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Positioning method and positioning system based on GNSS observation

A positioning method and positioning system technology, applied in the field of GNSS, can solve problems such as time-consuming

Active Publication Date: 2016-06-15
THE HONG KONG POLYTECHNIC UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a simple and feasible positioning method based on GNSS observations for the time-consuming defect of the existing GNSS-based positioning method

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  • Positioning method and positioning system based on GNSS observation
  • Positioning method and positioning system based on GNSS observation
  • Positioning method and positioning system based on GNSS observation

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Embodiment Construction

[0047] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0048] see figure 1 , is a flowchart of a positioning method based on GNSS observations according to a preferred embodiment of the present invention, such as figure 1 As shown, the positioning method based on GNSS observations provided by this embodiment includes the following steps:

[0049] The present invention is based on GNSS observation equations. The GNSS observation equation is:

[0050] AX+M(α)V t =L=L 0 +e; (1)

[0051] In the formula, A is the coefficient matrix of the satellite, which is determined by the satellite position coordinates and the initial coordinates of the receiver. X is the position vector of the receiver, L is the GNSS observation (such as pseudorange or carrier phase), where L 0 is an error-free observation. M(α...

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Abstract

The invention relates to a positioning method and a positioning system based on a GNSS observation. The method comprises the following steps: S1, using the least square method to solve a position vector and a residual vector based on a GNSS observation equation; S2, determining the sum of squares of residuals of the errors in the residual vector apart from atmospheric refraction error, and minimizing the sum of squares of residuals to solve the atmospheric delay in the vertical direction; and S3, plugging the solved atmospheric delay in the vertical direction into the GNSS observation equation to solve a corrected GNSS observation, and using the least square method to solve a corrected position vector. According to the invention, the estimated value of atmospheric delay is solved by minimizing the sum of squares of residuals of all the errors apart from atmospheric refraction error, and the corrected position vector is obtained by using the least square method. Calculation is simple and accurate. The problem of atmospheric refraction real-time estimation is solved. The precision of GNSS positioning and the convergence rate of ambiguity are improved.

Description

technical field [0001] The present invention relates to the technical field of GNSS (Global Navigation Satellite System), and more specifically, relates to a positioning method and system based on GNSS observations. Background technique [0002] The carrier phase signal measurement accuracy of GNSS (Global Navigation Satellite System) can reach the order of millimeters, and atmospheric refraction is one of the main sources of error, especially the delay caused by water vapor, which is difficult to describe with a model. At present, in the high-precision GNSS positioning method, the atmospheric delay is mainly regarded as the unknown, and the atmospheric delay is directly estimated by using the GNSS carrier phase observation. But the main disadvantage of this method is that it takes a long time to estimate the atmospheric delay. This makes the GNSS real-time positioning method (RTK) restricted, and the baseline length cannot be too long. [0003] Therefore, it is urgent to ...

Claims

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Application Information

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IPC IPC(8): G01S19/42
Inventor 陈武
Owner THE HONG KONG POLYTECHNIC UNIV