A satellite real-time positioning method and device

Abstract

The present invention discloses a satellite real-time positioning method and device, which are applied to a data processor. The data processor is respectively communicatively connected to a first receiver array and a second receiver array. The method includes: obtaining the observed coordinates collected by the first receiver array, constructing an observed triangle array and extracting the corresponding observed relative vectors, as well as the receiver relative vectors corresponding to the second receiver array; calculating the vector difference between the two; then calculating an adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array, and the coordinate variance corresponding to the observed triangle array; correcting the observed triangle array according to the adjustment ratio and the vector difference, continuously calculating the vector difference until the vector difference is less than a preset difference threshold, and selecting any vertex from the observed triangle array at the current moment as the satellite positioning coordinate, thereby more effectively improving the satellite positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of real-time positioning, and in particular, to a satellite real-time positioning method and device. Background Art

[0002] Satellite navigation systems are important space infrastructure. Satellite positioning and navigation systems mainly include the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS), the Global Navigation Satellite System (GLONASS), the Galileo satellite navigation system (GALILEO), etc. People's demand for all-weather accurate spatio-temporal information in social production and life is becoming increasingly strong, and high-precision satellite positioning is applied to fields such as high-precision measurement, geographic data collection, navigation monitoring services, etc.

[0003] In a satellite navigation and positioning system, the positioning receiver directly faces users, and the synchronization technology is related to the performance of the positioning receiver and the realization of all functions. Satellite positioning is achieved by using a set of satellite pseudorange, ephemeris, clock deviation and other observables. It is required to calculate the position of the receiver based on the positions of more than four (including four) satellites and the observed pseudorange of the corresponding receiver.

[0004] During this positioning process, there are various errors: The first part is the error related to the satellite, caused by factors such as ephemeris, clock error, user ranging, etc.; the second part is the signal space propagation error, caused by reasons such as ionospheric delay, tropospheric delay and multipath effect; the third part of the error is caused by the error related to the receiver; the fourth part of the error is caused by the relativistic effect and the earth rotation effect. And in the case of a reduction in the number of satellites, such as too low signal-to-noise ratio of satellites in some directions or systems, or some anomalies in surrounding reference stations, or the solution effect of the algorithm server for certain satellites not meeting the broadcast accuracy requirements, etc., the error between the true value and the observed value of the above satellite navigation and positioning scheme is relatively large, thus resulting in a decrease in satellite positioning accuracy. Summary of the Invention

[0005] The present invention provides a satellite real-time positioning method and device, which solves the technical problem that in the case of a reduction in the number of satellites, the error between the true value and the observed value of the satellite navigation and positioning scheme is relatively large, thus resulting in a decrease in satellite positioning accuracy.

[0006] A satellite real-time positioning method provided by the present invention is applied to a data processor. The data processor is communicatively connected to a first receiver array and a second receiver array respectively. The method includes:

[0007] Obtain the observed coordinates collected by the first receiver array and construct an observed triangle array;

[0008] Extract the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculate the vector difference;

[0009] Calculate an adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array and the coordinate variance corresponding to the observed triangle array;

[0010] Correct the observed triangle array according to the adjustment ratio and the vector difference;

[0011] Jump to execute the step of extracting the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculating the vector difference until the vector difference is less than a preset difference threshold, and select any vertex from the observed triangle array at the current moment as the satellite positioning coordinate.

[0012] Optionally, the first receiver array includes three first multi-star measurement receivers arranged in a first equilateral triangle; the step of obtaining the observed coordinates collected by the first receiver array and constructing an observed triangle array includes:

[0013] Obtain the observed coordinates collected by each of the first multi-star measurement receivers;

[0014] Select observed array points according to each of the observed coordinates respectively;

[0015] Connect each of the observed array points to obtain an observed triangle array.

[0016] Optionally, the second receiver array includes three second multi-star measurement receivers arranged in a second equilateral triangle, and the second multi-star measurement receivers carry corresponding array coordinates respectively; the step of extracting the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculating the vector difference includes:

[0017] Use two adjacent ones of the observed coordinates to calculate the observed relative vectors corresponding to the sides of the observed triangle array respectively;

[0018] Use two adjacent ones of the array coordinates to calculate the receiver relative vectors corresponding to the sides of the second receiver array respectively;

[0019] Calculate the absolute value of the difference between the observed relative vector corresponding to each side and the receiver relative vector, and obtain the vector difference.

[0020] Optionally, the data processor stores a plurality of historical observed coordinates; the step of calculating the adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array, and the coordinate variance corresponding to the observed triangle array includes:

[0021] Calculate the proportionality coefficient between the first receiver array and the second receiver array;

[0022] Respectively use the observed coordinates corresponding to the vertices of the observed triangle array in combination with the plurality of historical observed coordinates to calculate the coordinate variance corresponding to each observed coordinate;

[0023] Calculate the dispersion corresponding to each observed coordinate based on each coordinate variance;

[0024] Select the minimum value from the plurality of dispersions, and calculate the ratio between the proportionality coefficient and the coordinate variance corresponding to the minimum value as the adjustment ratio.

[0025] Optionally, the observed coordinates include an observed abscissa and an observed ordinate; the step of correcting the observed triangle array according to the adjustment ratio and the vector difference includes:

[0026] Extract the horizontal vector component of each vector difference in the horizontal direction and the vertical vector component of each vector difference in the vertical direction;

[0027] Calculate the product of the horizontal vector component and the adjustment ratio as the horizontal adjustment value, and calculate the product of the vertical vector component and the adjustment ratio as the vertical adjustment value;

[0028] Adjust each observed abscissa of the observed triangle array according to the horizontal adjustment value, and adjust each observed ordinate of the observed triangle array according to the vertical adjustment value to obtain the corrected observed triangle array.

[0029] The present invention also provides a satellite real-time positioning device applied to a data processor, the data processor is respectively communicatively connected to a first receiver array and a second receiver array, and the device includes:

[0030] An observed triangle array construction module, configured to obtain the observed coordinates collected by the first receiver array and construct an observed triangle array;

[0031] A vector difference calculation module, configured to extract the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculate the vector difference;

[0032] An adjustment ratio calculation module, configured to calculate an adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array and the coordinate variance corresponding to the observed triangle array;

[0033] An observed triangle array correction module, configured to correct the observed triangle array according to the adjustment ratio and the vector difference;

[0034] A loop module, configured to jump to execute the steps of extracting the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculating the vector difference until the vector difference is less than a preset difference threshold, and select any vertex from the observed triangle array at the current moment as the satellite positioning coordinate.

[0035] Optionally, the first receiver array includes three first multi-star measurement receivers arranged in a first equilateral triangle; the observed triangle array construction module is specifically configured to:

[0036] Obtain the observed coordinates collected by each of the first multi-star measurement receivers;

[0037] Select observed array points according to each of the observed coordinates;

[0038] Connect each of the observed array points to obtain an observed triangle array.

[0039] Optionally, the second receiver array includes three second multi-star measurement receivers arranged in a second equilateral triangle, and the second multi-star measurement receivers respectively carry corresponding array coordinates; the vector difference calculation module is specifically configured to:

[0040] Use two adjacent ones of the observed coordinates to respectively calculate the observed relative vectors corresponding to the sides of the observed triangle array;

[0041] Use two adjacent ones of the array coordinates to respectively calculate the receiver relative vectors corresponding to the sides of the second receiver array;

[0042] Respectively calculate the absolute values of the differences between the observed relative vectors and the receiver relative vectors corresponding to each side to obtain the vector difference.

[0043] Optionally, the data processor stores a plurality of historical observed coordinates; the adjustment ratio calculation module is specifically configured to:

[0044] Calculate the proportionality coefficient between the first receiver array and the second receiver array;

[0045] Respectively, use the observation coordinates corresponding to the vertices of the observation triangle array in combination with the multiple historical observation coordinates to calculate the coordinate variances corresponding to each of the observation coordinates;

[0046] Based on each of the coordinate variances, calculate the dispersion corresponding to each observation coordinate;

[0047] Select the minimum value from the multiple dispersions, and calculate the ratio between the proportionality coefficient and the coordinate variance corresponding to the minimum value as the adjustment ratio.

[0048] Optionally, the observation coordinates include an observation abscissa and an observation ordinate; the observation triangle array correction module is specifically configured to:

[0049] Extract the horizontal vector components of each of the vector differences in the horizontal direction, and the vertical vector components of each of the vector differences in the vertical direction;

[0050] Calculate the product of the horizontal vector component and the adjustment ratio as the horizontal adjustment value, and calculate the product of the vertical vector component and the adjustment ratio as the vertical adjustment value;

[0051] Adjust each of the observation abscissas of the observation triangle array according to the horizontal adjustment value, and adjust each of the observation ordinates of the observation triangle array according to the vertical adjustment value to obtain a corrected observation triangle array.

[0052] It can be seen from the above technical solutions that the present invention has the following advantages:

[0053] The present invention obtains the observation coordinates collected by the first receiver array, constructs an observation triangle array; extracts the observation relative vectors corresponding to the observation triangle array, and the receiver relative vectors corresponding to the second receiver array, and calculates the vector differences; according to the proportionality coefficient between the first receiver array and the second receiver array, and the coordinate variances corresponding to the observation triangle array, calculates the adjustment ratio; corrects the observation triangle array according to the adjustment ratio and the vector differences; continuously calculates the vector dismissal in a loop until the vector difference is less than a preset difference threshold, and selects any vertex from the observation triangle array at the current moment as the satellite positioning coordinate. Thereby solving the technical problem that when the number of satellites decreases, the error between the true value and the observed value of the satellite navigation positioning scheme is large, which in turn leads to a decrease in the accuracy of satellite positioning, and more effectively improving the accuracy of satellite positioning. Description of the Drawings

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0055] Figure 1 It is a flowchart of the steps of a satellite real-time positioning method provided in Embodiment 1 of the present invention;

[0056] Figure 2 It is a flowchart of the steps of a satellite real-time positioning method provided in Embodiment 2 of the present invention;

[0057] Figure 3 It is a schematic diagram of vector difference calculation provided in the embodiments of the present invention;

[0058] Figure 4 It is a structural block diagram of a satellite real-time positioning device provided in Embodiment 3 of the present invention. Detailed implementation manners

[0059] The embodiments of the present invention provide a satellite real-time positioning method and device, which are used to solve the technical problem that when the number of satellites decreases, the error between the true value and the observed value of the satellite navigation positioning scheme is large, thereby resulting in a decrease in the accuracy of satellite positioning.

[0060] To make the invention purpose, features, and advantages of the present invention more obvious and understandable, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0061] Please refer to Figure 1 , Figure 1 It is a flowchart of the steps of a satellite real-time positioning method provided in Embodiment 1 of the present invention.

[0062] A satellite real-time positioning method provided by the present invention is applied to a data processor, and the data processor is respectively communicatively connected to a first receiver array and a second receiver array. The method includes:

[0063] Step 101, obtaining the observed coordinates collected by the first receiver array and constructing an observed triangle array;

[0064] The first receiver array refers to a receiver array composed of three multi-satellite measurement receivers arranged in an equilateral triangle according to the geometric phase center of the antenna; the second receiver array refers to a receiver array composed of three multi-satellite measurement receivers arranged in an equilateral triangle according to the geometric phase center of the antenna. The area of the equilateral triangle corresponding to the second receiver array is different from that of the first receiver array, and the equilateral triangle constructed by the second receiver array is larger.

[0065] Among them, the multi-satellite measurement receiver refers to a receiver that receives data transmitted by positioning satellites and combines the pseudo-range positioning formula: ρ = r + c(δt u -δt (s) ) + I + T + ε ρ ; the carrier phase positioning formula: φ = λ -1 (r + c(δt u -δt (s) ) - I + T) + N + ε φ , and a variety of known data such as the speed of light c, receiver clock error δt u , satellite clock error δt (s) , mathematical model data of the ionosphere I and troposphere T, optical wavelength λ, integer ambiguity N, etc., to calculate the geometric phase center coordinates of its own antenna.

[0066] In the embodiment of the present invention, in order to obtain the data basis for subsequent satellite positioning coordinates, the observation coordinates sent by positioning satellites can be obtained through the multi-satellite measurement receivers in the first receiver array, and multiple points can be selected according to the observation coordinates to construct an observation triangle array.

[0067] Step 102, extract the observation relative vectors corresponding to the observation triangle array and the receiver relative vectors corresponding to the second receiver array, and calculate the vector difference;

[0068] After obtaining the observation triangle array, the corresponding observation relative vectors can be calculated respectively according to the sides of the observation triangle array by using the observation coordinates.

[0069] At the same time, since the observation triangle array is only constructed by obtaining data through the multi-satellite measurement receivers in the first receiver array, in order to further improve the accuracy of the positioning coordinates, the receiver relative vectors corresponding to each side can be calculated according to the actual coordinates of each multi-satellite measurement receiver in the second receiver array. After obtaining the observation relative vectors and the receiver relative vectors, calculate the difference between the two to obtain the vector difference that needs to be corrected for each side of the observation triangle array.

[0070] Step 103, calculate the adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array and the coordinate variance corresponding to the observation triangle array;

[0071] In an embodiment of the present invention, while calculating the vector difference, a corresponding proportionality coefficient can be further determined according to the size ratio between the first receiver array and the second receiver array; at the same time, in combination with the historical observation coordinates cached in the data processor, the coordinate variance corresponding to the observation triangle array at the current moment is calculated, and the ratio between the two is calculated to obtain the adjustment ratio.

[0072] Step 104: Correct the observation triangle array according to the adjustment ratio and the vector difference.

[0073] After obtaining the adjustment ratio and the vector difference, the multiplication value between the two can be used to adjust and correct each observation coordinate, so as to realize the correction of the observation triangle array.

[0074] Step 105: Jump to execute the steps of extracting the observation relative vector corresponding to the observation triangle array and the receiver relative vector corresponding to the second receiver array, and calculating the vector difference until the vector difference is less than the preset difference threshold, and select any vertex from the observation triangle array at the current moment as the satellite positioning coordinate.

[0075] In a specific implementation, due to the existence of calculation errors, one correction may not significantly improve the accuracy of the satellite positioning coordinate. To further improve the positioning accuracy, it can jump to step 102 to calculate the vector difference between the corrected observation triangle array and the second receiver array again, and continuously loop until the vector difference is less than the preset difference threshold.

[0076] At this time, the accuracy of the observation triangle array meets the preset accuracy condition, and any vertex can be selected from the observation triangle array at the current moment as the satellite positioning coordinate.

[0077] In an embodiment of the present invention, by acquiring the observation coordinates collected by the first receiver array, an observation triangle array is constructed; the observation relative vector corresponding to the observation triangle array and the receiver relative vector corresponding to the second receiver array are extracted, and the vector difference is calculated; according to the proportionality coefficient between the first receiver array and the second receiver array, and the coordinate variance corresponding to the observation triangle array, the adjustment ratio is calculated; according to the adjustment ratio and the vector difference, the observation triangle array is corrected; the vector difference is continuously calculated in a loop until the vector difference is less than the preset difference threshold, and any vertex is selected from the observation triangle array at the current moment as the satellite positioning coordinate. Thereby solving the technical problem that when the number of satellites decreases, the error between the true value and the observed value of the satellite navigation positioning scheme is large, which in turn leads to a decrease in satellite positioning accuracy, and more effectively improving the satellite positioning accuracy.

[0078] Please refer to Figure 2 , Figure 2 which is the flowchart of the steps of a satellite real-time positioning method provided in the second embodiment of the present invention.

[0079] A satellite real-time positioning method provided by the present invention is applied to a data processor. The data processor is communicatively connected to a first receiver array and a second receiver array respectively, and the data processor stores a plurality of historical observation coordinates. The method includes:

[0080] Step 201, obtaining the observation coordinates collected by the first receiver array and constructing an observation triangle array;

[0081] Optionally, the first receiver array includes three first multi-satellite measurement receivers arranged in a first equilateral triangle. Step 201 may include the following sub-steps:

[0082] Obtaining the observation coordinates collected by each first multi-satellite measurement receiver;

[0083] Selecting observation array points according to each observation coordinate respectively;

[0084] Connecting each observation array point to obtain an observation triangle array.

[0085] In a specific implementation, the antenna phase centers of each multi-satellite measurement receiver are located at the vertices of the two receiver arrays, and the vectors of the relative positions between the antenna phase centers of each receiver are also fixed accordingly. The receivers located in the smaller equilateral triangle can obtain the observed values of the satellite positioning coordinates. Due to the errors existing in the receivers, there is a deviation between the observed values of the antenna phase centers of the receivers located in the smaller equilateral triangle and the actual coordinates, and the coordinate system where the antenna phase centers of the receivers are located is not the same coordinate system as the coordinate system where the observed values of the satellite positioning coordinates are located.

[0086] In the embodiment of the present invention, by obtaining the observation coordinates collected by each first multi-satellite measurement receiver, which include the observed abscissa and the observed ordinate. Then, selecting the observation array points according to each observation coordinate respectively and connecting each observation array point to obtain an observation triangle array.

[0087] It should be noted that the arrangements of the first receiver array and the second receiver array need to meet the following conditions: 1) Each multi-satellite measurement receiver included needs to maintain clock synchronization and the antenna phase centers of each receiver are located at the fixed points of the equilateral triangle; 2) They are respectively distributed on the same plane under two different coordinate systems; 3) The observation triangle array and the second receiver array are in the same coordinate system; 4) The observation triangle array is within the equilateral triangle coverage area of the second receiver array.

[0088] Optionally, each multi-satellite measurement receiver can be connected to an MCU processor to receive the observation data and forward it to the data processor.

[0089] Step 202: Extract the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculate the vector differences.

[0090] Optionally, the second receiver array includes three second multi-star measurement receivers arranged in a second equilateral triangle, and the second multi-star measurement receivers respectively carry corresponding array coordinates. Step 202 may include the following sub-steps:

[0091] Use two adjacent observed coordinates to calculate the observed relative vectors corresponding to each side of the observed triangle array respectively.

[0092] Use two adjacent array coordinates to calculate the receiver relative vectors corresponding to each side of the second receiver array respectively.

[0093] Calculate the absolute value of the difference between the observed relative vector and the receiver relative vector corresponding to each side respectively to obtain the vector difference.

[0094] In the embodiment of the present invention, after constructing the observed triangle array, the observed relative vectors corresponding to each side can be calculated pairwise using the observed coordinates corresponding to the three vertices of the array. Use two adjacent array coordinates to calculate the receiver relative vectors corresponding to each side of the second receiver array respectively; calculate the absolute value of the difference between the observed relative vector and the receiver relative vector corresponding to each side respectively to obtain the vector difference.

[0095] Refer to Figure 3 , Figure 3 which shows a schematic diagram of vector difference calculation in the embodiment of the present invention.

[0096] In this embodiment, according to the three vertices of the observed triangle array, that is, A'B'C', calculate the distance between the observed coordinates corresponding to vertex A' and vertex B' to obtain the observed relative vector A'B' from vertex A' to vertex B'. Similarly, calculate the other two observed relative vectors B'C' and C'A'.

[0097] Similarly, based on the three vertices A”B”C” of the second receiver array, calculate the receiver relative vectors A”B”, B”C” and C”A” of each side respectively.

[0098] Then calculate the difference between the two vectors according to each side, such as A'B' and A”B”, B'C' and B”C” as well as C'A' and C”A”.

[0099] Optionally, during the comparison process, the comparison can be further combined with three angles between the observed triangle matrix and the second receiver matrix, and the subsequent correction of the observed triangle matrix can be performed according to the difference between the angles. For example, the difference between included angle A' and included angle A".

[0100] Step 203: Calculate the proportionality coefficient between the first receiver array and the second receiver array;

[0101] In the embodiment of the present invention, the proportionality coefficient can be obtained by calculating the ratio between the corresponding sides of the first receiver array and the second receiver array.

[0102] Or by obtaining the areas of the first receiver array and the second receiver array and calculating the ratio between the two areas to obtain the proportionality coefficient.

[0103] Step 204: Calculate the coordinate variance corresponding to each observation coordinate by respectively using the observation coordinates corresponding to the vertices of the observed triangle array in combination with multiple historical observation coordinates;

[0104] In the embodiment of the present invention, since the stability of the determination accuracy of the single prediction coordinate is poor, at this time, the coordinate variance corresponding to each vertex can be calculated by respectively using the observation coordinates corresponding to the respective vertices of the observed triangle array in combination with the historical observation coordinates at multiple corresponding positions.

[0105] Taking point A' (x A , y A ) as an example, the corresponding coordinate variance is calculated by respectively combining the historical observation coordinates of point A'.

[0106] Step 205: Calculate the dispersion corresponding to each observation coordinate based on each coordinate variance;

[0107] The dispersion refers to the positioning accuracy of each point. The smaller the dispersion, the more accurate the positioning.

[0108] In the embodiment of the present invention, the coordinate variance includes the abscissa variance and the ordinate variance. After calculating the coordinate variance corresponding to each vertex, the dispersion corresponding to its observation coordinate can be further calculated.

[0109] Specifically, the calculation process of the dispersion Q can be as follows:

[0110]

[0111] Wherein, σ X is the abscissa variance corresponding to each vertex respectively, and σ Y is the ordinate variance corresponding to each vertex respectively.

[0112] Step 206: Select the minimum value from multiple dispersions, and calculate the ratio of the proportionality coefficient to the coordinate variance corresponding to the minimum value as the adjustment ratio.

[0113] In the embodiment of the present invention, to reduce the number of adjustments, the minimum value can be selected from the dispersions corresponding to each point, and then the ratio of the proportionality coefficient to the coordinate variance corresponding to the minimum value is calculated and used as the adjustment ratio.

[0114] Step 207: Correct the observed triangle array according to the adjustment ratio and the vector difference.

[0115] Optionally, the observed coordinates include the observed abscissa and the observed ordinate; Step 207 may include the following sub-steps:

[0116] Extract the horizontal vector components of each vector difference in the horizontal direction and the vertical vector components of each vector difference in the vertical direction.

[0117] Calculate the product of the horizontal vector component and the adjustment ratio as the horizontal adjustment value, and calculate the product of the vertical vector component and the adjustment ratio as the vertical adjustment value.

[0118] Adjust each observed abscissa of the observed triangle array according to the horizontal adjustment value, and adjust each observed ordinate of the observed triangle array according to the vertical adjustment value to obtain the corrected observed triangle array.

[0119] In a specific implementation, for example, the vector difference between A'B' and A”B” is K', and the vector difference is decomposed along the X and Y directions to obtain K' x and K' y . Then the correction process of the observed abscissa and the observed ordinate of point B' is as follows:

[0120] The corrected observed abscissa X′ B :

[0121] The corrected observed ordinate Y′ B :

[0122] Wherein, X B is the original observed abscissa of point B', Y B is the original observed abscissa of point B', and R is the proportionality coefficient.

[0123] Step 208: Jump to execute the steps of extracting the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculating the vector difference until the vector difference is less than the preset difference threshold, and select any vertex from the observed triangle array at the current moment as the satellite positioning coordinate.

[0124] In an embodiment of the present invention, by obtaining the observed coordinates collected by the first receiver array, an observed triangle array is constructed; the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array are extracted, and the vector difference is calculated; according to the proportionality coefficient between the first receiver array and the second receiver array and the coordinate variance corresponding to the observed triangle array, an adjustment ratio is calculated; according to the adjustment ratio and the vector difference, the observed triangle array is corrected; the vector difference is continuously calculated in a loop until the vector difference is less than a preset difference threshold, and any vertex of the observed triangle array at the current moment is selected as the satellite positioning coordinate. Thereby, the technical problem that the error between the true value and the observed value of the satellite navigation positioning scheme is large when the number of satellites decreases, and thus the satellite positioning accuracy decreases is solved, and the satellite positioning accuracy is more effectively improved.

[0125] Please refer to Figure 4 , Figure 4 which is a structural block diagram of a satellite real-time positioning device provided in Embodiment 3 of the present invention.

[0126] An embodiment of the present invention provides a satellite real-time positioning device, which is applied to a data processor. The data processor is respectively communicatively connected to a first receiver array and a second receiver array. The device includes:

[0127] An observed triangle array construction module 401, configured to obtain the observed coordinates collected by the first receiver array and construct an observed triangle array;

[0128] A vector difference calculation module 402, configured to extract the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculate the vector difference;

[0129] An adjustment ratio calculation module 403, configured to calculate an adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array and the coordinate variance corresponding to the observed triangle array;

[0130] An observed triangle array correction module 404, configured to correct the observed triangle array according to the adjustment ratio and the vector difference;

[0131] A loop module 405, configured to jump to execute the steps of extracting the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculating the vector difference until the vector difference is less than a preset difference threshold, and selecting any vertex of the observed triangle array at the current moment as the satellite positioning coordinate.

[0132] Optionally, the first receiver array includes three first multi-star measurement receivers arranged in a first equilateral triangle; the observed triangle array construction module 401 is specifically configured to:

[0133] Obtain the observed coordinates collected by each first multi-star measurement receiver;

[0134] Select the observed array points according to each observed coordinate respectively;

[0135] Connect each observed array point to obtain an observed triangle array.

[0136] Optionally, the second receiver array includes three second multi-star measurement receivers arranged in a second equilateral triangle, and the second multi-star measurement receivers carry corresponding array coordinates respectively; the vector difference calculation module 402 is specifically used for:

[0137] Adopt two adjacent observed coordinates to calculate the observed relative vectors corresponding to each side of the observed triangle array respectively;

[0138] Adopt two adjacent array coordinates to calculate the receiver relative vectors corresponding to each side of the second receiver array respectively;

[0139] Calculate the absolute value of the difference between the observed relative vector and the receiver relative vector corresponding to each side respectively to obtain the vector difference.

[0140] Optionally, the data processor stores multiple historical observed coordinates; the adjustment ratio calculation module 403 is specifically used for:

[0141] Calculate the proportionality coefficient between the first receiver array and the second receiver array;

[0142] Respectively adopt the observed coordinates corresponding to the vertices of the observed triangle array combined with multiple historical observed coordinates to calculate the coordinate variances corresponding to each observed coordinate;

[0143] Calculate the dispersion corresponding to each observed coordinate based on each coordinate variance respectively;

[0144] Select the minimum value from multiple dispersions, and calculate the ratio of the proportionality coefficient to the coordinate variance corresponding to the minimum value as the adjustment ratio.

[0145] Optionally, the observed coordinates include an observed abscissa and an observed ordinate; the observed triangle array correction module 404 is specifically used for:

[0146] Extract the horizontal vector components of each vector difference in the horizontal direction and the vertical vector components of each vector difference in the vertical direction;

[0147] Calculate the product of the horizontal vector component and the adjustment ratio as the horizontal adjustment value, and calculate the product of the vertical vector component and the adjustment ratio as the vertical adjustment value;

[0148] Adjust the respective observed abscissas of the observed triangle array according to the horizontal adjustment value, and adjust the respective observed ordinates of the observed triangle array according to the vertical adjustment value to obtain the corrected observed triangle array.

[0149] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0150] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be in electrical, mechanical or other forms.

[0151] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0152] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A satellite real-time positioning method, characterized in that, Applied to a data processor, the data processor is communicatively connected to a first receiver array and a second receiver array respectively, and the method includes: Obtain the observed coordinates collected by the first receiver array and construct an observed triangle array; Extract the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculate the vector difference; Calculate an adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array and the coordinate variance corresponding to the observed triangle array; Correct the observed triangle array according to the adjustment ratio and the vector difference; Jump to execute the step of extracting the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculating the vector difference, until the vector difference is less than a preset difference threshold, and select any vertex from the observed triangle array at the current moment as the satellite positioning coordinate; The data processor stores a plurality of historical observed coordinates; the step of calculating the adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array and the coordinate variance corresponding to the observed triangle array includes: Calculate the proportionality coefficient between the first receiver array and the second receiver array; Respectively use the observed coordinates corresponding to the vertices of the observed triangle array in combination with the plurality of historical observed coordinates to calculate the coordinate variances corresponding to each of the observed coordinates; Calculate the dispersion corresponding to each observed coordinate based on each of the coordinate variances; Select the minimum value from the plurality of dispersions, and calculate the ratio between the proportionality coefficient and the coordinate variance corresponding to the minimum value as the adjustment ratio.

2. The method according to claim 1, characterized in that, The first receiver array includes three first multi-star measurement receivers arranged in a first equilateral triangle; the step of obtaining the observed coordinates collected by the first receiver array and constructing an observed triangle array includes: Obtain the observed coordinates collected by each of the first multi-star measurement receivers; Select observed array points according to each of the observed coordinates respectively; Connect each of the observed array points to obtain an observed triangle array.

3. The method according to claim 1, characterized in that, The second receiver array includes three second multi-star measurement receivers arranged in a second equilateral triangle, and the second multi-star measurement receivers each carry corresponding array coordinates; the step of extracting the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculating the vector difference includes: Use two adjacent ones of the observed coordinates to calculate the observed relative vectors corresponding to the sides of the observed triangle array respectively; Use two adjacent ones of the array coordinates to calculate the receiver relative vectors corresponding to the sides of the second receiver array respectively; Respectively calculate the absolute value of the difference between the observed relative vector and the receiver relative vector corresponding to each side to obtain the vector difference.

4. The method according to any one of claims 1 to 3, characterized in that, The observed coordinates include an observed abscissa and an observed ordinate; the step of correcting the observed triangle array according to the adjustment ratio and the vector difference includes: Extract the horizontal vector components of each of the vector differences in the horizontal direction and the vertical vector components of each of the vector differences in the vertical direction; Calculate the product of the horizontal vector component and the adjustment ratio as the horizontal adjustment value, and calculate the product of the vertical vector component and the adjustment ratio as the vertical adjustment value; Adjust each of the observed abscissas of the observed triangle array according to the horizontal adjustment value, and adjust each of the observed ordinates of the observed triangle array according to the vertical adjustment value to obtain a corrected observed triangle array.

5. A satellite real-time positioning device, characterized in that, Applied to a data processor, the data processor is respectively communicatively connected to a first receiver array and a second receiver array, and the device includes: An observed triangle array construction module, configured to obtain the observed coordinates collected by the first receiver array and construct an observed triangle array; A vector difference calculation module, configured to extract the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array, and calculate the vector differences; An adjustment ratio calculation module, configured to calculate an adjustment ratio according to the proportionality coefficient between the first receiver array and the second receiver array and the coordinate variances corresponding to the observed triangle array; An observed triangle array correction module, configured to correct the observed triangle array according to the adjustment ratio and the vector differences; A loop module, configured to jump to execute the steps of extracting the observed relative vectors corresponding to the observed triangle array and the receiver relative vectors corresponding to the second receiver array and calculating the vector differences until the vector difference is less than a preset difference threshold, and select any vertex from the observed triangle array at the current moment as the satellite positioning coordinate; The data processor stores a plurality of historical observed coordinates; the adjustment ratio calculation module is specifically configured to: Calculate the proportionality coefficient between the first receiver array and the second receiver array; Respectively use the observed coordinates corresponding to the vertices of the observed triangle array in combination with the plurality of historical observed coordinates to calculate the coordinate variances corresponding to each of the observed coordinates; Calculate the dispersion corresponding to each observed coordinate based on each of the coordinate variances; Select the minimum value from the plurality of dispersions, and calculate the ratio between the proportionality coefficient and the coordinate variance corresponding to the minimum value as the adjustment ratio.

6. The device according to claim 5, characterized in that, The first receiver array includes three first multi-star measurement receivers arranged in a first equilateral triangle; the observed triangle array construction module is specifically configured to: Obtain the observed coordinates collected by each of the first multi-star measurement receivers; Select observed array points according to each of the observed coordinates; Connect each of the observed array points to obtain an observed triangle array.

7. The device according to claim 5, characterized in that, The second receiver array includes three second multi-star measurement receivers arranged in a second equilateral triangle, and the second multi-star measurement receivers respectively carry corresponding array coordinates; the vector difference calculation module is specifically configured to: Use two adjacent ones of the observed coordinates to respectively calculate the observed relative vectors corresponding to the sides of the observed triangle array; Using two adjacent ones of the array coordinates, respectively calculate the receiver relative vectors corresponding to the sides of the second receiver array; Respectively calculate the absolute values of the differences between the observed relative vectors corresponding to the respective sides and the receiver relative vectors to obtain vector differences.

8. The device according to any one of claims 5 to 7, characterized in that, The observed coordinates include an observed abscissa and an observed ordinate; the observed triangle array correction module is specifically configured to: Extract the horizontal vector components of the respective vector differences in the horizontal direction and the vertical vector components of the respective vector differences in the vertical direction; Calculate the product of the horizontal vector component and the adjustment ratio as the horizontal adjustment value, and calculate the product of the vertical vector component and the adjustment ratio as the vertical adjustment value; Adjust each of the observed abscissas of the observed triangle array according to the horizontal adjustment value, and adjust each of the observed ordinates of the observed triangle array according to the vertical adjustment value to obtain a corrected observed triangle array.

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