Weighing method for effectively improving satellite positioning precision

Abstract

The invention provides a weighting method for effectively improving satellite positioning precision, and when the number of satellite observed quantities is greater than or equal to 6, the satellite observed quantities with elevation angles of [5 degrees, 20 degrees] are subjected to stepped weighting processing. The invention provides a weighted design which is suitable for improving the positioning precision of a satellite positioning instrument in a state that the satellite observation quantity is enough and a low-elevation satellite exists. Different weights are taken for different elevation angles by the stepped weighting processing, so that the influence of low-elevation-angle satellite observed quantity on the positioning precision can be effectively inhibited, and the precision of a satellite positioning instrument is improved; the weighting design adopted by the invention is stepped weighting. The weight is determined by a plurality of items, scenes and statistical values of low-elevation satellite observed quantity deviations of a plurality of receivers, and has certain universality; weighted design adopted by the method is only used when position calculation is carried out, a matrix equation of speed calculation is not affected, and calculation of various precision factors is not affected.

Description

Technical Field

[0001] The present invention relates to the field of measurement and testing technology, and in particular to a weighting method for effectively improving satellite positioning accuracy. Background Art

[0002] The satellite positioning device is an important part of the navigation control system. The main function of the software is to process the satellite observations obtained by the hardware, complete high-dynamic satellite navigation and output position, speed and time information. The accuracy of the satellite observations used in the navigation solution is positively correlated with the positioning accuracy of the satellite positioning device.

[0003] When the accuracy of satellite observations cannot be improved at the hardware level, it is necessary to improve positioning accuracy through software adjustments, but there is currently no effective method.

[0004] Therefore, a method is needed to improve satellite positioning accuracy through software alone. Summary of the invention

[0005] The present invention aims to solve the problem of how to improve the positioning accuracy of a satellite positioning device under the premise that the accuracy of satellite observation quantities cannot be improved at the hardware level. A weighted method for effectively improving the satellite positioning accuracy is provided to refine the satellite observation quantities. When the number of satellite observation quantities is sufficient and there are low-elevation-angle satellites, the positioning accuracy of the satellite positioning device can be effectively improved.

[0006] The present invention provides a weighting method for effectively improving satellite positioning accuracy. When the number of satellite observations is greater than or equal to 6, the satellite observations with elevation angles of [5°, 20°) are subjected to step-wise weighting processing; The weighting method includes the following steps: S1, determine whether the number of satellite observations is greater than or equal to 6, if yes and the elevation angle is greater than or equal to 5°, go to step S2, if no, the satellite observation weight is 1.0; S2, determine whether the satellite elevation angle is [5°, 10°), if yes, the satellite observation weight is 0.01; if no, go to step S3; S3, determine whether the satellite elevation angle is [10°, 18°), if yes, the satellite observation weight is 0.01~0.66 and increases in a stepwise manner, if no, go to step S4; S4, determine whether the satellite elevation angle is [18°, 20°), if yes, the satellite observation weight is 0.90, if no, proceed to step S5; S5. When the satellite elevation angle is ≥20°, the satellite observation weight is 1.0, and a weighted method that effectively improves satellite positioning accuracy is completed.

[0007] The weighted method for effectively improving satellite positioning accuracy described in the present invention, as a preferred embodiment, step S3 includes the following steps: S31, determine whether the satellite elevation angle is [10°, 11°), if yes, the satellite observation weight is 0.02, if no, go to step S32; S32, determine whether the satellite elevation angle is [11°, 12°), if yes, the satellite observation weight is A1, if no, go to step S33; S33, determine whether the satellite elevation angle is [12°, 13°), if yes, the satellite observation weight is A2, if no, go to step S34; S34, determine whether the satellite elevation angle is [13°, 14°), if yes, the satellite observation weight is A3, if no, go to step S35; S35, determine whether the satellite elevation angle is [14°, 15°), if yes, the satellite observation weight is A4, if no, go to step S36; S36, determine whether the satellite elevation angle is [15°, 16°), if yes, the satellite observation weight is A5, if no, go to step S37; S37, determine whether the satellite elevation angle is [16°, 17°), if yes, the satellite observation weight is A6, if no, go to step S38; S38, determine whether the satellite elevation angle is [17°, 18°), if yes, the satellite observation weight is A7, if no, go to step S4; Among them, A1≥0.04, A2≥0.02+A1, A3≥A2+A1, A4≥A2+A3, A5≥A1+A4, A6≥A2+A5, A7≥A3+A6.

[0008] The weighted method for effectively improving satellite positioning accuracy described in the present invention is, as a preferred embodiment, A4=A2+A3, A7=A3+A6.

[0009] The weighted method for effectively improving satellite positioning accuracy described in the present invention is, as a preferred embodiment, A1 is 0.05, A2 is 0.09, A3 is 0.15, A4 is 0.24, A5 is 0.32, A6 is 0.5, and A7 is 0.65.

[0010] The weighted method for effectively improving satellite positioning accuracy described in the present invention is, as a preferred embodiment, loaded into a baseband chip of a satellite navigation receiver, the baseband chip is electrically connected to an antenna and baseband logic firmware, and the baseband logic firmware is electrically connected to a test device via a test / upgrade interface.

[0011] The weighted method for effectively improving satellite positioning accuracy described in the present invention is, as a preferred embodiment, used only when performing position calculation.

[0012] The present invention performs differentiated weighted processing on satellite observations based on the elevation angle differences of satellite positioning instruments tracking satellites. The invention is suitable for improving the positioning accuracy of satellite positioning instruments when there are enough satellite observations and there are low-elevation satellites. The weighted design is that when the number of satellite observations is greater than or equal to 6, the satellite observations with elevation angles of [5°, 20°) are subjected to step-by-step weighted processing.

[0013] The present invention has the following advantages: (1) The present invention proposes a weighted design that is suitable for improving the positioning accuracy of a satellite positioning device when there are enough satellite observations and there are low-elevation satellites. The stepped weighted processing uses different weights for different elevation angles, which can effectively suppress the influence of low-elevation satellite observations on positioning accuracy, thereby improving the accuracy of the satellite positioning device.

[0014] (2) The weighting design adopted by the present invention is a step-by-step weighting. The weights are determined by the statistical values ​​of the deviations of low-elevation-angle satellite observations of multiple projects, scenes and multiple receivers, and have a certain degree of universality.

[0015] (3) The weighted design adopted in the present invention is only used when performing position calculation, and does not affect the matrix equation of velocity calculation, nor does it affect the calculation of various precision factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of a weighted method for effectively improving satellite positioning accuracy; Figure 2 The present invention is a block diagram of a weighted method for effectively improving satellite positioning accuracy.

[0017] Reference numerals: 1. Baseband chip; 2. Antenna; 3. Baseband logic firmware; 4. Test / upgrade interface; 5. Test equipment. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Example 1

[0019] like Figure 1~2 As shown in the figure, a weighted method that effectively improves satellite positioning accuracy is suitable for improving the positioning accuracy of satellite positioning instruments when there are enough star observations and low-elevation satellites. The stepped weighted processing takes different weights for different elevation angles, which can effectively suppress the influence of low-elevation satellite observations on positioning accuracy, thereby improving the accuracy of satellite positioning instruments.

[0020] When the number of satellite observations is ≥ 6, weighting is performed according to the satellite elevation angle. The weight of the satellite observation at an elevation angle of [5°, 10°) is 0.01; the weight of the satellite observation at an elevation angle of [10°, 11°) is 0.02; the weight of the satellite observation at an elevation angle of [11°, 12°) is 0.05; the weight of the satellite observation at an elevation angle of [12°, 13°) is 0.09; the weight of the satellite observation at an elevation angle of [13°, 14°) is 0.15; the weight of the satellite observation at an elevation angle of [14°, 15 The weight of the satellite observation at an elevation angle of [15°,16°) is 0.24; the weight of the satellite observation at an elevation angle of [15°,16°) is 0.32; the weight of the satellite observation at an elevation angle of [16°,17°) is 0.50; the weight of the satellite observation at an elevation angle of [17°,18°) is 0.65; the weight of the satellite observation at an elevation angle of [18°,20°) is 0.90; the weight of the satellite observation at an elevation angle ≥20° is 1.0.

[0021] The weighting method is loaded in the baseband chip 1 of the satellite navigation receiver. The baseband chip 1 is electrically connected to the antenna 2 and the baseband logic firmware 3. The baseband logic firmware 3 is electrically connected to the test equipment 5 through the test / upgrade interface 4.

[0022] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A weighted method for effectively improving satellite positioning accuracy, characterized in that: When the number of satellite observations is greater than or equal to 6, the satellite observations with elevation angles of [5°, 20°) are subjected to step-wise weighting processing; The weighting method includes the following steps: S1, determine whether the number of satellite observations is greater than or equal to 6, if yes and the elevation angle is greater than or equal to 5°, go to step S2, if no, the satellite observation weight is 1.0; S2, determine whether the satellite elevation angle is [5°, 10°), if yes, the satellite observation weight is 0.01; if no, go to step S3; S3, determine whether the satellite elevation angle is [10°, 18°), if yes, the satellite observation weight is 0.01~0.66 and increases in a stepwise manner, if no, go to step S4; S4, determine whether the satellite elevation angle is [18°, 20°), if yes, the satellite observation weight is 0.90, if no, proceed to step S5; S5. When the satellite elevation angle is ≥20°, the satellite observation weight is 1.0, and a weighted method that effectively improves satellite positioning accuracy is completed.

2. A weighted method for effectively improving satellite positioning accuracy according to claim 1, characterized in that: Step S3 includes the following steps: S31, determine whether the satellite elevation angle is [10°, 11°), if yes, the satellite observation weight is 0.02, if no, go to step S32; S32, determine whether the satellite elevation angle is [11°, 12°), if yes, the satellite observation weight is A1, if no, go to step S33; S33, determine whether the satellite elevation angle is [12°, 13°), if yes, the satellite observation weight is A2, if no, go to step S34; S34, determine whether the satellite elevation angle is [13°, 14°), if yes, the satellite observation weight is A3, if no, go to step S35; S35, determine whether the satellite elevation angle is [14°, 15°), if yes, the satellite observation weight is A4, if no, go to step S36; S36, determine whether the satellite elevation angle is [15°, 16°), if yes, the satellite observation weight is A5, if no, go to step S37; S37, determine whether the satellite elevation angle is [16°, 17°), if yes, the satellite observation weight is A6, if no, go to step S38; S38, determine whether the satellite elevation angle is [17°, 18°), if yes, the satellite observation weight is A7, if no, go to step S4; Among them, A1≥0.04, A2≥0.02+A1, A3≥A2+A1, A4≥A2+A3, A5≥A1+A4, A6≥A2+A5, A7≥A3+A6.

3. A weighted method for effectively improving satellite positioning accuracy according to claim 2, characterized in that: A4=A2+A3, A7=A3+A6.

4. A weighted method for effectively improving satellite positioning accuracy according to claim 3, characterized in that: A1 is 0.05, A2 is 0.09, A3 is 0.15, A4 is 0.24, A5 is 0.32, A6 is 0.5, and A7 is 0.

65.

5. The weighted method for effectively improving satellite positioning accuracy according to claim 1, characterized in that: The weighting method is loaded in a baseband chip (1) of a satellite navigation receiver, the baseband chip (1) is electrically connected to an antenna (2) and a baseband logic firmware (3), and the baseband logic firmware (3) is electrically connected to a test device (5) via a test / upgrade interface (4).

6. The weighted method for effectively improving satellite positioning accuracy according to claim 1, characterized in that: The weighting method is only used when performing position solution.

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