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Dynamic positioning method and device

A dynamic positioning and variance technology, used in measurement devices, satellite radio beacon positioning systems, instruments, etc., can solve problems such as RTK positioning and positioning errors, and achieve the effects of improving accuracy, reducing multipath effects, and good filtering and elimination.

Active Publication Date: 2019-07-26
HUNAN GOKE MICROELECTRONICS
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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a dynamic positioning method and device to solve the problem of positioning errors caused by RTK positioning affected by multipath in complex environments

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Embodiment Construction

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0025] It should be noted that like numerals and let...

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Abstract

The embodiments of the invention provide a dynamic positioning method and a device, and relate to the technical field of positioning. The dynamic positioning method includes the steps that the variance value of signal-to-noise ratio of each satellite in a preset sliding window is calculated, wherein the satellite is a satellite observed simultaneously by a base station and a mobile station, and analtitude angle is not lower than a preset angle; and the position of the mobile station at the current epoch is calculated based on the variance value of the signal-to-noise ratio and a pre-established kalman filter model. Because low-elevation satellites are more prone to being affected by multi-path, the satellites whose altitude angles are lower than the preset angles are eliminated first before the variance value of the signal-to-noise ratio is calculated, so that the impact of the multi-path effects is reduced effectively; and the variance value of the signal-to-noise ratio is involved in the calculation process of the kalman filter, so that multi-path errors can be better filtered and eliminated, and therefore, the accuracy of RTK positioning results is improved.

Description

technical field [0001] The present invention relates to the technical field of positioning, in particular to a dynamic positioning method and device. Background technique [0002] RTK (Real Time Kinematic, real-time dynamic) positioning technology is a differential method for real-time processing of carrier phase observations of two measurement stations, and sends the carrier phase collected by the reference station to the user receiver for calculation to obtain an accurate inter-station distance. The multi-path error refers to the positioning error caused by the reflection signal captured and tracked by the positioning device in addition to the direct signal during the transmission of the satellite signal to the positioning device. In RTK positioning, multipath error is one of the main errors that affect the positioning results, especially in complex environments such as "urban canyons", where there are many tall buildings, multipath occurs frequently, and the changes are c...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/43
CPCG01S19/43
Inventor 王志平
Owner HUNAN GOKE MICROELECTRONICS
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