GNSS-based satellite selection method and device, terminal and storage medium

Abstract

The invention discloses a GNSS-based satellite selection method and device, a terminal and a storage medium, and belongs to the technical field of navigation. The method comprises the following steps:determining the type of a tracked satellite according to a user estimated position and map information; calculating a receiver clock error and a user position according to the navigation message andthe observed quantity of the satellite in the sight distance; calculating an observation residual error of the uncertain satellite according to the receiver clock error and the user position; and determining the uncertain satellites and the satellites within the sight distance, the observation residual errors of which meet a first threshold condition, as observation satellites. According to the method, the type of the tracked satellite is determined according to the estimated position of the user and the map information, the receiver clock error and the user position are calculated according to the navigation message and the observed quantity of the satellite within the sight distance, and then the satellites within the sight distance and with the observation residual error value meeting the first threshold condition serve as the observation satellites. Since selection is carried out according to the map information at the same time, unreliable satellites can be eliminated, the observation quality of the selected satellites is improved, and more accurate positioning can be realized in an urban environment.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a GNSS-based star selection method, device, terminal and storage medium. Background technique [0002] When positioning based on GNSS (Global Navigation Satellite System, Global Navigation Satellite System), the process of selecting a suitable satellite to participate in user position calculation is called star selection. Star selection based on GNSS can eliminate satellites with poor observation quality, reduce the introduction of errors, and select the most suitable satellite distribution to reduce the impact of errors in satellite observations on user positions. [0003] When the relevant technology selects satellites based on GNSS, the following method is mainly used: obtain the elevation angle and satellite signal carrier-to-noise ratio of each satellite being tracked, if the elevation angle of any satellite is greater than the first preset value, and / or the satellite sig...

AI Technical Summary

Problems solved by technology

[0004] However, in the urban environment, due to the existence of buildings, problems such as occlusion and multipath will occur, resulting in poor observation quality of the observation satellites selected according to the elevation angle and satellite signal carrier-to-noise ratio

For example, a satellite with a higher elevation angle in a direction obscured by a building may have poorer observation quality than a satellite with a lower elevation angle in an unobscured direction

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