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A Multimode GNSS Asynchronous RTK Positioning Method Considering Broadcast Ephemeris Error

A technology of broadcast ephemeris and positioning method, which is applied in the direction of satellite radio beacon positioning system, instrument, measuring device, etc. It can solve the problems that broadcast ephemeris orbit and clock error are difficult to eliminate, and the effect of RTK positioning decreases, so as to reduce the positioning Adverse effects, the effect of overcoming low positioning accuracy

Active Publication Date: 2021-08-31
CHANGAN UNIV
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  • Application Information

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Problems solved by technology

RTK terminals are generally based on broadcast ephemeris, and the broadcast ephemeris orbit and clock error errors in asynchronous double-difference observations are difficult to eliminate, and the RTK positioning effect will decrease significantly with the increase of communication delay

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  • A Multimode GNSS Asynchronous RTK Positioning Method Considering Broadcast Ephemeris Error
  • A Multimode GNSS Asynchronous RTK Positioning Method Considering Broadcast Ephemeris Error
  • A Multimode GNSS Asynchronous RTK Positioning Method Considering Broadcast Ephemeris Error

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Embodiment Construction

[0030] The technical solution of the present invention will be described in detail below in conjunction with the drawings and embodiments. see figure 1 , each step of the embodiment is specifically realized as follows:

[0031] 1. Calculate the statistical value of broadcast ephemeris error changes within the communication delay time

[0032] For synchronous observations, the satellite launch times corresponding to the reference station and the rover are very close. Since the broadcast ephemeris orbit error and clock error have a strong time correlation, the broadcast ephemeris orbit error and clock error The error can basically be eliminated; however, for asynchronous observations, the satellite launch time corresponding to the reference station and the rover station are quite different, and it is difficult to eliminate the broadcast ephemeris error after the difference between stations. In addition, the broadcast ephemeris error of different satellites in different systems ...

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Abstract

The invention discloses a multi-mode GNSS asynchronous RTK positioning method that takes broadcast ephemeris errors into consideration. Firstly, the broadcast ephemeris orbit error and clock error error of each satellite in the asynchronous RTK model is evaluated with reference to the precise ephemeris and the precise clock error. The statistical value of the time change; then, these statistical values ​​are added to the RTCM differential signal format file as an additional product, and broadcast to the RTK terminal equipment; secondly, the user receives the broadcast ephemeris orbit error and clock error in the communication delay time change After the statistical value of the terminal RTK positioning, combined with the differential data age (communication delay) of the terminal RTK positioning, the random model error of each satellite is optimally calculated, and then the double-difference observation model is used to solve the multi-mode GNSS asynchronous RTK positioning, thereby improving the terminal RTK positioning effect.

Description

technical field [0001] The invention belongs to the technical field of GNSS navigation and positioning, in particular to a multi-mode GNSS asynchronous RTK positioning method in consideration of broadcast ephemeris errors. Background technique [0002] Real-time kinematic (RTK) technology is the most widely used centimeter-level positioning technology in the application of real-time high-precision global satellite navigation and positioning system (GNSS). RTK terminals generally access high-precision GNSS service products / reference station data through wireless networks. Communication delay or interruption will inevitably occur in practical applications. When the data of the base station is delayed, in order to obtain the current position of the rover, the terminal must use the historical observation values ​​of the base station. At this time, the base station and the rover The data is asynchronous, called asynchronous RTK. RTK terminals are generally based on broadcast eph...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/41G01S19/42G01S19/27
CPCG01S19/27G01S19/41G01S19/42
Inventor 舒宝王利黄观文王乐张勤
Owner CHANGAN UNIV