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Method and device for single point positioning based on weighted least squares estimation step by step

A weighted least squares, single-point positioning technology, applied in measurement devices, satellite radio beacon positioning systems, instruments, etc., can solve problems such as application limitations, real-time effects, poor satellite geometric distribution, etc., to achieve a wide range of applications, Reduced impact, strong real-time effects

Active Publication Date: 2019-03-08
MINJIANG UNIV +1
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

The weighting method based on the satellite elevation angle can improve the positioning accuracy to a certain extent, but in environments such as urban canyons, the geometric distribution of satellites is poor, and the multipath effect is obvious. At this time, the weighting method has no obvious effect on improving the positioning accuracy. , which is limited in the improvement of single-point localization performance
The weighting method based on pseudorange error variance is mainly based on the reciprocal of the pseudorange error variance to set the weight value. To ensure the accuracy of the weight value, it is necessary to process the pseudorange error variance of multiple epochs. Therefore, the real-time Sexuality is affected, and the application is subject to certain restrictions

Method used

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  • Method and device for single point positioning based on weighted least squares estimation step by step
  • Method and device for single point positioning based on weighted least squares estimation step by step
  • Method and device for single point positioning based on weighted least squares estimation step by step

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Effect test

Embodiment 1

[0101] Please refer to figure 1 , a method for single-point localization based on stepwise weighted least squares estimation, including steps:

[0102] S1. Calculate the altitude and azimuth of each satellite in the current epoch according to the position of the satellite and the position of the receiver;

[0103] S11. Determine whether the current epoch is the first epoch, if so, execute step S12, otherwise, execute step S13;

[0104] S12. Calculate the altitude angle and azimuth angle of the satellite according to the initial value of the satellite position and the receiver position;

[0105] S13. Calculate the altitude angle and azimuth angle of the satellite according to the satellite position and the receiver position estimated in the last epoch;

[0106] S2. Determine the weight matrix of each satellite in the E, N, and U directions in the station center coordinate system in the current epoch according to the altitude angle and azimuth angle of each satellite;

[0107...

Embodiment 2

[0129] This embodiment will further illustrate how the above-mentioned single-point positioning method based on stepwise weighted least squares estimation of the present invention is realized in combination with specific application scenarios:

[0130] 1. Calculate the position of each satellite in the current epoch based on the broadcast ephemeris;

[0131] 2. Calculate the altitude angle θ and azimuth angle of each satellite in the current epoch according to the position of the satellite and the position of the receiver α ;

[0132] 2.1. Determine whether the current epoch is the first epoch, if so, perform step 2.2, otherwise, perform step 2.3;

[0133] 2.2. Calculate the altitude angle θ and azimuth angle of the satellite according to the initial value of the satellite position and the receiver position α ;

[0134] 2.3. Calculate the altitude angle θ and azimuth angle of the satellite according to the satellite position and the receiver position estimated in the last e...

Embodiment 3

[0176] Please refer to figure 2 , a device 1 for single point positioning based on stepwise weighted least squares estimation, comprising a memory 2, a processor 3 and a computer program stored in the memory 2 and operable on the processor 3, the processor 3 executes The program realizes each step in the first embodiment.

[0177] To sum up, the present invention provides a single-point positioning method and device based on step-by-step weighted least squares estimation, which determines E in the station center coordinate system in the current epoch through the altitude angle and azimuth angle of each satellite , N, and the weight matrix of each satellite in the U direction, and estimate the position of the receiver step by step by the least squares estimation method according to the weight matrix, and perform coordinate transformation according to the position to obtain the position of the receiver The results of single-point positioning can effectively weaken the influence ...

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Abstract

The invention provides a method and device for single point positioning based on weighted least squares estimation step by step. Through an elevation angle and an azimuth angle of each satellite, a weight matrix of each satellite in the E, N, and U directions in a center coordinate system in the current epoch is determined, the position of a receiver is estimated step by step through the least squares estimation method according to the weight matrix, coordinate transformation is performed according to the position to obtain the single point positioning result of the receiver, influence of a pseudorange error on single point positioning can be effectively reduced, accuracy of single point positioning is improved, as the position of the receiver is solved epoch by epoch, the method is not only applicable to static users, but also to dynamic users, and has the wide application range and strong real-time performance.

Description

technical field [0001] The present invention relates to the field of global navigation satellite system (Global Navigation Satellite System, GNSS) single-point positioning, in particular to a method and device for single-point positioning based on stepwise weighted least squares estimation. Background technique [0002] At present, the weighted least square estimation method (Weighted Least Square, WLS) is commonly used in single point positioning to improve the positioning accuracy. Commonly used weighted stochastic models include weighting methods based on satellite elevation angles, weighting methods based on pseudorange error variance, and so on. The weighting method based on the satellite elevation angle can improve the positioning accuracy to a certain extent, but in environments such as urban canyons, the geometric distribution of satellites is poor, and the multipath effect is obvious. At this time, the weighting method has no obvious effect on improving the position...

Claims

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Application Information

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IPC IPC(8): G01S19/42
CPCG01S19/42Y02D30/70
Inventor 樊春明商云鹏管庆林
Owner MINJIANG UNIV
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