An error extraction method, device, electronic equipment and readable storage medium

Abstract

The embodiment of the invention provides an error extraction method and device, electronic equipment and a readable storage medium. The method is applied to the technical field of the wireless positioning, and comprises the following steps: acquiring receiving signals of a base station and an observation station in preset time slots of various day, performing differential processing on pseudo-range and carrier phase of each receiving signal, and obtaining differential coordinate sequence of the observation station at various days, according to the obtained double-differential pseudo-range, double-differential carrier phase and the location coordinate of the base station; processing the differential coordinate sequence through a two-dimensional moving weighted average method to obtain a smooth coordinate sequence; and performing M-layer decomposition on the smooth coordinate sequences of any reference day and the adjacent day with the maximum cross correlation coefficient with the reference day through a wavelet packet algorithm, and judging whether a target layer J located by the maximum value in the cross correlation coefficient of a low-frequency part in each decomposition layeris less than M; if the target layer J located by the maximum value in the cross correlation coefficient of the low-frequency part in each decomposition layer is less than M, extracting the low-frequency part in the target layer J to perform wavelet reconstruction to obtain a multi-path error. The accuracy of the error extraction is improved through the method provided by the invention.

Description

technical field [0001] The invention relates to the technical field of wireless positioning, in particular to an error extraction method, device, electronic equipment and a readable storage medium. Background technique [0002] In short-baseline high-precision positioning, errors such as ionospheric delay, tropospheric delay, satellite orbit error, receiver clock error, and satellite clock error can be eliminated or weakened by differential technology, but the multipath effect has no correlation at both ends of the baseline. It cannot be eliminated by differential, so multipath error becomes the main error source for high-precision positioning. [0003] In order to detect, suppress and eliminate multipath errors, relevant scholars have proposed a variety of strategies from the aspects of satellite signal design, receiving antenna design and site selection, digital signal processing and positioning and navigation calculations. Among them, the positioning and navigation calcu...

AI Technical Summary

Problems solved by technology

However, the multi-resolution analysis using wavelet transform only decomposes the low-frequency part of the signal, so the extracted multipath is only the multipath of the low-frequency part, and the multipath error of the high-frequency part of the signal is not extracted

When using wavelet transformation to perform multi-resolution analysis on the multipath error of the signal, the influence of observation noise is ignored, which makes the effect of signal filtering unsatisfactory.

Therefore, in the existing wavelet technology, the accuracy of the extracted multipath error is low, and the accuracy of the filtered signal is low

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