Precise single-point positioning signal abnormity repairing method, control device and storage medium

Abstract

The embodiment of the invention provides a signal abnormity repairing and controlling device for precise single-point positioning and a storage medium, and belongs to the technical field of precise single-point positioning. The signal abnormity repairing method for precise single-point positioning comprises the following steps: when detecting that a satellite signal for precise single-point positioning is abnormal, repairing a state quantity for precise single-point positioning in a first preset state quantity recovery mode; and when it is detected that the satellite signal for precise single-point positioning returns to normal, repairing the state quantity for precise single-point positioning through a second preset state quantity recovery mode. According to the embodiment of the invention, by detecting the abnormal state of the satellite signal used for precise single-point positioning, when the satellite signal is abnormal and returns to normal, the state quantity used for precise single-point positioning is repaired by correspondingly adopting different recovery modes, so that the application of precise single-point positioning in practical engineering is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of precise single-point positioning, and in particular to a signal anomaly repair and control device and a storage medium for precise single-point positioning. Background Art

[0002] GNSS precise point positioning (PPP) refers to a positioning technology that uses precise satellite orbits and satellite clock errors calculated using GNSS observation data from several ground tracking stations around the world to solve carrier phase observations and pseudorange observations collected by a single GNSS receiver.

[0003] As we all know, GNSS PPP single-point positioning requires a long initialization convergence time to achieve high positioning accuracy. However, in actual motion, GNSS receivers are susceptible to carrier maneuvers and object occlusion, and observation data will inevitably be interrupted. After the interruption, in order to obtain the correct precise single-point positioning results, the parameters of the post-interruption filter need to be reinitialized. Reinitialization takes the same amount of time as the first initialization, and even due to abnormal conditions, the precise single-point positioning cannot converge normally, which seriously affects the application of precise single-point positioning in actual engineering. Summary of the invention

[0004] The purpose of an embodiment of the present invention is to provide a signal anomaly repair method for precise single-point positioning. When the satellite signal is abnormal and returns to normal, the signal anomaly repair method for precise single-point positioning adopts different recovery methods to repair the state quantity used for precise single-point positioning, so as to improve the application of precise single-point positioning in actual engineering.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a signal anomaly repair method for precise single-point positioning, and the signal anomaly repair method for precise single-point positioning comprises: when a satellite signal anomaly is detected for precise single-point positioning, repairing the state quantity used for precise single-point positioning by a first preset state quantity recovery method; and when it is detected that the satellite signal used for precise single-point positioning has returned to normal, repairing the state quantity used for precise single-point positioning by a second preset state quantity recovery method.

[0006] Optionally, the satellite signal is detected to be abnormal or has returned to normal through the number of satellites used for precise single-point positioning and a preset threshold, including: when the number of satellites used for precise single-point positioning is less than the preset threshold, the satellite signal is abnormal; when the number of satellites used for precise single-point positioning exceeds the preset threshold, the satellite signal returns to normal, and the preset threshold is 5.

[0007] Optionally, repairing the state quantity used for precise point positioning by using the first preset state quantity recovery method includes: the state quantity related to the position information of the receiver is provided by the inertial device, and the remaining state quantities are repaired by using the preset recovery method.

[0008] Optionally, the remaining state quantities are repaired using a preset recovery method, including: repairing the corresponding state quantities through the saved tropospheric state parameters and the covariance corresponding to the state parameters, wherein when the satellite signal is normal, the tropospheric state parameters and the covariance corresponding to the state parameters are saved in real time, and when the satellite signal is detected to be abnormal, the tropospheric state parameters and the covariance corresponding to the state parameters are stopped from being saved, and the tropospheric state parameters include the north component of the tropospheric gradient and the east component of the tropospheric gradient.

[0009] Optionally, repairing the state quantity used for precise point positioning by using a second preset state quantity recovery method includes: repairing the corresponding state quantity used for precise point positioning by reinitialization or according to a preset order.

[0010] Optionally, repairing the corresponding state quantity for precise point positioning according to a preset order includes: according to different recovery times required for the state quantity for precise point positioning, partially recovered state quantities sequentially replace estimated values ​​of each state quantity when the satellite signal is abnormal.

[0011] Optionally, repairing the corresponding state quantity for precise single-point positioning according to a preset order includes: simultaneously repairing the receiver clock error, tropospheric state parameters and the covariance corresponding to the state parameters to maintain consistency between states, the tropospheric state parameters including the north component of the tropospheric gradient and the east component of the tropospheric gradient.

[0012] Optionally, the machine clock error is repaired by using a preset clock model prediction and a single point positioning clock error weighting mode, wherein the preset clock model prediction is expressed by the following formula:

[0013]

[0014] Among them, dt r ,df r are the receiver clock error and frequency error, c is the speed of light, β and w are the correlation coefficient of the receiver frequency drift and the driving noise, respectively.

[0015] The clock error is corrected by the following formula:

[0016] dt r_recover =(1-α)dt r_model +αdt r_single

[0017] Among them, dtr_model is the clock error predicted by the Kalman filter using the above preset clock model during the satellite signal anomaly period, dt r_single The machine clock difference is calculated using the least squares algorithm, and α is the weighted proportional coefficient.

[0018] Optionally, the signal anomaly repair method for precise point positioning also includes performing precise point positioning calculations using the repaired state quantities, including: calculating and correcting the impact of tropospheric delay based on the repaired tropospheric state parameters; calculating and correcting the impact of the receiver clock error based on the repaired receiver clock error; optimizing the accuracy of the positioning result based on the covariance corresponding to the repaired state parameters; and calculating the precise positioning result of the receiver through a precise point positioning algorithm based on the corrected satellite observation values ​​and the receiver's position information.

[0019] An embodiment of the present invention also provides a control device for repairing signal anomalies in precise single-point positioning, the control device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the above-mentioned signal anomaly repair method for precise single-point positioning.

[0020] An embodiment of the present invention further provides a machine-readable storage medium, on which instructions are stored, and the instructions enable a machine to execute the above-mentioned signal anomaly repair method for precise single-point positioning.

[0021] Through the above technical solution, when an abnormality of a satellite signal used for precise point positioning is detected in the embodiment of the present invention, the state quantity used for precise point positioning is repaired by a first preset state quantity recovery method; and when the satellite signal used for precise point positioning is detected to be restored to normal, the state quantity used for precise point positioning is repaired by a second preset state quantity recovery method. By detecting the abnormal state of the satellite signal used for precise point positioning, different recovery methods are correspondingly adopted to repair the state quantity used for precise point positioning when the satellite signal is abnormal and when it is restored to normal, so as to improve the application of precise point positioning in actual engineering, and also realize the function of high-precision point positioning based on the repaired state quantity, thereby improving the accuracy and reliability of positioning.

[0022] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0024] Figure 1 It is a schematic diagram of Kalman filtering;

[0025] Figure 2 It is a flow chart of a signal anomaly repair method for precise point positioning provided by an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of an example process of detecting abnormal conditions of satellite signals; and

[0027] Figure 4A and Figure 4B is a schematic diagram of an example static precise point positioning result. DETAILED DESCRIPTION

[0028] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0029] Before explaining the embodiments of the present invention in detail, the related technologies involved in the embodiments of the present application are first introduced and supplemented.

[0030] The observation equations of carrier phase and code pseudorange can be expressed as follows:

[0031]

[0032] in, are code pseudorange and carrier phase pseudorange respectively, s represents satellite, r represents receiver, i represents signal frequency, represents the geometric distance between the satellite and the receiver, dt r (t r ) represents the receiver clock error, dT s (t s ) represents the satellite clock error, represents the ionospheric delay, represents the tropospheric delay, represents the integer ambiguity, represents the carrier phase correction term, c represents the speed of light, λ i represents the signal wavelength, ε P and ε Φ represents code pseudorange noise and carrier phase pseudorange noise.

[0033] The relationship between the dual-frequency pseudorange and carrier phase observations is used to perform a linear combination to eliminate the ionospheric error. The first-order ionospheric delay of the GNSS code pseudorange observations and the carrier phase observations can be expressed as follows:

[0034]

[0035] Here, TEC is the electron concentration along the propagation path.

[0036] Therefore, the ionospheric delay between different signal frequencies has the following relationship:

[0037]

[0038] The ionosphere-free combined model can be obtained, which can be expressed as follows:

[0039]

[0040] Among them, C i The calculation method can be expressed as: C j The calculation method can be expressed as The combined ambiguity obtained by combining different frequency ambiguities can be expressed as follows:

[0041]

[0042] The ionosphere-free combination model of precise point positioning includes the following unknown parameters: (1) the position parameters of the satellite receiver, which include the receiver position in the Earth-centered Earth-fixed coordinate system (ECEF) in the static case and the receiver position, receiver velocity and acceleration in the Earth-centered Earth-fixed coordinate system (ECEF) in the dynamic case; (2) the clock error parameters of the satellite receiver, including the receiver clock error and frequency error parameters; (3) the model parameters of the receiver's tropospheric delay, which can be 1 or 3 depending on the model; (4) the ionosphere-free ambiguity parameters formed by linear combination.

[0043] The above unknown parameters can be expressed as follows:

[0044]

[0045] Among them, r in the state vector x r represents the coordinates of the receiver's ECEF coordinate system, v r represents the speed of the receiver, a r represents the acceleration of the receiver, dt r represents the receiver clock error, df r Represents the receiver frequency difference, Z r Indicates the total zenith delay, G N,r represents the northward component of the tropospheric gradient, G E,r represents the eastward component of the tropospheric gradient, represents the ionospheric-free integer ambiguity of the m-th satellite.

[0046] Kalman filtering is based on the recursive least squares estimation method, and estimates parameters through the estimated values ​​of the state parameters at the previous moment and the observed values ​​at the current moment. Kalman filtering requires the establishment of a linear kinematic model and an observation model. The constructed state transfer equation and observation equation can be expressed as follows:

[0047] X k =Φ k,k-1 X k-1 +W k (10)

[0048] L k =H k X k +V k (11)

[0049] Among them, X k is the state vector at time k, Φ k,k-1 is the system state transfer matrix from time k-1 to time k, W k is the process noise vector, L k is the observation vector at time k, H k is the observation matrix, V k is the observation noise.

[0050] Among them, the observation noise and system noise can be zero-mean white noise that obeys Gaussian distribution, and the observations are independent of each other. The noise random model can be expressed as follows:

[0051]

[0052] Among them, Q k is the variance matrix of the system noise, R k is the variance matrix of the measurement noise, δ kj is the Kronecker function, δ kj It can be expressed as follows:

[0053]

[0054] Figure 4 shows the Kalman filter. Assuming that the initial value of the system state quantity as shown in equation (8) is X0, the initial variance is P0, and the state estimate at time k obtained by recursive Kalman filtering method is X k (k=1,2,…), the Kalman filter recursive equation can be expressed as:

[0055] X k,k-1 =Φ k,k-1 X k-1 (15)

[0056]

[0057] X k=X k,k-1 +K k (L k -H k X k,k-1 ) (18)

[0058] P k =(IK k H k ) k,k-1 (19)

[0059] Among them, I is the unit matrix, X k,k-1 is the predicted state value, P k,k-1 The variance or covariance of the predicted state values, K k is the Kalman gain matrix.

[0060] In order to weaken the algorithm's perception of the residual error and enhance the filtering stability, the covariance matrix P k is a symmetric positive definite matrix, so when solving the Kalman filter, the above expression (19) can be expressed as follows:

[0061]

[0062] According to the principle of Kalman filtering, the calculation of precise point positioning is related to the observation equation, state equation and initial value. For the initial value, the accuracy will affect the convergence speed and accuracy of precise point positioning. The least squares method can be used to set the initial value and initial covariance matrix.

[0063] By linearizing the ionosphere-free model, we can obtain the following observation matrix:

[0064]

[0065] Where E represents the sight vector matrix, which can be expressed as follows:

[0066]

[0067] Where l is a unit vector and can be expressed as follows:

[0068]

[0069] Among them, R is the fuzzy coefficient matrix, which can be expressed as follows:

[0070]

[0071] The tropospheric delay is calculated according to the tropospheric model as shown below:

[0072]

[0073] Among them, ZT,r is the total tropospheric zenith delay, Z H,r represents the tropospheric zenith hydrostatic delay (which can be calculated based on the tropospheric model), m H (El) represents the hydrostatic mapping function, m W (E1) represents the wet delay mapping function, represents the receiver elevation angle, represents the receiver azimuth, G N,r represents the northward component of the tropospheric gradient, G E,r represents the eastward component of the tropospheric gradient.

[0074] According to equations (25) and (26), the Kalman filter observation matrix M in equation (21) is T It can be expressed as follows:

[0075]

[0076] Figure 2 This is a flow chart of a signal anomaly repair method for precise point positioning provided by an embodiment of the present invention. Please refer to Figure 2 The signal anomaly repair method for precise point positioning may include the following steps:

[0077] Step S110: When an abnormality in a satellite signal used for precise point positioning is detected, the state quantity used for precise point positioning is repaired by a first preset state quantity recovery method.

[0078] Preferably, the satellite signal is detected to be abnormal or has returned to normal through the number of satellites used for precise single-point positioning and a preset threshold, including: when the number of satellites used for precise single-point positioning is less than the preset threshold, the satellite signal is abnormal; when the number of satellites used for precise single-point positioning exceeds the preset threshold, the satellite signal returns to normal, and the preset threshold is 5.

[0079] Please refer to Figure 3 , by way of example, detecting the abnormal state of a satellite signal used for precise point positioning includes, for example: taking 5 satellites as a preset threshold, when the number of satellites after the precise point positioning is operating normally drops below 5, determining that the satellite signal is abnormal, and marking the state of the precise point positioning result at this time as an abnormal state; after the satellite is recaptured, that is, when the number of satellites is greater than 5, determining that the satellite signal has returned to normal, marking the state of the precise point positioning result at this time as a normal state, and when the satellite signal is abnormal or returns to normal, correspondingly adopting different recovery methods to repair the state quantity used for precise point positioning.

[0080] Preferably, step S110 may include: the state quantity related to the position information of the receiver is provided by the inertial device, and the remaining state quantities are repaired by using a preset recovery method.

[0081] Further preferably, the remaining state quantities are repaired using a preset recovery method, including: repairing the corresponding state quantities through the saved tropospheric state parameters and the covariance corresponding to the state parameters, wherein when the satellite signal is normal, the tropospheric state parameters and the covariance corresponding to the state parameters are saved in real time, and when the satellite signal is detected to be abnormal, the tropospheric state parameters and the covariance corresponding to the state parameters are stopped from being saved, and the tropospheric state parameters include the north component of the tropospheric gradient and the east component of the tropospheric gradient.

[0082] The abnormal state of satellite signals has different effects on various state quantities used for precise single-point positioning. For example, the ambiguity state requires higher accuracy and can be reinitialized in a shorter time; while the position information, tropospheric state parameters and the covariance corresponding to all state parameters require a much longer initialization time or cannot be achieved under signal interruption conditions. Therefore, considering the different recovery times and recovery conditions required for different state quantities, in an embodiment of the present invention, the state quantities related to the position information of the receiver are preferably provided by inertial devices, and the remaining state quantities are repaired using a preset recovery method. Among them, the three-dimensional position accuracy requirement within the propulsion time period is required to meet the preset requirements, for example, within 0.5m.

[0083] Please refer to Figure 3 , following the above example, when the number of satellites used for precise point positioning is greater than a preset threshold (e.g., 5), the tropospheric state parameters (which may include the north component of the tropospheric gradient and the east component of the tropospheric gradient) and the covariance corresponding to the state parameters are always saved; when the number of satellites after the precise point positioning is normally operated drops below 5, the state identifier of the precise point positioning result at this time is marked as an abnormal state, and the tropospheric state parameters and the covariance corresponding to the state parameters are stopped from being saved; the corresponding state quantities are repaired by the saved tropospheric state parameters and the covariance corresponding to the state parameters. Furthermore, other state quantities used for precise point positioning are repaired by reinitialization or gradual recovery, for example, including: the position parameters such as the receiver position, velocity, acceleration, etc. can use the accurate position provided by the inertial device, etc. Accordingly, when the satellite signal is abnormal, the state quantity (or parameter) shown in the above formula (8) can be restored.

[0084] Step S120: When it is detected that the satellite signal used for precise point positioning returns to normal, the state quantity used for precise point positioning is restored by a second preset state quantity recovery method.

[0085] Preferably, step S120 may include: repairing the corresponding state quantity for precise point positioning by reinitialization or according to a preset order.

[0086] Please refer to Figure 3 , following the above example, when the number of satellites returns to normal after satellite recapture, that is, when the number of satellites is greater than 5, the state quantity for precise point positioning can be repaired by reinitialization or according to a preset order. For example, the ambiguity parameter (state quantity) can be repaired by reinitialization, and other state quantities can be repaired according to a preset order. Accordingly, when the satellite signal returns to normal, the state quantity (or parameter) shown in the above formula (8) can be restored.

[0087] Preferably, repairing the state quantities used for precise single-point positioning according to a preset order includes: repairing the corresponding state quantities used for precise single-point positioning according to a preset order includes: according to different recovery times required for the state quantities used for precise single-point positioning, partially recovered state quantities sequentially replace the estimated values ​​of each state quantity when the satellite signal is abnormal.

[0088] By way of example, when the satellite signal returns to normal, the state quantity is restored, and at least part of the restored state quantity sequentially replaces the estimated value of each state quantity during the interruption time.

[0089] Further preferably, the repairing of the corresponding state quantities for precise single-point positioning according to a preset order includes: simultaneously restoring the receiver clock error, tropospheric state parameters and the covariance corresponding to the state parameters to maintain consistency between the states, and the tropospheric state parameters include the north component of the tropospheric gradient and the east component of the tropospheric gradient.

[0090] By way of example, the tropospheric state parameter and the covariance corresponding to the state parameter can be restored simultaneously to maintain consistency between states. Furthermore, the receiver clock error, the tropospheric state parameter and the covariance corresponding to the state parameter can also be restored simultaneously to maintain consistency between states, which is better than restoring them sequentially.

[0091] Preferably, the machine clock error is repaired by using a preset clock model prediction and a single point positioning clock error weighting mode, wherein the preset clock model prediction is expressed by the following formula:

[0092]

[0093] Among them, dt r ,df r are the receiver clock error and frequency error respectively, c is the speed of light, β and w are the correlation coefficient of the receiver frequency drift and the driving noise respectively, which can be calibrated by measurement before use.

[0094] The clock error is corrected by the following formula:

[0095] dt r_recover =(1-α)dt r_model +αdt r_single (29)

[0096] Among them, dt r_model is the clock error predicted by the Kalman filter using the above preset clock model during the satellite signal anomaly period, dt r_single The clock error is calculated by using the least squares algorithm (when the number of satellite signals is restored to more than 5), and α is a weighted proportional coefficient. α is, for example, a weighted proportional coefficient of 0-1, which is determined according to different receiver performances and is set to 0.1 in the example.

[0097] Preferably, the signal anomaly repair method for precise point positioning also includes performing precise point positioning calculations using the repaired state quantities, including: calculating and correcting the influence of tropospheric delay based on the repaired tropospheric state parameters; calculating and correcting the influence of the receiver clock error based on the repaired receiver clock error; optimizing the accuracy of the positioning result based on the covariance corresponding to the repaired state parameters; and calculating the precise positioning result of the receiver through a precise point positioning algorithm based on the corrected satellite observation values ​​and the receiver's position information.

[0098] By way of example, as described above, the influence of tropospheric delay can be calculated and corrected based on the repaired tropospheric state parameters. For example, the restoration of tropospheric state parameters can include: 1) estimating a priori values ​​of state quantities; 2) calculating covariance of state quantities.

[0099] 1) For the estimation of tropospheric state parameters, the Kalman filter and other methods described above can be used to obtain the prior value of the state quantity based on the existing observations and model predictions. 2) For the covariance calculation of the state quantity, the predicted covariance and observed covariance in the Kalman filter can be combined to obtain the posterior covariance of the state quantity. The restored tropospheric state parameters and the covariance matrix corresponding to the state parameters are used for single-point GNSS precise positioning calculation.

[0100] The recovery of tropospheric state parameters can be combined with the recovery of other state quantities, such as the position, velocity, acceleration and other state quantities of the receiver, to improve the accuracy and stability of precise point positioning. The recovery algorithm of tropospheric state parameters can also be optimized and improved according to specific application scenarios and performance requirements, for example, using filtering algorithms such as extended Kalman filtering.

[0101] Furthermore, as mentioned above, the correction of tropospheric delay can adopt a double difference model, which uses the observation values ​​of two satellites to subtract each other to eliminate the influence of part of the tropospheric delay, thereby improving positioning accuracy. The correction of the receiver clock error can be calculated by the carrier phase observation value of the satellite navigation signal, thereby reducing the influence of the clock error on the positioning result. The optimization of the covariance of the predicted state value can adopt the Kalman filter algorithm, and the continuous optimization of positioning accuracy can be achieved by continuously updating the state estimate and covariance matrix.

[0102] The impact of anomalies on various state quantities used for precise point positioning is different. For example, the ambiguity state requires higher accuracy and can be reinitialized in a shorter time; while the position information, tropospheric state parameters, and the covariance corresponding to all state parameters require a much longer initialization time or cannot be achieved under signal interruption conditions. Therefore, considering the different recovery times and recovery conditions required for different state quantities, the embodiments of the present invention have different recovery methods for differentiated state parameters.

[0103] For example, for the receiver position state (for example, the coordinates of the ECEF coordinate system of the receiver), the accurate position provided by the inertial device is used for recovery, and the clock error state is recovered by the method shown in the above equations (28) and (29); for the ambiguity state, it can be repaired by reinitialization, which can be repaired in a short time; for the covariance corresponding to the tropospheric state parameters and all state parameters, the information before the satellite signal is lost is selected for memory, and the information is restored in the case of a carrier phase jump when the lock is lost. The total zenith delay can be calculated using the tropospheric parameters using existing technology.

[0104] Accordingly, in an embodiment of the present invention, when an abnormality of a satellite signal used for precise point positioning is detected, the state quantity used for precise point positioning is repaired by a first preset state quantity recovery method; and when the satellite signal used for precise point positioning is detected to have returned to normal, the state quantity used for precise point positioning is repaired by a second preset state quantity recovery method. By detecting the abnormal state of the satellite signal used for precise point positioning, when the satellite signal is abnormal or has returned to normal, different recovery methods are correspondingly adopted to repair the state quantity used for precise point positioning, so as to improve the application of precise point positioning in actual engineering, and also realize the function of high-precision point positioning based on the repaired state quantity, thereby improving the accuracy and reliability of positioning.

[0105] Figure 4A , Figure 4B The static precise single-point positioning result obtained by the embodiment of the present invention is shown. Accordingly, the embodiment of the present invention can realize the function of high-precision positioning based on the repaired parameters, thereby improving the accuracy and reliability of positioning.

[0106] An embodiment of the present invention also provides a control device for repairing signal anomalies in precise single-point positioning, the control device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the signal anomaly repair method for precise single-point positioning described in steps S110-S120.

[0107] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the signal anomaly repair method for precise point positioning described in steps S110-S120 is implemented by adjusting kernel parameters.

[0108] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0109] An embodiment of the present invention further provides a machine-readable storage medium, on which instructions are stored, and the instructions enable a machine to execute the signal anomaly repair method for precise single-point positioning described in steps S110-S120.

[0110] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0111] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0112] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0114] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0115] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0116] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0117] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0118] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A signal anomaly repair method for precise single-point positioning, It is characterized in that The signal anomaly repair method for precise single-point positioning includes: When an abnormality of a satellite signal used for precise point positioning is detected, repairing the state quantity used for precise point positioning by using a first preset state quantity recovery method; and When it is detected that the satellite signal used for precise point positioning returns to normal, the state quantity used for precise point positioning is repaired by a second preset state quantity recovery method.

2. The signal anomaly repair method for precise point positioning according to claim 1, It is characterized in that Detecting the satellite signal abnormality or restoration to normality by using the number of satellites used for precise point positioning and a preset threshold includes: When the number of satellites used for precise point positioning is less than the preset threshold, the satellite signal is abnormal; when the number of satellites used for precise point positioning exceeds the preset threshold, the satellite signal returns to normal. The preset threshold is 5.

3. The signal anomaly repair method for precise point positioning according to claim 1, It is characterized in that The method of restoring the state quantity used for precise point positioning by using the first preset state quantity recovery method includes: The state quantities related to the position information of the receiver are provided by the inertial device, and the remaining state quantities are repaired using a preset recovery method.

4. The signal anomaly repair method for precise point positioning according to claim 3, It is characterized in that The rest of the state quantities are repaired using a preset recovery method including: The corresponding state quantity is repaired through the saved tropospheric state parameters and the covariance corresponding to the state parameters. When the satellite signal is normal, the tropospheric state parameters and the covariance corresponding to the state parameters are saved in real time; when the satellite signal is detected to be abnormal, the tropospheric state parameters and the covariance corresponding to the state parameters are stopped from being saved; The tropospheric state parameters include a northerly component of the tropospheric gradient and an easterly component of the tropospheric gradient.

5. According to the signal anomaly repair method for precise point positioning according to claim 1, It is characterized in that The method of restoring the state quantity used for precise point positioning by using the second preset state quantity recovery method includes: The corresponding state quantities used for precise point positioning are repaired by reinitialization or according to a preset order.

6. The signal anomaly repair method for precise point positioning according to claim 5, It is characterized in that The repairing of the corresponding state quantity for precise point positioning according to the preset order includes: According to different recovery times required for the state quantities used for precise point positioning, some of the recovered state quantities sequentially replace the estimated values ​​of the state quantities when the satellite signal is abnormal.

7. The signal anomaly repair method for precise point positioning according to claim 5, It is characterized in that The repairing of the corresponding state quantity for precise point positioning according to the preset order includes: At the same time, the receiver clock error, tropospheric state parameters and the covariance corresponding to the state parameters are repaired to maintain the consistency between the states. The tropospheric state parameters include a northerly component of the tropospheric gradient and an easterly component of the tropospheric gradient.

8. The signal anomaly repair method for precise point positioning according to claim 7, It is characterized in that The machine clock error is repaired by using the preset clock model prediction and the single point positioning clock error weighting mode, wherein the preset clock model prediction is expressed by the following formula: Among them, dt r ,df r are the receiver clock error and frequency error, c is the speed of light, β and w are the correlation coefficient of the receiver frequency drift and the driving noise, respectively. The clock error is corrected by the following formula: dt r_recover =(1-α)dt r_model +αdt r_single Among them, dt r_model is the clock error predicted by the Kalman filter using the above preset clock model during the satellite signal anomaly period, dt r_single The machine clock difference is calculated using the least squares algorithm, and α is the weighted proportional coefficient.

9. The signal anomaly repair method for precise point positioning according to claim 1, It is characterized in that The signal anomaly repair method for precise point positioning also includes performing precise point positioning calculation using the repaired state quantity, including: Based on the repaired tropospheric state parameters, the influence of tropospheric delay is calculated and corrected; Based on the repaired receiver clock error, calculate the influence of the receiver clock error and make corrections; Optimizing the accuracy of the positioning result based on the covariance corresponding to the restored state parameters; and Based on the corrected satellite observation values ​​and the receiver's position information, the precise positioning result of the receiver is calculated through the precise point positioning algorithm.

10. A control device for repairing anomalies of precise single-point positioning signals, It is characterized in that The control device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the signal anomaly repair method for precise single-point positioning according to any one of claims 1-9.

11. A machine-readable storage medium, It is characterized in that The machine-readable storage medium stores instructions, which enable the machine to execute the signal anomaly repair method for precise single-point positioning according to any one of claims 1-9.

Images