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Weighing method and system for weakening pseudo-range and carrier multipath

A multi-path, carrier technology, applied in the direction of radio wave measurement system, satellite radio beacon positioning system, instruments, etc., can solve the problems that affect the improvement of positioning accuracy, the decrease of positioning accuracy, and the difficulty of accurate elimination, so as to achieve the goal of improving positioning accuracy Effect

Pending Publication Date: 2022-08-09
GUANGZHOU SOUTH SATELLITE NAVIGATION INSTR
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

The current equal-precision weighting method, altitude angle weighting method, and signal-to-noise ratio weighting method do not take into account the accuracy differences between satellite orbits and clock errors. Therefore, in multi-orbit and multi-GNSS system precision positioning, how to It is an urgent problem to be solved to improve the positioning accuracy by setting the weight of the observation value to the ground
[0003] However, in the research on the existing public observation value weighting method, it is found that multipath error is one of the main errors that lead to the decrease of positioning accuracy, and its change is related to the environment. improve

Method used

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  • Weighing method and system for weakening pseudo-range and carrier multipath
  • Weighing method and system for weakening pseudo-range and carrier multipath
  • Weighing method and system for weakening pseudo-range and carrier multipath

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Effect test

Embodiment 1

[0094] like figure 1 As shown, a weighting method for weakening pseudorange and carrier multipath includes the following steps:

[0095] S1: During the positioning process, obtain the pseudorange observation value and carrier observation value of the ith frequency point of the non-difference and non-combination;

[0096] S2: Make the difference between the pseudorange observation value and the carrier observation value, use the dual frequency or above carrier observation value to construct a double first-order ionospheric delay coefficient, and eliminate the double frequency contained in the residual of the difference between the pseudorange observation value and the carrier observation value. First-order ionospheric delay to obtain uncombined pseudorange multipath;

[0097] S3: Smoothly eliminate the ambiguity and second-order ionospheric delay in the uncombined pseudorange multipath by sliding window, and obtain the smoothed pseudorange observation value;

[0098] S4: Extr...

Embodiment 2

[0131] More specifically, on the basis of Embodiment 1, the positioning algorithm is specifically expressed as:

[0132]

[0133]

[0134]

[0135] Among them, for the kth moment, K k is the gain matrix, H k is the observation model coefficient matrix, is the one-step prediction covariance matrix, is the state covariance matrix, is the one-step prediction state, is the state containing positional parameters, y k is a vector containing pseudorange and carrier observations; Rk It is the observation noise matrix, and it is also the key matrix that the fixed weight index participates in weakening the multi-path error and indirectly affecting the positioning result. Its generation is based on pseudorange noise. and carrier noise as the basis.

[0136] Therefore, in step S6 to complete the weighting process of weakening pseudorange and carrier multipath, the pseudorange multipath index for extracting the i-th frequency point at the k-th time is denoted as: Th...

Embodiment 3

[0140] More specifically, as image 3 As shown, this embodiment provides a weighting system for weakening pseudorange and carrier multipath, which is used to implement a weighting method for weakening pseudorange and carrier multipath, which specifically includes an observation value acquisition module, a non-combined pseudorange multipath Path calculation module, smoothing processing module, fixed weight index extraction module and observation value weight determination module; wherein:

[0141] The observation value obtaining module is used for obtaining the pseudorange observation value and the carrier observation value of the i-th frequency point of the non-difference and non-combination in the positioning process;

[0142] The non-combined pseudorange multipath calculation module is used to make the difference between the pseudorange observation value and the carrier observation value, and use the double frequency or more carrier observation value to construct twice the f...

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Abstract

The invention provides a fixed weight method for weakening pseudo-range and carrier multipath, which relates to the technical field of GNSS positioning, and comprises the following steps: obtaining a pseudo-range observation value and a carrier observation value; subtraction is carried out on the pseudo-range observation value and the carrier observation value, a double first-order ionosphere delay coefficient is constructed, double first-order ionosphere delay contained in difference value residues is eliminated, non-combined pseudo-range multiple paths are obtained, and sliding window smoothing is used for processing; extracting a fixed weight index of the pseudo-range observation value according to the smoothed pseudo-range observation value; extracting a fixed weight index of the carrier observation value according to the double-frequency or more carrier observation value; and determining the weight of each observation value in the positioning algorithm according to the two weight determining indexes, and completing the weight determining process of weakening the pseudo-range and the carrier multipath. The invention further provides a weighting system, the weighting index of the pseudo-range observation value and the weighting index of the carrier observation value are extracted, so that the weight of each observation value in the positioning algorithm is determined, and the influence of multiple paths on the precision of the final positioning result is weakened.

Description

technical field [0001] The present invention relates to the technical field of GNSS positioning, in particular to a weighting method and system for weakening pseudorange and carrier multipath. Background technique [0002] The global satellite navigation system GNSS is more and more widely used in the field of precise positioning; GNSS observations include tropospheric and ionospheric delay errors, GLONASS FDMA signal frequency deviation, multi-system GNSS positioning system deviation and so on. In GNSS precise positioning, determining the appropriate observation value weight can effectively control the influence of various errors and improve the positioning accuracy. rights law, etc. The altitude angle weighting method takes into account the tropospheric, ionospheric delay and multipath effects on the satellite signal propagation path, which increase with the decrease of the altitude angle, and is easy to program design and implementation, so it has been widely used. . T...

Claims

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Application Information

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IPC IPC(8): G01S19/07G01S19/22G01S19/29G01S19/37G01S19/42
CPCG01S19/07G01S19/29G01S19/22G01S19/37G01S19/42
Inventor 张德先王江林文述生马然李宁周光海肖浩威黄劲风马原徐丹龙杨艺丁永祥闫少霞庄所增
Owner GUANGZHOU SOUTH SATELLITE NAVIGATION INSTR
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