A multi-gnss positioning method based on galileo carrier multipath effect

Abstract

The embodiment of the application discloses a kind of based on galileo carrier multipath effect Multi-GNSS positioning method, it is related to positioning measurement technical field, the method includes: obtaining GPS satellite observation value and galileo satellite observation value, estimating the carrier phase multipath error of GPS satellite, correcting GPS satellite observation value, respectively fixing the carrier phase ambiguity of galileo satellite and GPS satellite, based on random walk model State transition equation and variance equation of galileo satellite are constructed, the variance, covariance of carrier phase multipath error of galileo satellite is estimated based on two equations, and then the coordinate correction number of current epoch and galileo satellite carrier phase multipath error is estimated.The application estimates the carrier phase multipath error of galileo satellite based on GPS satellite by the characteristics that GPS repetition period is shorter, overcome the problem that the observation data cycle of galileo needed in the related art is too long, is favorable for improving the real-time positioning accuracy of GNSS.

Description

Technical Field

[0001] The present application relates to the field of global navigation systems and positioning measurement technology, and in particular to a multi-GNSS positioning method based on Galileo carrier multipath effect. Background Art

[0002] In recent years, Galileo, an emerging Global Navigation Satellite System (GNSS), has played a crucial role in various fields, particularly in real-time, high-precision positioning applications. By integrating Galileo satellites with GPS (Global Positioning System) signals, multi-GNSS positioning performance is significantly improved. However, for millimeter-level real-time positioning applications such as deformation monitoring, mitigating real-time Galileo phase multipath remains a challenge.

[0003] Currently, spatial and time domain methods are two widely used GPS multipath mitigation algorithms. However, the Galileo constellation has a repetition period of approximately ten days, much longer than GPS. When using the Modified Sidereal Filtering (MSF) or Multipath Hemispherical Map (MHM) model for Galileo multipath mitigation, GNSS equipment requires data exceeding approximately five to six Galileo satellite repetition periods to construct the model. Furthermore, during the modeling period for GNSS positioning applications, the environment, antenna, and GNSS receiver positions must remain unchanged.

[0004] Therefore, it is difficult for related technologies to add Galileo signals to GNSS positioning solutions, and it is difficult to correct the Galileo phase multipath effect. It is also impossible to effectively integrate Galileo signals and GPS signals, and it is impossible to improve multi-GNSS positioning performance. Summary of the Invention

[0005] The present application provides a multi-GNSS positioning method based on the Galileo carrier multipath effect to address the defects in the above-mentioned related technologies. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides a multi-GNSS positioning method based on the Galileo carrier multipath effect, comprising:

[0007] Get the GPS satellite carrier observation value, GPS satellite pseudorange observation value, Galileo satellite carrier observation value and Galileo satellite pseudorange observation value in the current epoch;

[0008] In combination with historical GPS observation data, the GPS satellite carrier phase multipath error at the current epoch is estimated based on a sidereal day filter model, and the GPS satellite carrier observation value is corrected based on the GPS satellite carrier phase multipath error;

[0009] Fixing the Galileo satellite carrier phase ambiguity corresponding to the Galileo satellite at the current epoch in combination with the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value, and fixing the GPS satellite carrier phase ambiguity corresponding to the GPS satellite at the current epoch in combination with the corrected GPS satellite carrier observation value;

[0010] Construct a state transfer equation and a variance equation for a Galileo satellite, take the corrected GPS satellite carrier observation value and the Galileo satellite carrier observation value, the Galileo satellite carrier phase ambiguity, and the GPS satellite carrier phase ambiguity as input, and estimate the coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch based on the state transfer equation and the variance equation.

[0011] In an optional solution of the first aspect, combining historical GPS observation data and determining the GPS satellite carrier phase multipath error at the current epoch based on a sidereal day filter model includes:

[0012] The GPS satellite carrier observation value residual error of multiple data periods before the current epoch is calculated based on the historical observation data, and the GPS satellite carrier observation value residual error includes GPS carrier multipath error and carrier observation value noise, and the application formula is:

[0013] ;

[0014] The residual errors of GPS satellite carrier observations of the multiple data periods are input into the sidereal day filter model, and the formula is applied:

[0015] ;

[0016] Calculate an average carrier phase multipath error of the GPS satellite over multiple data periods, and output the average carrier phase multipath error as the GPS satellite carrier phase multipath error at the current epoch;

[0017] Among them, i and j are satellite numbers, r and m are receiver numbers, and λ is the wavelength of satellite signal. is the GPS satellite carrier observation residual error, is the GPS double-difference carrier observation value between GPS satellite i and GPS satellite j and between receiver r and receiver m, is the precise geometric double-difference distance between satellites i and j and receivers r and m, is the GPS satellite carrier phase ambiguity, is the carrier phase multipath error between GPS satellite i and GPS satellite j and receiver r and receiver m, K is the total number of data cycles, is the residual error of the GPS satellite carrier observation value in the kth data period.

[0018] In another optional solution of the first aspect, obtaining the GPS satellite carrier observation value, the GPS satellite pseudorange observation value, the Galileo satellite carrier observation value, and the Galileo satellite pseudorange observation value at the current epoch, and establishing corresponding observation equations respectively, includes:

[0019] Establishing a pseudorange observation equation and a carrier observation equation of the GPS satellite in the current epoch based on the GPS satellite carrier observation value and the GPS satellite pseudorange observation value in the current epoch;

[0020] Based on the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value in the current epoch, a pseudorange observation equation and a carrier observation equation of the Galileo satellite in the current epoch are established.

[0021] In another optional solution of the first aspect, determining the GPS satellite carrier phase multipath error at the current epoch based on a sidereal day filter model, and correcting the GPS satellite carrier observation value and the GPS satellite pseudorange observation value based on the GPS satellite carrier phase multipath error, including:

[0022] Correcting the carrier observation equation of the GPS satellite at the current epoch based on the phase multipath error to obtain the carrier observation equation corrected by the sidereal day filter model at the current epoch;

[0023] Based on the carrier observation equation corrected by the sidereal day filter model at the current epoch, the corrected GPS satellite carrier observation value is output.

[0024] In another optional solution of the first aspect, constructing the state transition equation and variance equation of the Galileo satellite includes:

[0025] The state transfer equation is constructed:

[0026] ;

[0027] The variance equation is constructed as follows:

[0028] Based on historical data, the standard deviation of random noise of Galileo satellites at each preset altitude angle interval within the preset observation altitude range is obtained, and the formula is applied:

[0029] ;

[0030] The random walk model variance is obtained by fitting the height angle function based on the random noise standard deviation, and the random walk model variance is obtained:

[0031] ;

[0032] The variance of the process noise is obtained based on the variance of the random walk model, and the variance equation is obtained:

[0033] ;

[0034] Where t is the epoch, is the sampling interval, is the phase multipath error between Galileo satellite i and Galileo satellite j and receiver r and receiver m at epoch t, is the standard deviation of the random noise, is the random walk model variance, is the process noise at epoch t.

[0035] In yet another optional solution of the first aspect, taking the corrected GPS satellite carrier observation value and the Galileo satellite carrier observation value, the Galileo satellite carrier phase ambiguity, and the GPS satellite carrier phase ambiguity as input, and estimating the coordinate correction value and the Galileo satellite carrier phase multipath error at the current epoch based on the state transition equation and the variance equation, includes:

[0036] The coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch are estimated based on the state transfer equation and the variance equation using the Kalman filter method, using the formula:

[0037] Calculating the coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch;

[0038] in, is the Galileo double-difference carrier observation between Galileo satellite i and Galileo satellite j and between receiver r and receiver m, is the geometric double difference distance between satellites i and j and between receivers r and m in the previous epoch, is the geometric double difference distance between satellites i and j and between receivers r and m at the current epoch, is the Galileo satellite carrier phase ambiguity, is the GPS satellite carrier phase ambiguity, is the carrier phase multipath error between GPS satellites i and j and between receivers r and m, is the carrier phase multipath error between Galileo satellites i and j and between receivers r and m, is the sight vector of unit length, is the coordinate correction relative to the previous epoch.

[0039] In an optional solution of the first aspect, the method further includes:

[0040] In response to a positioning request of the target to be positioned, the position coordinates of the target to be positioned at the current epoch are determined based on the coordinate correction number at the current epoch and the Galileo satellite carrier phase multipath error, and the position coordinates are sent to the target to be positioned.

[0041] In a second aspect, an embodiment of the present application further provides a multi-GNSS positioning device based on the Galileo carrier multipath effect, comprising:

[0042] A data acquisition unit is used to obtain GPS satellite carrier observation values, GPS satellite pseudorange observation values, Galileo satellite carrier observation values ​​and Galileo satellite pseudorange observation values ​​in the current epoch;

[0043] a phase multipath effect correction unit, configured to determine the GPS satellite carrier phase multipath error at the current epoch based on the sidereal day filter model in combination with historical GPS observation data, and to correct the GPS satellite carrier observation value based on the GPS satellite carrier phase multipath error;

[0044] an ambiguity fixing unit, configured to fix the Galileo satellite carrier phase ambiguity corresponding to the Galileo satellite at the current epoch by combining the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value, and to fix the GPS satellite carrier phase ambiguity corresponding to the GPS satellite at the current epoch by combining the corrected GPS satellite carrier observation value and the corrected GPS satellite pseudorange observation value;

[0045] a computing unit configured to construct a state transfer equation and a variance equation for a Galileo satellite, taking the corrected GPS satellite carrier observation value and the Galileo satellite carrier observation value, the Galileo satellite carrier phase ambiguity, and the GPS satellite carrier phase ambiguity as input, and estimating the coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch based on the state transfer equation and the variance equation.

[0046] In a third aspect, an embodiment of the present application further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the embodiment of the present application or any one of the implementations of the first aspect is implemented.

[0047] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the method provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect.

[0048] The beneficial effects of the technical solutions provided by some embodiments of the present application include at least:

[0049] An embodiment of the present application provides a multi-GNSS positioning method based on the Galileo carrier multipath effect. The method calculates the carrier phase multipath error of the GPS satellite carrier observation equation by using a sidereal day filter model, and estimates the Galileo carrier phase multipath error based on the GPS carrier phase multipath error by taking advantage of the short GPS repetition period. This overcomes the problem of the long Galileo observation data period required in related technologies, thereby enabling the carrier phase multipath error of the Galileo observation equation to be estimated more efficiently and quickly based on the multipath-corrected GPS observation quantity, significantly reducing the impact of the Galileo satellite multipath effect on positioning accuracy, and facilitating improving the accuracy of GNSS real-time positioning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 This is a flowchart of a multi-GNSS positioning method based on Galileo carrier multipath effect according to an embodiment of the present application;

[0052] Figure 2 This is a structural diagram of a multi-GNSS positioning device based on Galileo carrier multipath effect provided by an embodiment of the present application;

[0053] Figure 3 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0055] The terms "including" and "having," and any variations thereof, in the specification and claims of this application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to the process, method, product, or apparatus.

[0056] It should be noted that the terms "first" and "second" used in this application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first" and "second" may interchangeably represent a specific order or precedence, where permitted. It should be understood that the objects distinguished by "first" and "second" may interchangeably represent a specific order or precedence, where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that described or illustrated herein.

[0057] The present application is described in detail below with reference to specific embodiments.

[0058] See Figure 1 , Figure 1 FIG2 shows a flow chart of a multi-GNSS positioning method based on Galileo carrier multipath effect provided by an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0059] S101, obtaining GPS satellite carrier observation values, GPS satellite pseudorange observation values, Galileo satellite carrier observation values, and Galileo satellite pseudorange observation values ​​in the current epoch.

[0060] Specifically, the pseudorange observation equation and carrier observation equation of the GPS satellite in the current epoch can be established based on the GPS satellite carrier observation value and the GPS satellite pseudorange observation value in the current epoch; the pseudorange observation equation and carrier observation equation of the Galileo satellite in the current epoch can be established based on the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value in the current epoch.

[0061] S102, combining historical GPS observation data, estimating the GPS satellite carrier phase multipath error at the current epoch based on the sidereal day filter model, and correcting the GPS satellite carrier observation value based on the GPS satellite carrier phase multipath error.

[0062] Specifically, the GPS satellite carrier observation value residual error of multiple data periods before the current epoch is calculated based on the historical observation data, and the GPS satellite carrier observation value residual error includes GPS carrier multipath error and carrier observation value noise, and the formula is applied:

[0063] ;

[0064] The residual errors of GPS satellite carrier observations of the multiple data periods are input into the sidereal day filter model, and the formula is applied:

[0065] ;

[0066] Calculate the average carrier phase multipath error of the GPS satellite over multiple data periods, and output the average phase multipath error as the GPS satellite carrier phase multipath error at the current epoch;

[0067] Among them, i and j are satellite numbers, r and m are receiver numbers, and λ is the wavelength of satellite signal. is the GPS satellite carrier observation residual error, is the GPS double-difference carrier observation value between GPS satellite i and GPS satellite j and between receiver r and receiver m, is the precise geometric double-difference distance between satellites i and j and receivers r and m, is the GPS satellite carrier phase ambiguity, is the phase multipath error between GPS satellite i and GPS satellite j and receiver r and receiver m, K is the total number of data cycles, is the residual error of the GPS satellite carrier observation value in the kth data period.

[0068] Specifically, the carrier observation equation of the GPS satellite at the current epoch can be corrected based on the phase multipath error to obtain the carrier observation equation at the current epoch corrected by the sidereal day filter model.

[0069] Specifically, the corrected GPS satellite carrier observation value may be output based on the carrier observation equation corrected by the sidereal day filter model at the current epoch.

[0070] Specifically, the carrier observation equation of the GPS satellite after phase multipath error correction, the pseudorange observation equation of the GPS satellite without correction, and the pseudorange observation equation and carrier observation equation of the Galileo satellite are as follows:

[0071] ;

[0072] ;

[0073] ;

[0074] ;

[0075] in, is the GPS double-difference pseudorange observation value between GPS satellite i and GPS satellite j and between receiver r and receiver m, is the Galileo double-difference pseudorange observation between Galileo satellites i and j and between receivers r and m, is the GPS double-difference carrier observation between GPS satellite i and GPS satellite j and between receiver r and receiver m, is the Galileo double-difference carrier observation between Galileo satellite i and Galileo satellite j and between receiver r and receiver m, is the geometric double difference distance between any type of satellite i and any type of satellite j and receivers r and m at the current epoch, is the Galileo satellite carrier phase ambiguity, is the GPS satellite carrier phase ambiguity, is the pseudorange multipath error between GPS satellites i and j and between receivers r and m, is the pseudorange multipath error between Galileo satellites i and j and between receivers r and m, is the carrier phase multipath error between Galileo satellites i and j and between receivers r and m, is the pseudorange observation noise between GPS satellites i and j and between receivers r and m, is the pseudorange observation noise between Galileo satellites i and j and between receivers r and m, is the carrier observation noise between GPS satellites i and j and between receivers r and m, is the carrier observation noise between Galileo satellites i and j and between receivers r and m.

[0076] It should be noted that the carrier observation noise of the GPS satellite in the above equation is and the carrier observation noise of the Galileo satellites The values ​​are all normally distributed and can be eliminated by averaging.

[0077] It can be understood that the carrier phase multipath error of the GPS satellite in the above equation can be calculated using historical observation data combined with the sidereal day filter model, while the carrier phase multipath error of the Galileo satellite is an unknown quantity and is solved in subsequent steps.

[0078] S103, combining the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value to fix the Galileo satellite carrier phase ambiguity corresponding to the Galileo satellite in the current epoch, and combining the corrected GPS satellite carrier observation value and the corrected GPS satellite pseudorange observation value to fix the GPS satellite carrier phase ambiguity corresponding to the GPS satellite in the current epoch.

[0079] S104: Construct the state transfer equation and variance equation of the Galileo satellite. Take the corrected GPS satellite carrier observation value and Galileo satellite carrier observation value, Galileo satellite carrier phase ambiguity, and GPS satellite carrier phase ambiguity as input, and estimate the coordinate correction number and Galileo satellite carrier phase multipath error at the current epoch based on the state transfer equation and variance equation.

[0080] Specifically, the state transfer equation is constructed as follows:

[0081] ;

[0082] The variance equation is constructed as follows:

[0083] Based on historical data, the standard deviation of random noise of Galileo satellites within the preset observation angle range without intervals of preset elevation angles is obtained, and the formula is applied:

[0084] ;

[0085] The random walk model variance is obtained by fitting the height angle function based on the random noise standard deviation, and the random walk model variance is obtained:

[0086] ;

[0087] The variance of the process noise is obtained based on the variance of the random walk model, and the variance equation is obtained:

[0088] ;

[0089] Where t is the epoch, is the sampling interval, a carrier phase multipath error between Galileo satellite i and Galileo satellite j and receiver r and receiver m at epoch t, a random noise standard deviation, a random walk model variance, a process noise at epoch t.

[0090] Further, the corrected GPS satellite carrier observation value and the Galileo satellite carrier observation value, Galileo satellite carrier phase ambiguity, GPS satellite carrier phase ambiguity are known quantities, and these known quantities can be taken as inputs to estimate the coordinate correction and the Galileo satellite carrier phase multipath error.

[0091] Understandably, the variance and covariance of the Galileo satellite carrier phase multipath error can be estimated based on the random walk model, and the Galileo satellite carrier phase multipath error can be estimated.

[0092] Specifically, the coordinate correction and the Galileo satellite carrier phase multipath error at the current epoch are estimated based on the state transition equation and the variance equation, including:

[0093] The coordinate correction and the Galileo satellite carrier phase multipath error at the current epoch are estimated based on the state transition equation and the variance equation by Kalman filtering method, and the formula is applied:

[0094]

[0095] Based on the above equation, the coordinate correction and the Galileo satellite carrier phase multipath error at the current epoch are calculated.

[0096] wherein, a geometric double difference distance between satellite i and satellite j and between receiver r and receiver m at the previous epoch, a unit length line of sight vector, a coordinate correction relative to the previous epoch.

[0097] Understandably, the real-time position of the target to be positioned at the current epoch can be calculated based on the coordinate correction and the Galileo satellite carrier phase multipath error at the current epoch.

[0098] In some embodiments, a user can initiate a positioning request at the user end, and the GNSS system can determine the position coordinates of the user end based on the coordinate correction and the Galileo satellite carrier phase multipath error at the current epoch in response to the positioning request initiated by the user end, and the position coordinates can be sent to the user end held by the user.

[0099] It can be understood that during the period when the user initiates the positioning request, the positioning service is continuously provided to the user, and the positioning data of each epoch is calculated until the user stops the positioning request.

[0100] Among them, the user end can be a personal computer, a mobile terminal, a navigation device, a vehicle positioning system, etc., which is not limited in the embodiments of the present application.

[0101] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0102] See next Figure 2 , is a structural diagram of a multi-GNSS positioning device based on the Galileo carrier multipath effect provided by an exemplary embodiment of the present application. The device can be implemented as all or part of a terminal through software, hardware, or a combination of both, and can also be integrated into a server as an independent module. The multi-GNSS positioning device based on the Galileo carrier multipath effect in the embodiment of the present application can be applied to a terminal or the cloud. The device 20 includes a data acquisition unit 210, a phase multipath effect correction unit 220, an ambiguity fixing unit 230, and a calculation unit 240, wherein:

[0103] The data acquisition unit 210 is used to obtain GPS satellite carrier observation values, GPS satellite pseudorange observation values, Galileo satellite carrier observation values ​​and Galileo satellite pseudorange observation values ​​in the current epoch;

[0104] The phase multipath effect correction unit 220 is used to determine the GPS satellite carrier phase multipath error at the current epoch based on the sidereal day filter model in combination with historical GPS observation data, and correct the GPS satellite carrier observation value based on the GPS satellite carrier phase multipath error;

[0105] The ambiguity fixing unit 230 is configured to fix the Galileo satellite carrier phase ambiguity corresponding to the Galileo satellite at the current epoch by combining the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value, and to fix the GPS satellite carrier phase ambiguity corresponding to the GPS satellite at the current epoch by combining the corrected GPS satellite carrier observation value and the corrected GPS satellite pseudorange observation value;

[0106] The calculation unit 240 is configured to construct a state transfer equation and a variance equation for the Galileo satellite, taking the corrected GPS satellite carrier observation value and the Galileo satellite carrier observation value, the Galileo satellite carrier phase ambiguity, and the GPS satellite carrier phase ambiguity as inputs, and estimating the coordinate correction value and the Galileo satellite carrier phase multipath error at the current epoch based on the state transfer equation and the variance equation.

[0107] It should be noted that the apparatus 20 provided by the above embodiment is only used as an example to illustrate the division of the above functional modules when the multi-GNSS positioning method based on the Galileo carrier multipath effect is performed, and in actual application, the above functions can be completed by different functional modules according to the needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus provided by the above embodiment and the multi-GNSS positioning method based on the Galileo carrier multipath effect belong to the same concept, and the implementation process is embodied in the method embodiment, which will not be repeated here.

[0108] The embodiment of the present application further provides an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the steps of the method of any one of the above embodiments.

[0109] Please refer to Figure 3 The structural block diagram of an electronic device provided by the embodiment of the present application is shown in the figure.

[0110] As Figure 3 shown, the electronic device 300 includes a processor 301 and a memory 302.

[0111] In the embodiment of the present application, the processor 301 is the control center of the computer system, which can be the processor of a physical machine or the processor of a virtual machine. The processor 301 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 can be implemented in at least one of the hardware forms of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array) and PLA (Programmable Logic Array).

[0112] The processor 301 can also include a main processor and a coprocessor. The main processor is a processor for processing data in the wake-up state, also known as CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0113] The memory 302 may include one or more computer-readable storage media, which may be non-transitory. The memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 302 is used to store at least one instruction, which is used to be executed by the processor 301 to implement the method in the embodiment of the present application.

[0114] In some embodiments, the electronic device 300 further includes a peripheral device interface 303 and at least one peripheral device 304. The processor 301, memory 302, and peripheral device interface 303 may be connected via a bus or signal lines. Each peripheral device 304 may be connected to the peripheral device interface 303 via a bus, signal lines, or circuit boards. Specifically, the peripheral devices 304 include a display screen, a camera, and an audio circuit. The peripheral device interface 303 may be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 301 and memory 302.

[0115] In some embodiments of the present application, the processor 301, the memory 302, and the peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 301, the memory 302, and the peripheral device interface 303 may be implemented on separate chips or circuit boards. This embodiment of the present application is not specifically limited to this.

[0116] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 300. The electronic device 300 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0117] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method of any of the aforementioned embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a microdrive, a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0118] Through the description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the relevant technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-GNSS positioning method based on Galileo carrier multipath effect, characterized in that: include: Get the GPS satellite carrier observation value, GPS satellite pseudorange observation value, Galileo satellite carrier observation value and Galileo satellite pseudorange observation value in the current epoch; In combination with historical GPS observation data, the GPS satellite carrier phase multipath error at the current epoch is estimated based on a sidereal day filter model, and the GPS satellite carrier observation value is corrected based on the GPS satellite carrier phase multipath error; Fixing the Galileo satellite carrier phase ambiguity at the current epoch in combination with the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value, and fixing the GPS satellite carrier phase ambiguity at the current epoch in combination with the corrected GPS satellite carrier observation value; Constructing a state transfer equation and a variance equation for a Galileo satellite, taking the corrected GPS satellite carrier observation value and the Galileo satellite carrier observation value, the Galileo satellite carrier phase ambiguity, and the GPS satellite carrier phase ambiguity as input, and estimating the coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch based on the state transfer equation and the variance equation.

2. The multi-GNSS positioning method based on Galileo carrier multipath effect according to claim 1, characterized in that: The determining of the GPS satellite carrier phase multipath error at the current epoch based on the sidereal day filter model in combination with historical GPS observation data includes: The GPS satellite carrier observation value residual error of multiple data periods before the current epoch is calculated based on the historical GPS observation data, and the GPS satellite carrier observation value residual error includes GPS carrier multipath error and carrier observation value noise, and the application formula is: The residual errors of GPS satellite carrier observations of the multiple data periods are input into the sidereal day filter model, and the formula is applied: Calculate an average carrier phase multipath error of the GPS satellite over multiple data periods, and output the average carrier phase multipath error as the GPS satellite carrier phase multipath error at the current epoch; Among them, i and j are satellite numbers, r and m are receiver numbers, and λ is the wavelength of satellite signal. is the GPS satellite carrier observation residual error, is the GPS double-difference carrier observation value between GPS satellite i and GPS satellite j and between receiver r and receiver m, is the precise geometric double-difference distance between satellites i and j and receivers r and m, is the GPS satellite carrier phase ambiguity, is the carrier phase multipath error between GPS satellite i and GPS satellite j and receiver r and receiver m, K is the total number of data cycles, is the residual error of the GPS satellite carrier observation value in the kth data period.

3. The multi-GNSS positioning method based on Galileo carrier multipath effect according to claim 2, characterized in that: The obtaining of GPS satellite carrier observation values, GPS satellite pseudorange observation values, Galileo satellite carrier observation values, and Galileo satellite pseudorange observation values ​​at the current epoch, and establishing corresponding observation equations respectively, include: Establishing a pseudorange observation equation and a carrier observation equation of the GPS satellite in the current epoch based on the GPS satellite carrier observation value and the GPS satellite pseudorange observation value in the current epoch; Based on the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value in the current epoch, a pseudorange observation equation and a carrier observation equation of the Galileo satellite in the current epoch are established.

4. The multi-GNSS positioning method based on Galileo carrier multipath effect according to claim 3, characterized in that: Determining the GPS satellite carrier phase multipath error at the current epoch based on the sidereal day filter model, and correcting the GPS satellite carrier observation value and the GPS satellite pseudorange observation value based on the GPS satellite carrier phase multipath error, including: Correcting the carrier observation equation of the GPS satellite at the current epoch based on the phase multipath error to obtain the carrier observation equation corrected by the sidereal day filter model at the current epoch; Based on the carrier observation equation corrected by the sidereal day filter model at the current epoch, the corrected GPS satellite carrier observation value is output.

5. The multi-GNSS positioning method based on Galileo carrier multipath effect according to claim 4, characterized in that: The constructing of the state transfer equation and variance equation of the Galileo satellite includes: The state transfer equation is constructed: The variance equation is constructed as follows: Based on historical data, the standard deviation of random noise of Galileo satellites at each preset altitude angle interval within the preset observation altitude range is obtained, and the formula is applied: The random walk model variance is obtained by fitting the height angle function based on the random noise standard deviation, and the random walk model variance is obtained: s rw =a*θ b ; The variance of the process noise is obtained based on the variance of the random walk model, and the variance equation is obtained: Where t is the epoch, Δt is the sampling interval, is the phase multipath error between Galileo satellite i and Galileo satellite j and receiver r and receiver m at epoch t, ​​σ rw(θ) is the standard deviation of the random noise, σ rw is the random walk model variance, is the process noise at epoch t.

6. The multi-GNSS positioning method based on Galileo carrier multipath effect according to claim 5, characterized in that: The method includes taking the corrected GPS satellite carrier observation value and the Galileo satellite carrier observation value, the Galileo satellite carrier phase ambiguity, and the GPS satellite carrier phase ambiguity as input, and estimating the coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch based on the state transfer equation and the variance equation, including: The coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch are estimated based on the state transfer equation and the variance equation using the Kalman filter method, using the formula: Calculating the coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch; in, is the Galileo double-difference carrier observation between Galileo satellite i and Galileo satellite j and between receiver r and receiver m, is the geometric double difference distance between satellites i and j and between receivers r and m in the previous epoch, is the Galileo satellite carrier phase ambiguity, is the GPS satellite carrier phase ambiguity, is the carrier phase multipath error between GPS satellites i and j and between receivers r and m, is the carrier phase multipath error between Galileo satellites i and j and between receivers r and m, is the sight vector of unit length, Δx rm is the coordinate correction relative to the previous epoch.

7. A multi-GNSS positioning method based on Galileo carrier multipath effect according to any one of claims 1 to 6, characterized in that: The method further comprises: In response to a positioning request of the target to be positioned, the position coordinates of the target to be positioned at the current epoch are determined based on the coordinate correction number at the current epoch and the Galileo satellite carrier phase multipath error, and the position coordinates are sent to the target to be positioned.

8. A multi-GNSS positioning device based on Galileo carrier multipath effect, characterized in that: include: A data acquisition unit is used to obtain GPS satellite carrier observation values, GPS satellite pseudorange observation values, Galileo satellite carrier observation values ​​and Galileo satellite pseudorange observation values ​​in the current epoch; a phase multipath effect correction unit, configured to determine the GPS satellite carrier phase multipath error at the current epoch based on the sidereal day filter model in combination with historical GPS observation data, and to correct the GPS satellite carrier observation value based on the GPS satellite carrier phase multipath error; an ambiguity fixing unit, configured to fix the Galileo satellite carrier phase ambiguity corresponding to the Galileo satellite at the current epoch by combining the Galileo satellite carrier observation value and the Galileo satellite pseudorange observation value, and to fix the GPS satellite carrier phase ambiguity corresponding to the GPS satellite at the current epoch by combining the corrected GPS satellite carrier observation value and the corrected GPS satellite pseudorange observation value; a computing unit configured to construct a state transfer equation and a variance equation for a Galileo satellite, taking the corrected GPS satellite carrier observation value and the Galileo satellite carrier observation value, the Galileo satellite carrier phase ambiguity, and the GPS satellite carrier phase ambiguity as input, and estimating the coordinate correction number and the Galileo satellite carrier phase multipath error at the current epoch based on the state transfer equation and the variance equation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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