover station receives the data of the reference station, the rover station uses the received data of the reference station to carry out differential calculation to obtain a first fixed solution; the rover station is a user receiver, and under the condition of good signal, the rover station normally receives reference station data from the reference station, the reference station data refers to RTCM (real time code modulation) data encoded by navigation satellite observation data received by the reference station, and observation values and station coordinate information required by the rover station for obtaining a positioning result by applying an RTK (real time kinematic) technology are obtained from the reference station. The rover receives data from the reference station through a data chain, acquires observation data from the same satellite observed by the reference station, forms differential observation values in the system for real-time processing, and gives centimeter-level positioning results, namely a first fixed solution. The first fixed solution is the location coordinates that the rover station calculates when the signal is good and the rover station can receive the data of the reference station. The ambiguity can be resolved into an integer.
S2, when the rover station can not receive the data of the reference station, the rover station records the final related error quantity solution value from the reference station; when the rover station suddenly stops data and cannot receive the reference station data from the reference station, the rover station stores and records the finally received correlation error quantity calculation values from the reference station, wherein the correlation error quantity calculation values comprise satellite correlation error items, ionosphere error values, troposphere error values and the like. And in the extreme time of network interruption, the mobile station loads a filtering process in the background and records the solution value of the related error quantity.
S3, in the first time period when the rover station cannot receive the data of the reference station, the rover station uses the related error quantity resolving value to resolve to obtain a second fixed solution of the rover station; in a very short time, the VRS data interruption does not cause the reduction of the positioning precision of the rover station, and in the very short time, the rover station utilizes the saved related error quantity calculation value to calculate and obtain a second fixed solution of the rover station; for example, in this embodiment, the first period of time is 5 seconds, and within 5 seconds of the start of the network outage of the rover station, since the time is extremely short, the error value of the ionospheric error of the rover station is almost the same as, or "approximately equal to," the error value of the ionospheric error of the rover station at the time of the network outage, and the correlation error solution value required when the rover station in the 5 seconds applies the RTK technique to solve the self-positioning coordinate is considered to be the same as the correlation error solution value received from the reference station before the network outage. And within 5 seconds from the start of network breaking of the rover station, the rover station receives satellite signals through an antenna of the rover station and solves the pseudo range value, and the rover station combines the correlation error quantity calculation value and the pseudo range value to solve to obtain a second fixed solution of the rover station. The second fixed solution is the positioning coordinate value of the rover station which is obtained in the first time period, namely within 5 seconds of the network breaking. During the period, the positioning coordinates of the rover station are still obtained by using the RTK technology, and the reference station data required for solving is the reference station data which is received by the rover station before the network is broken and is not the reference station data which is received in real time. The rover station resolves at least one second fixed solution over a first period of time, and possibly one or more floating solutions as time extends. Or all are fixed solutions without floating solutions. The fixed solution calculated by the solution is the second fixed solution.
And S4, in a second time period when the rover station cannot continuously receive the data of the reference station, the rover station carries out differential solution by using the second fixed solution to obtain a third fixed solution. With the continuous of the network disconnection time, after the network disconnection time exceeds the first time period and enters the second time period, the network disconnection time interval is longer, and if the difference calculation is continuously carried out by using the reference station data received by the rover station last, the calculated positioning coordinate error becomes larger. In this embodiment, the second time period is 5 seconds, when a plurality of second fixed solutions solved in the first time period are available, the rover quickly detects a second fixed solution closest to the current time, the closest second fixed solution is assumed as reference station data, and the rover performs differential solution by using the second fixed solution to obtain a third fixed solution. That is, the second fixed solution that is finally solved is applied to solve the third fixed solution. And the time interval between the time of solving the second fixed solution and the time of solving the third fixed solution is not more than 5 seconds. Otherwise, the error is too large. The method can continuously obtain the high-precision fixed solution of the rover station in the short-time VRS data interruption without depending on the reference station.
The process of finding the third fixed solution in the second time period will be described in detail below. The third fixed solution is the rover's positioning coordinate values for the second time period.
Assuming that the VRS data is interrupted at the time t, and the time to obtain a third fixed solution is t';
the observation equations for pseudorange and phase at time t may be expressed as follows:
when the VRS data is interrupted at the time t, a conventional 'reference station-rover' mode is adopted within t +5 seconds, and the base station data at the time t are utilized for relative positioning; after t +5 seconds, the base station data can not ensure the precision of the fixed solution any more, and at the moment, the fixed solution of the rover closest to the t +6 moment is selected from the time period [ t, t +5] as a reference point for relative positioning. Suppose the time to be solved is t'. The simple difference between the advanced planets is given by the following equation:
calculating pseudo-range and phase single difference items of a reference time t and a position time t' to be solved, and then carrying out difference between epochs:
if the time t and the time t +1 are the cycle slip, the ambiguity of the previous epoch and the next epoch is considered to be continuous, and the ambiguity item is considered to be continuous at the moment
Is 0.
The position variation (delta x, delta y, delta z) of the rover and the satellite clock difference value delta c delta tjk(t, t') and ambiguity change parameter values
And filtering the process by using a Kalman filter to obtain a parameter solution. Under the condition that the phase observed quantity does not generate cycle slip, the estimation of ambiguity parameters can be reduced, and under the condition of estimating the ambiguity parameters, the constraint can be directly carried out; otherwise, the ambiguity parameter needs to be processed by adopting a LAMBDA method and the like.
And finally, filtering the equation set by using a Kalman filter to obtain a third fixed solution. And (3) checking the third fixed solution, firstly checking the posterior difference of the calculation result, and calculating the posterior difference of the coordinate parameters: if the posterior variance value is not greater than 0.1, outputting a fixed solution; if the difference value after the check is greater than 0.1 and less than 0.4, outputting a floating solution; and if the posterior square difference is not less than 0.4, the calculation result is considered to not meet the precision requirement, and the result is not output.
And after the time interval between the time when the second fixed solution is solved and the time when the third fixed solution is solved is more than 5 seconds, the rover station carries out single-point positioning to obtain a single-point solution. In the first time period, after the rover station uses the correlation error quantity resolving value to resolve and obtain the last second fixed solution of the rover station, the rover station uses the correlation error quantity resolving value to resolve and obtain the floating solution of the rover station. And in the second time period, after the time exceeds the time of solving the last second fixed solution by 5 seconds, the rover station obtains the single-point solution by using a single-point positioning method.
As shown in fig. 2, the present invention further provides a differential positioning system under data interruption, including: s10, a first fixed solution solving module is used for solving by the rover according to the received reference station data difference to obtain a first fixed solution when the rover receives the reference station data; s20, a storage module, for the rover station recording the final relative error amount calculation value from the reference station when the rover station can not receive the data of the reference station; s30, a second fixed solution solving module is used for solving by the rover station to obtain a second fixed solution of the rover station by using the related error amount solution value in a first time period when the rover station cannot receive the data of the reference station; and S40, a third fixed solution solving module is used for carrying out differential solution by the rover by utilizing the second fixed solution to obtain a third fixed solution in a second time period when the rover does not continuously receive the data of the reference station.
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 differential positioning method under the condition of VRS data interruption is characterized by comprising the following steps:
when the rover station receives the reference station data, the rover station uses the received reference station data to carry out differential solution to obtain a first fixed solution;
when the rover station does not receive the data of the reference station, the rover station records the finally calculated value of the correlation error quantity from the reference station;
in a first time period in which the rover station cannot receive the data of the reference station, the rover station utilizes the correlation error quantity resolving value to resolve to obtain a second fixed solution of the rover station;
in a second time period when the mobile station continues not to receive the data of the reference station, the mobile station utilizes the second fixed solution to carry out differential solution to obtain a third fixed solution; and the rover uses the second fixed solution to carry out differential solution to obtain a third fixed solution, and the finally solved second fixed solution is applied.
2. The method of claim 1, wherein: the first time period is not more than 5 seconds, and the second fixed solution is at least two.
3. The method of claim 2, wherein: the time interval between the time of solving the second fixed solution and the time of solving the third fixed solution is not more than 5 seconds.
4. The method of claim 2, wherein: and after the time interval between the time when the second fixed solution is solved and the time when the third fixed solution is solved is more than 5 seconds, the rover station carries out single-point positioning to obtain a single-point solution.
5. The method of claim 1, wherein: in the first time period, after the rover station uses the correlation error quantity resolving value to resolve and obtain the last second fixed solution of the rover station, the rover station uses the correlation error quantity resolving value to resolve and obtain the floating solution of the rover station.
6. The method of claim 1, wherein: and in the second time period, after the time exceeds the time of solving the last second fixed solution by 5 seconds, the rover station obtains the single-point solution by using a single-point positioning method.
7. The method of claim 1, wherein: and (3) checking the third fixed solution, firstly checking the posterior difference of the calculation result, and calculating the posterior difference of the coordinate parameters:
if the posterior variance value is not greater than 0.1, outputting a fixed solution;
if the difference value after the check is greater than 0.1 and less than 0.4, outputting a floating solution;
and if the posterior square difference is not less than 0.4, the calculation result is considered to not meet the precision requirement, and the result is not output.
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. A differential positioning system under VRS data interruption, comprising:
the first fixed solution solving module is used for solving by the rover according to the received reference station data difference to obtain a first fixed solution when the rover receives the reference station data;
the storage module is used for recording a final correlation error quantity calculation value from the reference station by the rover when the rover cannot receive the data of the reference station;
the second fixed solution solving module is used for solving by the rover station by utilizing the correlation error quantity resolving value to obtain a second fixed solution of the rover station in a first time period when the rover station cannot receive the data of the reference station;
the third fixed solution solving module is used for carrying out differential solution by the mobile station by utilizing the second fixed solution to obtain a third fixed solution in a second time period when the mobile station cannot continuously receive the data of the reference station; and the rover uses the second fixed solution to carry out differential solution to obtain a third fixed solution, and the finally solved second fixed solution is applied.
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