Method and apparatus for implementing precise point positioning and gnss receiver
By receiving and correcting observations from multiple satellite navigation systems and precise point positioning service data, the shortcomings of precise point positioning technology in terms of convergence time, accuracy, and availability have been resolved, achieving a more efficient centimeter-level positioning effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- UNICORE COMM INC
- Filing Date
- 2023-03-14
- Publication Date
- 2026-07-21
AI Technical Summary
Existing precise point positioning technology has shortcomings in terms of convergence time, positioning accuracy and availability, especially in meeting the centimeter-level positioning requirements when it does not rely on base stations and communication.
By receiving observations from multiple satellite navigation systems and precise data from precise point positioning services, and correcting them using their respective precise data, the data from multiple precise point positioning services are fused using the receiver clock error estimation principle, thereby expanding the number of satellites participating in precise point positioning.
It improves the convergence time, accuracy, and availability of precise point positioning, enhancing positioning performance, especially when multiple satellite systems are involved.
Smart Images
Figure CN116449403B_ABST
Abstract
Description
Technical Field
[0001] This application relates to, but is not limited to, precision satellite navigation technology, and in particular to a method and apparatus for achieving precise point positioning and a GNSS receiver. Background Technology
[0002] Currently, there are five widely used Global Navigation Satellite Systems (GNSS): the US Global Positioning System (GPS), Russia's GLONASS, China's BeiDou Navigation Satellite System (BDS), the European Union's Galileo, and Japan's Quasi-Zenith Satellite System (QZSS). Satellite positioning systems offer high accuracy and global coverage, and are widely used in navigation, surveying and mapping, precision agriculture, intelligent robots, autonomous driving, and drones, among other fields. Applications such as surveying and mapping, precision agriculture, intelligent robots, autonomous driving, and drones often require centimeter-level accuracy positioning services. The technologies that provide centimeter-level satellite positioning services mainly include Real-Time Kinematic (RTK) technology and Precise Point Positioning (PPP) technology.
[0003] RTK (Real-Time Kinematic) technology is a widely used high-precision satellite positioning technology. RTK technology requires the support of base stations. Utilizing the correlation of errors between stations, the rover station uses base station observations to eliminate or reduce errors in satellite orbit, satellite clock bias, ionospheric ambiguity, and tropospheric ambiguity, thereby achieving centimeter-level positioning accuracy. Satellite clock bias is independent of the distance between stations and can be completely eliminated; however, errors in satellite orbit, ionosphere, and troposphere are related to the distance between stations. The closer the distance between the base station and the rover station, the stronger the error correlation, and the smaller the residual after single-difference between the rover station and base station observations. The correlation weakens with greater distances. When the distance between the base station and the rover station exceeds a certain distance, such as 30 kilometers, atmospheric residuals reach decimeter levels, making it difficult to fix double-difference ambiguities and thus preventing centimeter-level positioning. To meet the needs of large-scale, high-precision applications such as precision agriculture, autonomous driving, and drones, multiple base stations are typically established to provide services to customers via network RTK. RTK technology requires receiving data from base stations, thus requiring communication support from users. Furthermore, the service range of a single base station is limited, and in the network RTK service mode, customers also need to upload their location information. For users who do not have communication capabilities or who are unwilling to upload their location due to privacy concerns, precise point positioning technology can be selected.
[0004] Precise Point Positioning (PPP) technology uses a single Global Navigation Satellite System (GNSS) receiver and leverages precise ephemeris and satellite clock biases provided by the International GNSS Service (IGS). Based on carrier phase observations, it can achieve high-precision positioning at the millimeter to decimeter level. PPP services can broadcast precise satellite orbit and clock bias data to users, as well as ionospheric and tropospheric data. This data is independent of the user's location and can therefore be broadcast via satellite. This allows satellite positioning equipment to achieve precise point positioning without adding external equipment or uploading its own position data.
[0005] Users utilize precise satellite orbit and clock bias data broadcast by Precise Point Positioning (PPS) services to eliminate satellite orbit and clock bias errors in broadcast ephemeris data. Ionospheric errors are eliminated through multi-frequency combinations, and tropospheric errors can be estimated using parameters. Some PPS services can also broadcast ionospheric and tropospheric data, which can also be used to mitigate ionospheric and tropospheric errors. Related technologies include free PPS data broadcast via satellite, such as China's BeiDou PPS service broadcasting PPS data via the B2b frequency; the EU's Galileo PPS service broadcasting PPS data via the E6 frequency; and Japan's QZSS PPS service broadcasting PPS data via the L6 frequency. However, these three satellite-based PPS data broadcasting services primarily focus on improving the positioning accuracy of their own navigation systems, thus mainly broadcasting corrections from the navigation system's satellites. In related technologies, improving the convergence time and positioning accuracy of PPS services to enhance their availability and meet user needs is a pressing issue that needs to be addressed. Summary of the Invention
[0006] This application provides a method, apparatus, and GNSS receiver for achieving precise point positioning, which can improve the performance of precise point positioning.
[0007] This invention provides a method for achieving precise single-point positioning, comprising:
[0008] It receives observations from different satellite navigation systems, as well as precise data broadcast from more than one precise point positioning service;
[0009] Based on the type of precise point positioning service that can be decoded, the observations from different satellite navigation systems are corrected using the precise data of the corresponding precise point positioning service of the satellite navigation system.
[0010] Precision point positioning is calculated using receiver clock errors corrected by precision data from different precision point positioning services.
[0011] This application also provides a computer-readable storage medium storing computer-executable instructions for performing the method for achieving precise single-point positioning described above.
[0012] This application embodiment further provides a device for implementing precise single-point positioning, including a memory and a processor, wherein the memory stores the following instructions executable by the processor: for performing the steps of the method for implementing precise single-point positioning as described above.
[0013] This application also provides an apparatus for achieving precise single-point positioning, comprising: a receiving module, a correction module, and a processing module; wherein,
[0014] The receiving module is used to receive observations from different satellite navigation systems, as well as precision data broadcast from more than one precision point positioning service;
[0015] The correction module is used to correct the observations from different satellite navigation systems by using the precise data of the corresponding precise point positioning service of the satellite navigation system, based on the precise point positioning service type that it can decode.
[0016] The processing module is used to perform precise point positioning calculations using receiver clock errors corrected by precise data from different precise point positioning services.
[0017] This application embodiment also provides a GNSS receiver, including the device described above for achieving precise single-point positioning.
[0018] The method for achieving precise point positioning (PPS) provided in this application corrects observations from different satellite navigation systems using precise PPS data corresponding to the respective systems, based on the type of PPS service the receiver can decode. This method integrates precise data from multiple PPS services, allowing more satellites to participate in the PPS calculation and significantly improving PPS performance. Since more satellite systems participate in PPS, the satellite distribution is better, the convergence time is faster, and the availability and accuracy of PPS are improved.
[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description
[0020] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.
[0021] Figure 1 This is a flowchart illustrating the method for achieving precise single-point positioning in the embodiments of this application;
[0022] Figure 2 This is a schematic diagram of the structural composition of the device for achieving precise single-point positioning in the embodiments of this application. Detailed Implementation
[0023] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be arbitrarily combined with each other.
[0024] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.
[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
[0026] It is understood that the terms "first" and "second" used in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0027] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.
[0028] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.
[0029] Precise point positioning (PPS) requires a certain amount of time to converge to decimeter-level accuracy, typically 10-20 minutes. The convergence time depends on the precision of the precision data and the distribution of satellites participating in the PPS; the latter is related to the satellite systems included in the precision data broadcast by the system. The more satellite systems participating in the PPS, the better the satellite distribution, and the faster the convergence time. The availability and accuracy of PPS are also related to the number of satellites participating in the PPS. Current high-precision receivers can track satellites from the five major navigation systems: BDS, GPS, Galileo, GLONASS, and QZSS, and can decode precision data from three PPS services: B2b, E6, and L6. PPS using only one service and two navigation systems is inferior to PPS using more navigation systems in terms of convergence time, availability, and accuracy. For example, China's BeiDou Precision Point Positioning Service broadcasts precision point positioning data from both the BDS and GPS navigation systems via the B2b frequency; the European Union's Galileo Precision Point Positioning Service broadcasts precision point positioning data from both the Galileo and GPS navigation systems via the E6 frequency; and Japan's QZSS Precision Point Positioning Service broadcasts precision point positioning data from both the QZSS and GPS navigation systems via the L6 frequency. The inventors of this application have discovered that although the coordinate frame used for the precision point positioning data broadcast by each satellite navigation system is the International Terrestrial Reference Frame (ITRF), the time bases used are different. Therefore, even if most GNSS receivers can simultaneously decode precision point positioning data broadcast by three different precision point positioning services, they cannot mix and use the three types of precision point positioning data. In other words, receivers in related technologies can only use the precision point positioning data broadcast by one specific precision point positioning service. Therefore, at most two navigation systems can participate in precision point positioning calculations. For receivers capable of simultaneously tracking multiple navigation satellite systems such as BDS, GPS, Galileo, GLONASS, and QZSS, even if they can simultaneously decode B2b, E6, and L6 Precision Point Positioning (PPS) service data, only about half of the satellites participate in the PPS calculation. This is because the accuracy, availability, and convergence time of PPS are all related to the number of participating satellites. If the PPS data broadcast by the three PPS services could be merged and used together, then all four navigation satellite systems—BDS, GPS, Galileo, and QZSS—could participate in PPS, significantly improving its performance.
[0030] To improve the performance of precise point positioning (PPS), this application provides a method for implementing PPS. This application utilizes the principle of estimating receiver clock bias separately for each system in PPS parameter estimation, integrates PPS data broadcast by multiple PPS services, and expands the number of satellites participating in PPS settlement to improve the performance of PPS.
[0031] Figure 1 The method for achieving precise single-point positioning in the embodiments of this application is as follows: Figure 1 As shown, it includes:
[0032] Step 100: Receive observations from different satellite navigation systems, as well as precision data broadcast from more than one precision point positioning service.
[0033] In one exemplary instance, different satellite navigation systems include one or any combination of the following: BDS, GPS, Galileo, QZSS navigation satellite systems;
[0034] In one exemplary instance, one or more precise point positioning services include one or any combination of the following: B2b precise point positioning service, E6 precise point positioning service, and L6 precise point positioning service.
[0035] When a GNSS receiver tracks a satellite signal, it generates two types of observations: pseudorange observations and carrier wave observations. These observations include satellite orbit errors, satellite clock errors, ionospheric errors, tropospheric errors, and receiver clock errors. Satellite orbit errors and satellite clock errors can be eliminated using precise satellite orbit and clock error corrections from precise point positioning (PPS) data. In other words, the precise satellite orbit and clock error data broadcast by PPS are used to eliminate satellite orbit and clock error errors in the broadcast ephemeris. Ionospheric errors can be eliminated using a dual-frequency ionospheric de-escalation method, while tropospheric errors can be eliminated using a model and parameter estimation.
[0036] Because each satellite navigation system has a different time base, the hardware delay of the GNSS receiver for each system's signal is also different, and therefore the GNSS receiver clock bias is different for each system. Equations (1) and (2) respectively represent the pseudorange and carrier observation equations after correction by the satellite's precise orbit and clock bias correction in the precise point positioning data:
[0037]
[0038]
[0039] In formulas (1) and (2), k represents the frequency identifier, which can be 1, 2, 3, 4, or 5; s represents the navigation system identifier, which can be any of the following systems: BDS, GPS, Galileo, or QZSS; p represents the precise point positioning system identifier, which can be any of the following systems: B2b, E6, or L6; and i represents the satellite identifier. This represents the pseudorange observation value at frequency k of satellite i after precise data correction by system p; ρ represents the carrier observation at frequency k of satellite i after precise data correction by system p; i dT represents the geometric distance between the receiver and satellite i; c represents the speed of light in a vacuum; dT s,p Trop represents the receiver clock bias of navigation system s after precise data correction from precise point positioning service p. i Indicates the tropospheric error included in the observations; Iono i This indicates the ionospheric error included in the observations; Let λ represent the squares of the signal frequencies at the first and kth frequency points, respectively, where k can be 1, 2, 3, 4, or 5; k This represents the carrier wavelength at frequency k, where k can be 1, 2, 3, 4, or 5. This indicates the integer ambiguity contained in the carrier observation; This indicates noise in pseudorange observations; This represents the noise in the carrier observation.
[0040] As can be seen from the observation equations shown in formulas (1) and (2), the receiver clock error dT after precision data correction by different precision point positioning services for the same satellite observation values can vary. s,p They are different. For example, for a GPS satellite, the receiver clock error after B2b correction is dT. GPS,B2b The receiver clock bias after E6 correction is dT GPS,E6 In other words, for observations from the same satellite navigation system, precise data from different precise point positioning services cannot be mixed; otherwise, two different receiver clock biases will occur.
[0041] Step 101: Based on the type of precise point positioning service that can be decoded, the observations from different satellite navigation systems are corrected using the precise data of the corresponding precise point positioning service of the satellite navigation system.
[0042] In one exemplary instance, during precise point positioning (PPS) calculation, a receiver clock bias is estimated separately for each satellite navigation system. Based on the principle of individually estimating the receiver clock bias for each satellite navigation system, the observations from different satellite navigation systems are corrected using precise data from different PPS services. In one embodiment, the PPS corresponding to a satellite navigation system may include: the PPS for BDS may be a B2b PPS service, the PPS for Galileo may be an E6 PPS service, the PPS for QZSS may be an L6 PPS service, and the PPS for GPS may be a B2b PPS service, an E6 PPS service, or an L6 PPS service.
[0043] In one embodiment, such as during a precise point positioning calculation, the GNSS receiver can correct the observations from GPS using precise data from the B2b precise point positioning service, then the receiver clock error of the GPS observations is dT. GPS,B2b For observations from Galileo, precise data from the E6 Precise Point Positioning Service can be used for correction. The receiver clock error for the Galileo observations is then dT. Galileo,E6 .
[0044] In one exemplary instance, when a GNSS receiver simultaneously decodes precision data from multiple Precision Point Positioning (PPS) services, for the satellite navigation system corresponding to the precision data of a certain PPS service, the precision data from that PPS service is directly used to correct the observations of that satellite navigation system. In one embodiment, when the GNSS receiver can simultaneously receive precision data from three PPS services—B2b, E6, and L6—the GNSS receiver can use precision data from the B2b PPS service to correct the observations from the BDS, where the receiver clock error of the BDS observations is dT. BDS,B2b For observations from Galileo, precise data from the E6 Precise Point Positioning service can be used for correction. The receiver clock bias for Galileo observations is dT. Galileo,E6 For observations from QZSS, precise data from L6 Precise Point Positioning Service can be used for correction. The receiver clock bias of the QZSS observations is dT. QZSS,L6 .
[0045] In one exemplary instance, when a GNSS receiver simultaneously decodes precision data from multiple precision point positioning services, for a satellite navigation system that provides precision data from multiple precision point positioning services, the precision point positioning service that allows more satellites of the satellite navigation system to participate in the precision point positioning calculation is selected to correct the satellite navigation observations. For observations from GPS, precision data from one of the three precision point positioning services—B2b, E6, or L6—can be used for correction. In one embodiment, GPS observations are corrected using precision data from the B2b precision point positioning service, and the receiver clock bias of the GPS observations is dT. GPS,B2b The GPS observations are corrected using precise data from the E6 Precise Point Positioning service, and the receiver clock bias of the GPS observations is dT. GPS,E6 The GPS observations are corrected using precise data from the L6 Precise Point Positioning service. The receiver clock bias of the GPS observations is dT. GPS,L6 In one embodiment, in practical applications, the GNSS receiver can determine which precise point positioning service (MPPS) data to use to correct GPS observations based on the number of GPS satellites contained in the precise data provided by different MPPS services. In one embodiment, the MPPS service with the most GPS satellites in its precise data can be selected as the corresponding MPPS service. In other words, the MPPS service that allows more GPS satellites to participate in the subsequent precise point positioning calculation will be selected.
[0046] In one exemplary instance, when a GNSS receiver simultaneously decodes precise data from multiple precise point positioning (PPS) services, the method for achieving PPS provided in this application integrates the precise data from these services, enabling more satellite navigation systems to participate in the PPS calculation. This shortens the convergence time and improves the accuracy and availability of PPS. In one embodiment, when the GNSS receiver can simultaneously decode precise data from B2b, E6, and L6 PPS services, four satellite navigation systems—GPS, BDS, Galileo, and QZSS—can participate in the subsequent PPS calculation. Since the accuracy, availability, and convergence time of PPS are all related to the number of satellites participating in the positioning, the method for achieving PPS provided in this application will allow more satellites to participate in the PPS calculation, thus significantly improving the performance of PPS.
[0047] Step 102: Perform precise point positioning calculation using receiver clock errors corrected by precise data from different precise point positioning services.
[0048] In one exemplary instance, the GNSS receiver is a receiver capable of simultaneously tracking satellites from four navigation systems: BDS, GPS, Galileo, and QZSS. When the GPS observations are corrected for satellite orbit and clock errors using precise data from the B2b Precise Point Positioning Service, the state vector estimated by the GNSS receiver is shown in equation (3):
[0049] [x,y,z,dT GPS,B2b ,dT BDS,B2b ,dT Galileo,E6 ,dT QZSS,L6 ,ztd,N](3)
[0050] In equation (3), x, y, and z represent the state components of the GNSS receiver's position in the X, Y, and Z directions, respectively. GPS,B2b ,dT BDS,B2b ,dT Galileo,E6 ,dT QZSS,L6 , respectively, represent the receiver clock bias of the GNSS receiver after precise data correction via B2b Precise Point Positioning (PPS) service for the GPS system, the BDS system observations after precise data correction via B2b PPS service, the Galileo system observations after precise data correction via E6 PPS service, and the QZSS system observations after precise data correction via L6 PPS service. Ztd represents the margin of tropospheric delay in the zenith direction of the GNSS receiver after model compensation, which can be estimated through parameters. N represents the ambiguity vector, containing the ambiguity parameters of all carrier observations participating in PPS.
[0051] In one exemplary instance, the GNSS receiver is a receiver capable of simultaneously tracking satellites from four navigation systems: BDS, GPS, Galileo, and QZSS. When the GPS observations are corrected for satellite orbit and clock errors using precise data from the E6 Precise Point Positioning Service, the state vector estimated by the GNSS receiver is shown in equation (4):
[0052] [x,y,z,dT GPS,E6 ,dT BDS,B2b ,dT Galileo,E6 ,dT QZSS,L6 ,ztd,N](4)
[0053] In equation (4), dT GPS,E6 This represents the receiver clock error after the GPS system observations of the GNSS receiver have been corrected for precision data from the E6 Precision Point Positioning service.
[0054] In one exemplary instance, the GNSS receiver is a receiver capable of simultaneously tracking satellites from four navigation systems: BDS, GPS, Galileo, and QZSS. When the GPS observations are corrected for satellite orbit and clock errors using precise data from the L6 Precise Point Positioning Service, the state vector estimated by the GNSS receiver is shown in equation (5):
[0055] [x,y,z,dT GPS,L6 ,dT BDS,B2b ,dT Galileo,E6 ,dT QZSS,L6 ,ztd,N](5)
[0056] In equation (5), dT GPS,L6 This represents the receiver clock error after the GPS system observations of the GNSS receiver have been corrected by the precise data from the L6 Precision Point Positioning service.
[0057] In one exemplary instance, if the GNSS receiver can only decode precision data from two of the three precision point positioning services (B2b, E6, and L6), then for satellite navigation systems that provide precision point data for each of the two services individually, the precision data provided by that service is directly used to correct their observations. For GPS systems that provide precision point services for both services, in one embodiment, the precision point positioning service that allows more GPS satellites to participate in the subsequent precision point positioning calculation can be selected. For example, when the GNSS receiver can only decode precision data from B2b and E6 precision point positioning services, the BDS observations are corrected using precision data from the B2b precision point positioning service; the Galileo observations are corrected using precision data from the E6 precision point positioning service; and the GPS observations are corrected using the precision point positioning service from both B2b and E6 that allows more GPS satellites to participate in the precision point positioning calculation. Thus, in this embodiment, three navigation systems—GPS, BDS, and Galileo—participate in the precision point positioning calculation.
[0058] In one exemplary instance, when the GNSS receiver can only decode precise data from one Precision Point Positioning (PPS) service, the precise data from that PPS service is directly used to correct the observations of all satellite navigation systems included in that PPS service. In one embodiment, if the GNSS receiver can only decode precise data from one of the three PPS services—B2b, E6, and L6—then the precise data provided by that service is directly used to correct the observations. For example, if only the precise data from the B2b PPS service can be decoded, then only the observations of the GPS and BDS navigation systems can be corrected. That is, in this embodiment, only the GPS and BDS navigation systems can participate in the precise point positioning calculation; other navigation systems cannot.
[0059] The method for achieving precise point positioning (PPS) provided in this application involves a GNSS receiver correcting observations from different satellite navigation systems using precise PPS data corresponding to the respective systems, based on the type of PPS service it can decode. This method integrates precise data from multiple PPS services, allowing more satellites to participate in the PPS calculation and significantly improving PPS performance. Because more satellite systems participate in PPS, the satellite distribution is better, the convergence time is faster, and the availability and accuracy of PPS are improved.
[0060] In one exemplary instance, when the number of multiple precise point positioning services simultaneously decoded by the GNSS receiver changes, but it is still able to decode the precise data of multiple precise point positioning services, the selection is made according to the situation described above where the GNSS receiver simultaneously decodes the precise data of multiple precise point positioning services.
[0061] This application also provides a computer-readable storage medium storing computer-executable instructions for performing the method for achieving precise single-point positioning as described in any of the preceding claims.
[0062] This application further provides an apparatus for implementing precise single-point positioning, including a memory and a processor, wherein the memory stores the following instructions executable by the processor: steps for performing the method for implementing precise single-point positioning as described in any of the preceding claims.
[0063] Figure 2 This is a schematic diagram of the structural composition of the device for achieving precise single-point positioning in the embodiments of this application, as shown below. Figure 2 As shown, it may include: a receiving module, a correction module, and a processing module; wherein,
[0064] The receiving module is used to receive observations from different satellite navigation systems, as well as precision data broadcast from one or more precision point positioning services;
[0065] The correction module is used to correct the observations from different satellite navigation systems by using the precise data of the corresponding precise point positioning service of the satellite navigation system, based on the precise point positioning service type that it can decode.
[0066] The processing module is used to perform precise point positioning calculations using receiver clock errors corrected by precise data from different precise point positioning services.
[0067] In one exemplary instance, the precise point positioning service corresponding to the satellite navigation system may include: the precise point positioning service corresponding to BDS may be a B2b precise point positioning service, the precise point positioning service corresponding to Galileo may be an E6 precise point positioning service, the precise point positioning service corresponding to QZSS may be an L6 precise point positioning service, and the precise point positioning service corresponding to GPS may be a B2b precise point positioning service, an E6 precise point positioning service, or an L6 precise point positioning service.
[0068] In one exemplary instance, the correction module can be used to:
[0069] Simultaneously, precise data from multiple precise point positioning services are decoded. For a satellite navigation system corresponding to the precise data of a certain precise point positioning service, the precise data from that precise point positioning service is used to correct the observation value of that satellite navigation system.
[0070] In one embodiment, the satellite navigation systems that can be tracked simultaneously may include four navigation system satellites: BDS, GPS, Galileo, and QZSS. Multiple precise point positioning services may include one or any combination of the following: B2b precise point positioning service, E6 precise point positioning service, and L6 precise point positioning service.
[0071] In one exemplary instance, the correction module can be used to:
[0072] Simultaneously decoding precise data from multiple precise point positioning services, for satellite navigation systems that provide precise data from multiple precise point positioning services, the precise point positioning service that allows more satellites of the satellite navigation system to participate in the precise point positioning calculation is selected to correct the satellite navigation observations. In one embodiment, the satellite navigation system that provides precise data from multiple precise point positioning services may include a GPS system. The multiple precise point positioning services may include one or any combination of the following: B2b precise point positioning service, E6 precise point positioning service, and L6 precise point positioning service.
[0073] In one exemplary instance, the correction module can be used to:
[0074] Simultaneously, precise data from multiple precise point positioning services are decoded. For a satellite navigation system corresponding to the precise data of a certain precise point positioning service, the precise data from that precise point positioning service is used to correct the observation value of that satellite navigation system. For a satellite navigation system that provides precise data from multiple precise point positioning services, the precise point positioning service that allows more satellites of that satellite navigation system to participate in the precise point positioning calculation is selected to correct the observation value of that satellite navigation system.
[0075] The apparatus for implementing precise point positioning (PPS) provided in this application corrects observations from different satellite navigation systems using precise PPS data corresponding to the respective satellite navigation systems, based on the type of PPS service it can decode. This integrates precise data from multiple PPS services as much as possible, allowing more satellites to participate in the PPS calculation and significantly improving PPS performance. Because the more satellite systems involved in PPS, the better the satellite distribution and the faster the convergence time, the availability and accuracy of PPS are also improved.
[0076] This application also provides a GNSS receiver, including the apparatus for achieving precise single-point positioning as described in any of the above embodiments.
[0077] Although the embodiments disclosed in this application are as described above, the content described is merely for the purpose of understanding this application and is not intended to limit this application. Any person skilled in the art to which this application pertains may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in this application; however, the scope of patent protection of this application shall still be determined by the scope defined in the appended claims.
Claims
1. A method for achieving precise single-point positioning, comprising: It receives observations from different satellite navigation systems, as well as precise data broadcast from multiple precise point positioning services. Based on the type of precise point positioning service that it can decode, the observations from different satellite navigation systems are corrected using the precise data broadcast by the corresponding precise point positioning service of the satellite navigation system. For each satellite navigation system, the receiver clock bias is estimated based on the observations corrected by the corresponding precise point positioning service, resulting in multiple receiver clock biases; State vectors are constructed based on the receiver clock bias of each satellite navigation system, and precise single-point positioning is calculated using these state vectors.
2. The method according to claim 1, wherein, The types of precise point positioning services that can be decoded include a variety of precise point positioning services; The correction of observations from different satellite navigation systems using precise data broadcast by the precise point positioning service corresponding to each satellite navigation system includes: For a satellite navigation system corresponding to the precise data of a certain precise point positioning service, the observations of the satellite navigation system are corrected using the precise data from that precise point positioning service.
3. The method according to claim 2, wherein, The different satellite navigation systems include one or any combination of the following: BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), Galileo Navigation Satellite System (Galileo), and Quasi-Zenith Satellite System (QZSS) navigation satellite systems. The various precise point positioning services include one or any combination of the following: B2b precise point positioning service, E6 precise point positioning service, and L6 precise point positioning service.
4. The method according to claim 1, wherein, The types of precise point positioning services that can be decoded include a variety of precise point positioning services; The step of correcting observations from different satellite navigation systems using precise data from the precise point positioning service corresponding to each satellite navigation system includes: For satellite navigation systems that provide precise data through multiple precise point positioning services, select the precise point positioning service that allows more satellites of the system to participate in the precise point positioning calculation to correct the observations of the satellite navigation system.
5. The method according to claim 4, wherein, The various precise point positioning services all provide satellite navigation systems, including GPS, with precise data. The various precise point positioning services include one or any combination of the following: B2b precise point positioning service, E6 precise point positioning service, and L6 precise point positioning service.
6. The method according to claim 1, wherein, The types of precise point positioning services that can be decoded include a variety of precise point positioning services; The correction of observations from different satellite navigation systems using precise data broadcast by the precise point positioning service corresponding to each satellite navigation system includes: For a satellite navigation system corresponding to the precise data of a certain precise point positioning service, the observations of the satellite navigation system are corrected using the precise data from that precise point positioning service. For satellite navigation systems that provide precise data through multiple precise point positioning services, select the precise point positioning service that allows more satellites of the system to participate in the precise point positioning calculation to correct the observations of the satellite navigation system.
7. The method according to claim 1, 2 or 6, wherein, The precise point positioning service corresponding to the satellite navigation system includes: The precise point positioning service corresponding to the BeiDou Navigation Satellite System (BDS) is the B2b precise point positioning service. The precise point positioning service corresponding to the Galileo satellite navigation system is the E6 precise point positioning service. The precise point positioning service corresponding to the Quasi-Zenith Satellite System (QZSS) is the L6 precise point positioning service. The precise point positioning services corresponding to the Global Positioning System (GPS) are B2b precise point positioning service, E6 precise point positioning service, or L6 precise point positioning service.
8. A computer-readable storage medium storing computer-executable instructions for performing the method for achieving precise single-point positioning as described in any one of claims 1 to 7.
9. A device for achieving precise single-point positioning, comprising a memory and a processor, wherein, The memory stores the following instructions that can be executed by a processor: steps for performing the method for achieving precise single-point positioning as described in any one of claims 1 to 7.
10. A device for achieving precise single-point positioning, comprising: The module consists of a receiving module, a correction module, and a processing module; among which, The receiving module is used to receive observations from different satellite navigation systems, as well as precise data broadcast from multiple precise point positioning services. The correction module is used to correct the observations from different satellite navigation systems by using the precise data broadcast by the corresponding precise point positioning service of the satellite navigation system, based on the precise point positioning service type that it can decode. The processing module is used to estimate the receiver clock bias for each satellite navigation system based on the observations corrected by the corresponding precise point positioning service, and obtain multiple receiver clock biases; it constructs a state vector based on the receiver clock bias of each satellite navigation system, and uses the state vector to perform precise point positioning calculation.
11. A GNSS receiver comprising the apparatus for achieving precise single-point positioning as described in claim 10.