Pseudo-range differential positioning partition weighting method based on pseudo-range observation noise

A technology of pseudo-range observation and observation noise, which is applied in the field of global navigation satellite positioning, and can solve problems such as inability to accurately evaluate the quality of observation values

Pending Publication Date: 2022-03-04
XIAMEN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Since satellite observations are affected by many factors, the equal-weight method and height angle fixed weight cannot accurately evaluate the quality of observations, which has certain limitations in practical applications

Method used

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  • Pseudo-range differential positioning partition weighting method based on pseudo-range observation noise
  • Pseudo-range differential positioning partition weighting method based on pseudo-range observation noise
  • Pseudo-range differential positioning partition weighting method based on pseudo-range observation noise

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Embodiment 1

[0055] Embodiment 1: The real observation data of Beidou / GPS is selected to verify the reliability of the present invention. In the experiment, the two receivers were placed on stations A and B with known accurate coordinates, where station A was used as the reference station, and station B was used as the point to be fixed. The distance between the two stations was 61km. The continuous observation time was 15 minutes, and the data sampling rate was 1 second, totaling 900 epoch. In the following, the method of the present invention will be used to construct the pseudo-range difference partition weighting based on the satellite pseudo-range observation noise, and at the same time combine the pseudo-range difference positioning model to solve the coordinates of station B in a single epoch, and compare it with the known accurate value.

[0056] 1. Construct geometry-independent combined observations L

[0057] Combine the Beidou / GPS carrier and pseudo-range double-difference obs...

Embodiment 2

[0080] Embodiment 2: In order to further test the applicability of pseudo-range observation noise weighting, the experiment is verified and analyzed from the positioning of baselines with different lengths. Select four reference stations szjt, jint, taoy and snan in Suzhou CORS, among which szjt is used as the reference station (with known coordinates), and the other three reference stations are used as undetermined points to form three baselines with lengths of 28km, 46km and 76km respectively; and The 25-minute GNSS observation data with a sampling rate of 1s is selected, and a total of 12 Beidou satellites can be observed during this period, of which the C08 satellite has the largest elevation angle and is selected as the reference satellite in the calculation.

[0081] Table 1 lists the root mean square errors of the three weighting methods in the N, E, and U directions and the final point P under different lengths and distances. It can be seen that in the plane direction (...

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Abstract

The invention discloses a pseudo-range differential positioning partition weighting method based on pseudo-range observation noise, which comprises the following steps of: firstly, constructing geometric irrelevant combination observation quantity based on carrier wave and pseudo-range double-difference observation quantity; then, using a sliding window averaging method to obtain ionosphere and carrier wave observed quantity ambiguity fixed values, and further separating pseudo-range observation noise; and finally, based on the principle that the smaller the observation noise is, the higher the contribution rate to positioning calculation is, in combination with the interval where the observation noise of each satellite is located, the reciprocal of the absolute value of the observation noise is used as a main weight factor, and a fixed weight model of the double-difference pseudo-range observed quantity of each satellite is established. According to the pseudo-range differential positioning partition weighting method based on pseudo-range observation noise, the quality of double-difference pseudo-range observed quantity can be effectively evaluated, and the navigation positioning precision is improved.

Description

technical field [0001] The invention belongs to the technical field of global navigation satellite positioning, and in particular relates to a pseudo-range differential positioning partition weight determination method based on satellite pseudo-range observation noise. Background technique [0002] In global navigation satellite positioning technology, pseudo-range differential positioning can effectively eliminate or weaken the influence of clock and atmospheric errors, and improve positioning accuracy and timeliness. On the other hand, compared with carrier phase differential positioning, pseudo-range differential positioning takes a shorter time. High efficiency, relaxed use restrictions. Especially for single-frequency GNSS receivers, because there is no need to solve the cycle slip and ambiguity, positioning can be realized only with a simple differential function, and the terminal price is relatively low. If the positioning accuracy of the decimeter level can be achiev...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/44G01S19/39
CPCG01S19/44G01S19/396
Inventor 邓健裘张锦王欢
Owner XIAMEN UNIV OF TECH
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