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Satellite navigation fast positioning method and device and satellite navigation receiver

A technology of satellite navigation and positioning method, which is applied in the field of satellite navigation to achieve fast convergence speed, reduce ill-conditionedness, and improve the accuracy and speed of solution

Active Publication Date: 2017-12-19
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

[0005] The purpose of the present invention is to provide a satellite navigation fast positioning method, device and satellite navigation receiver, aiming at solving the ill-conditioned problem in the fast positioning process and suppressing the influence of gross errors in the observation value, and obtaining an accurate real number solution of carrier phase ambiguity , so as to quickly locate the problem

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  • Satellite navigation fast positioning method and device and satellite navigation receiver
  • Satellite navigation fast positioning method and device and satellite navigation receiver
  • Satellite navigation fast positioning method and device and satellite navigation receiver

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Embodiment 1

[0030] see figure 1 , is the satellite navigation fast positioning method provided by Embodiment 1 of the present invention. It should be noted that if there are substantially the same results, the satellite navigation fast positioning method of the present invention does not use figure 1 The flow sequence shown is limited. The method comprises the steps of:

[0031] S101. During the satellite navigation rapid positioning process, determine whether the observation equation is ill-conditioned.

[0032] In Embodiment 1 of the present invention, S101 may specifically include the following steps:

[0033] S1011. Receive the satellite signal and the differential data of the satellite navigation receiver of the reference station according to the epoch, decode the satellite signal and the differential data, and respectively obtain the relative distances of the target satellite navigation receiver and the satellite navigation receiver of the reference station in each epoch data obs...

Embodiment 2

[0086] see Figure 4 , the present invention provides a satellite navigation fast positioning device, said device comprising:

[0087] Judgment module 11, used for judging whether the observation equation is pathological during the fast positioning process of satellite navigation;

[0088] The solving module 12 is used for when the observation equation is ill-conditioned, using an adaptive weighted differential evolution algorithm combined with regularization to solve the ill-conditioned observation equation during fast positioning, and obtaining the real number solution ambiguity component of the vector to be found in the ill-conditioned observation equation;

[0089] The search module 13 is used to use the real ambiguity resolution component of the vector to be sought in the observation equation as an input value, and search for an integer solution of the ambiguity of the vector to be sought in the observation equation;

[0090] The exact coordinate calculation module 14 is...

Embodiment 3

[0092] Embodiment 3 of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the satellite navigation rapid positioning as provided in Embodiment 1 of the present invention is realized. method steps.

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Abstract

The present invention is applicable to the field of satellite navigation and provides a satellite navigation fast positioning method and device and a satellite navigation receiver. The method comprises the following steps of: judging whether an observation equation is sick or not; solving an ill observation equation in fast positioning with the combination of regularization by using a differential evolutionary algorithm with adaptive weighting when the observation equation is ill, and obtaining a real number solution ambiguity component of the vector to be solved in the ill observation equation; taking the real number solution ambiguity component of the vector to be solved in the observation equation as an input value and searching to obtain an ambiguity integer solution of the vector to be solved in the observation equation; substituting the ambiguity integer solution into the observation equation, carrying out solution again to obtain baseline parameters with updated ambiguity, adding the baseline parameters and accurate reference station satellite navigation receiver coordinates, and obtaining accurate coordinates of a target satellite navigation receiver. According to the satellite navigation fast positioning method and device and the satellite navigation receiver, a global optimal solution is more easily obtained, the solution precision and speed are improved, ill conditions can be reduced, the gross error influence brought by noise and an observation error is suppressed, and the robustness is improved.

Description

technical field [0001] The invention belongs to the field of satellite navigation, in particular to a satellite navigation fast positioning method, device and satellite navigation receiver. Background technique [0002] Ill-conditioned problems widely exist in engineering surveys such as satellite navigation rapid positioning. Only a few epochs can be observed in a short period of time, which makes the observation information insufficient and causes the observation equation to be ill-conditioned. The real value of the ambiguity obtained by the traditional least squares method is very different from the real value, which seriously affects the positioning accuracy. Solving the ill-conditioned nature of the observation equation is the key to improving the accuracy of fast positioning. [0003] At present, the solution methods for ill-conditioned problems are mainly divided into two categories: one is aimed at reducing the condition number of the normal matrix, and by modifyin...

Claims

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Application Information

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IPC IPC(8): G01S19/37
Inventor 孙希延朱亮亮甄卫民纪元法刘媛郭小娟李有明严素清蔚保国欧阳缮
Owner GUILIN UNIV OF ELECTRONIC TECH
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