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Gross error elimination method based on Beidou navigation system

A Beidou navigation system and gross error elimination technology, applied in the field of satellite positioning, can solve problems such as low accuracy and poor reliability, and achieve the effect of improving positioning accuracy, improving accuracy, and convenient methods

Active Publication Date: 2020-08-07
NAT TIME SERVICE CENT CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the cut-off elevation angle method used in the receiver and the traditional positioning processing method has many shortcomings such as low accuracy and poor reliability in the positioning results in complex environments.

Method used

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  • Gross error elimination method based on Beidou navigation system
  • Gross error elimination method based on Beidou navigation system
  • Gross error elimination method based on Beidou navigation system

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Embodiment 1: This embodiment designs a method for eliminating gross errors based on the Beidou navigation system, which is mainly applicable to complex terrain such as mountains and valleys, based on figure 1 The flow chart of the method is described in detail.

[0040] S1: Data collection

[0041] Use the Beidou third-generation navigation system that has been deployed to collect required data information including pseudorange / phase raw data, ephemeris data, receiver rough coordinates, antenna height, etc., and obtain original observation values.

[0042] S2: Data preprocessing

[0043] Based on the broadcast ephemeris, check the integrity of the original observation value obtained by S1, use the broadcast ephemeris to calculate the satellite position, and use the receiver's approximate coordinates to calculate the satellite azimuth and altitude angle information of each epoch, and The satellite line of sight information is summarized, and the continuous observation...

Embodiment 2

[0065] Embodiment 2: In this embodiment, the method in Embodiment 1 is used for actual measurement, and the 24-hour Beidou satellite observation data and its terrain environment modeling results of a valley terrain reference station and monitoring station are used. The results are as follows figure 2 As shown, the closed circular line segment in the two modeling results of the reference station and the monitoring station is the Beidou terrain environment model curve, and the inner arc line segment is the observation arc segment of the BeiDou satellite, and the quality of the observation value in these arc segments is from the inside to the outside Gradually from good to bad, it can also be seen that the Beidou terrain environment model curve of the present invention has a good degree of overlap with the edge of the arc. Therefore, a reasonable cut-off height angle e is set according to empirical values threshold Finally, through the formulas (4) and (5), the anisotropic elimin...

Embodiment 3

[0066] Embodiment 3: This embodiment is used to further verify the method of Embodiment 1 through positioning data, respectively adopting the traditional gross error elimination method as the data before model optimization, and using the gross error elimination method in Embodiment 1 as the model optimization After the data, the positioning comparison results for a total of 6 days from 2020 / 01 / 02 to 2020 / 01 / 07 are shown in Table 1:

[0067] Table 1 Comparison results of data before model optimization and data after model optimization

[0068]

[0069] It can be seen from Table 1 that before optimization, the index RMSE has improved in both 2D and U directions, and the success rate of epoch fixation has increased to more than 99% on average, greatly improving the reliability of positioning results.

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Abstract

The invention discloses a gross error elimination method based on a Beidou navigation system. The gross error elimination method comprises the following steps of data collection, data preprocessing, terrain environment modeling, original observation value gross error elimination, positioning application and terrain environment model updating. The receiver antenna terrain environment model is constructed mainly by using the head and tail points of the Beidou satellite observation arc segment, the terrain-based cut-off elevation angle is derived through the environment model to perform pseudo-range and phase observation value gross error identification, the traditional constant cut-off elevation angle method is replaced, and the precision during positioning calculation can be greatly improved. Aiming at a complex environment, the gross error of the original observation value is effectively identified by using a convenient method without increasing extra cost, and the positioning precision of the Beidou navigation system is improved.

Description

technical field [0001] The invention belongs to the technical field of satellite positioning, and in particular relates to a gross error elimination method based on a Beidou navigation system. Background technique [0002] Satellite positioning uses the receiver to observe multiple satellites in the direction of the zenith, and generate pseudo-range and phase observation values ​​to determine the spatial position. Therefore, in order to obtain a centimeter or even millimeter-level receiver antenna position, the receiver is generally installed on the ground without any shelter around it. With the vigorous implementation and advancement of the national disaster reduction and prevention project, the large-scale application of precision positioning technology in related fields, the general measurement Beidou receiver has been deployed and applied in large areas in environments such as mountains and valleys. The Beidou antenna is in a complex environment (hereinafter referred to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/43G01S19/20G01S19/14
CPCG01S19/43G01S19/14G01S19/20
Inventor 韩军强涂锐卢晓春张睿范丽红张鹏飞刘金海王星星洪菊
Owner NAT TIME SERVICE CENT CHINESE ACAD OF SCI