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Multi-navigation system interoperable positioning method and system

A technology of navigation system and positioning method, which is applied in the field of multi-navigation system interoperable positioning method and system, can solve problems such as inability to locate, number of observed values, and inconsistent time reference, and achieve the effect of solving the problem of inability to locate

Active Publication Date: 2017-03-01
深圳市智联时空科技有限公司
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Problems solved by technology

However, for multi-mode GNSS combined positioning, since the time references of each navigation system are not uniform, each system must estimate a receiver clock error. A GLONASS satellite and a GALILEO satellite) will have a rank deficit problem where the number of observations is less than the number of parameters, resulting in the inability to locate

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[0040] In order to make the objectives, technical solutions and beneficial effects of the present invention more clear, the present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific embodiments described below are only used to explain the present invention, and are not intended to limit the present invention.

[0041] In the following formulas, G stands for GPS, C stands for BDS, R stands for GLONASS, and E stands for GALILEO.

[0042] The observation equations of each GNSS system are as follows:

[0043]

[0044] In formula (1), omc G 、omc C 、omc R 、omc E respectively represent the observation values ​​of GPS, BDS, GLONASS, and GALILEO systems; Δx, Δy, and Δz represent position parameters; l G 、m G , n G is the coefficient of the GPS system observation equation, l C 、mC , n C is the coefficient of the observation equation of the BDS system, l R 、m ...

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Abstract

The invention discloses a multi-navigation system interoperability positioning method and system. The method includes the following steps that: (1) a Kalman filtering-based positioning model is constructed; (2) each time receiver positioning terminates, estimated intersystem clock difference deviation when current positioning terminates is stored; (3) each time receiver positioning is performed, if the time interval of current positioning and last positioning is smaller than a preset interval, estimated intersystem clock difference deviation when the last positioning terminates is adopted, and the positioning model is utilized to perform positioning; and (4) each time receiver positioning is performed, if the time interval of the current positioning and the last positioning is not smaller than the preset interval, the positioning model is adopted to calculate the change value of intersystem clock difference deviation at each time point in real time, and the positioning model is adopted to perform positioning. The multi-navigation system interoperability positioning method and system of the invention can be applied to multi-navigation system combined positioning. With the multi-navigation system interoperability positioning method and system adopted, one receiver clock difference is just required, so that positioning calculation can be performed, and therefore, the problem of incapability of realizing positioning under a situation in which the number of visible satellites is small can be solved.

Description

technical field [0001] The invention belongs to the technical field of GNSS navigation and positioning, and in particular relates to a multi-navigation system interoperable positioning method and system. Background technique [0002] At present, the four major navigation systems of GPS, BDS (Beidou System), GALILEO (Galileo System) and GLONASS have coexisted in the world. Accuracy and other aspects are more advantageous. However, for multi-mode GNSS combined positioning, since the time references of each navigation system are not uniform, each system must estimate a receiver clock error. A GLONASS satellite and a GALILEO satellite) will have a rank deficit problem where the number of observations is less than the number of parameters, resulting in the inability to locate. In order to realize multi-system compatibility and unified processing, it is necessary to unify the time bases of the multi-systems. Contents of the invention [0003] Aiming at the deficiencies in the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/33
CPCG01S19/33
Inventor 刘炎炎袁兵赵乐文
Owner 深圳市智联时空科技有限公司
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