Beidou positioning system, method and application in vehicles and marine equipment

Abstract

The present invention relates to the technical field of Beidou positioning, and discloses a Beidou positioning system, method, and application in vehicles and marine equipment. The present invention first obtains the initial vehicle and marine equipment positioning data, performs extreme data clearing and repairing, completes data preprocessing, and then calculates the Beidou satellite position coordinates; secondly, calculates the Beidou satellite pseudo-range single difference measurement value, establishes the processed pseudo-range measurement single difference equation, and performs error elimination to obtain the pseudo-range measurement single difference equation after error elimination; finally, constructs a weight matrix, performs linear processing and coordinate correction on the pseudo-range measurement single difference equation after error elimination, and outputs the final coordinates of the vehicle and marine equipment. The present invention achieves the Beidou positioning purpose of the vehicle and marine equipment by analyzing and processing the positioning data of the vehicle and marine equipment, and the method is accurate and objective.

Description

Technical Field

[0001] The present invention relates to the technical field of Beidou positioning, and in particular to a Beidou positioning system, method and application in vehicles and marine engineering equipment. Background Art

[0002] Chinese patent CN111781620A discloses a Beidou positioning system and method for two passenger and one dangerous goods vehicles, which specifically includes placing a positioning receiver on the driving vehicle, obtaining the first positioning information of the driving vehicle according to the first Beidou satellite signal, using the positioning receiver to send the first positioning information to the service platform, the nominal base station obtains the second positioning information according to the second Beidou satellite signal, and sends the second positioning information to the service platform, the driver obtains the third positioning information according to the third Beidou satellite signal, and sends the third positioning information to the service platform; combining the first positioning information, the second positioning information and the third positioning information, the actual vehicle coordinates of the driving vehicle are obtained, and the driving vehicle vector path is obtained by cumulative processing; setting a threshold, after judging the difference between the driving vehicle vector path and the threshold, the actual vehicle coordinates of the driving vehicle are corrected using the third positioning information to complete the vehicle Beidou positioning. This invention does not accurately eliminate the positioning error, and the actual application effect is poor.

[0003] The traditional Beidou positioning method mainly relies on receiving Beidou satellite coordinates, correcting the actual positioning object by combining the base station coordinates, and directly using the correction results as the final positioning coordinates. It has disadvantages such as cumbersome correction methods and redundant positioning data. At the same time, the traditional positioning method of vehicles and marine equipment does not use high-tech technologies such as neural networks, resulting in slow positioning speed, which is not conducive to construction operations. Summary of the invention

[0004] In response to the problems in the related technology, the present invention provides a Beidou positioning system, method and application in vehicles and marine equipment to overcome the above-mentioned technical problems existing in the existing related technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is a Beidou positioning method, comprising the following steps:

[0007] S1. Obtain Beidou satellite observation files, obtain initial vehicle and offshore equipment positioning data sets, perform extreme data clearing and repair, obtain processed vehicle and offshore equipment positioning data sets, and calculate Beidou satellite position coordinates based on the processed vehicle and offshore equipment positioning data sets;

[0008] S2. Calculate the Beidou satellite pseudo-range single-difference measurement value according to the processed vehicle and marine equipment positioning data set, establish the processed pseudo-range measurement single-difference equation based on the average filtering algorithm, and perform error elimination on the processed pseudo-range measurement single-difference equation to obtain the pseudo-range measurement single-difference equation after error elimination;

[0009] S3. Use the single difference equation of the pseudo-range measurement after the error is eliminated to construct a weight matrix, perform linear processing on the single difference equation of the pseudo-range measurement after the error is eliminated according to the Beidou satellite position coordinates and the weight matrix, and then perform coordinate correction to output the final coordinates of the vehicle and marine engineering equipment to achieve Beidou positioning of the vehicle and marine engineering equipment.

[0010] The invention obtains an initial vehicle and offshore equipment positioning data set, calculates the local reachable density of the initial vehicle and offshore equipment positioning data set, identifies and removes extreme data, and then uses an improved k-nearest neighbor algorithm to repair the data by dividing the data into several clusters and comparing the weighted Euclidean distances corresponding to the data. The identification and removal of extreme data effectively reduces subsequent calculations, and the method has fast detection speed and strong search capabilities. The improved k-nearest neighbor algorithm makes up for the problems of the k-nearest neighbor algorithm ignoring data correlation and incomplete data processing. The improved algorithm has high accuracy and good repair effect. The Beidou satellite signal transmission time and Beidou satellite position coordinates are calculated based on the processed vehicle and offshore equipment positioning data set. Secondly, the Beidou satellite is calculated. The single-difference measurement value of the pseudo-range of the Beidou satellite is measured, and the average filtering algorithm is used to establish the processed single-difference equation of the pseudo-range measurement, and then the correction processing is performed to remove the error to obtain the single-difference equation of the pseudo-range measurement after the error is eliminated; this method effectively eliminates the error interference of the pseudo-range difference observation value, eliminates the random error, and cleverly uses the symmetric positive definite property of the Householder matrix to eliminate the clock error and high-frequency thermal noise of the positioning equipment; finally, a weight matrix is ​​constructed, and the single-difference equation of the pseudo-range measurement after the error is eliminated is linearly processed, and then the coordinate correction is performed to obtain the final coordinates of the vehicle and marine equipment; this method introduces the weighted least squares method to effectively reduce the positioning error, ensure the positioning accuracy, and increase the positioning accuracy again through continuous iteration of linear processing to achieve high-precision Beidou positioning.

[0011] Preferably, the S1 comprises the following steps:

[0012] S11, placing positioning equipment on vehicles and offshore equipment, obtaining Beidou satellite observation files, collecting Beidou positioning related data in the Beidou satellite observation files, the Beidou positioning related data including Beidou satellite orbit parameters, Beidou satellite observation time, Beidou satellite pseudo-range observation values, etc., generating an initial vehicle and offshore equipment positioning data set, the initial vehicle and offshore equipment positioning data set including i Beidou positioning related data subsets, each Beidou positioning related data subset including j data; using an improved k-nearest neighbor algorithm to clear and repair extreme data from the initial vehicle and offshore equipment positioning data set, to obtain a processed vehicle and offshore equipment positioning data set, the specific steps are as follows:

[0013] S111, select any Beidou positioning related data subset from the initial vehicle and offshore equipment positioning data set, record it as the Beidou positioning data set to be processed, select intermediate Beidou positioning data from the Beidou positioning data set to be processed, calculate the distance from other Beidou positioning data to the intermediate Beidou positioning data in the Beidou positioning data set to be processed, obtain a distance set, sort the distance set in ascending order, and then select all Beidou positioning data within the first k distances, record it as the k neighborhood of the intermediate Beidou positioning data; select the maximum distance from the intermediate Beidou positioning data to other Beidou positioning data within the k neighborhood of the intermediate Beidou positioning data, record it as the neighborhood maximum distance, calculate the local reachable density of the intermediate Beidou positioning data according to the neighborhood maximum distance, and then calculate the local outlier factor value, the calculation formula is as follows:

[0014] ;

[0015] in, Indicates the local outlier factor value of the intermediate Beidou positioning data, Represents the local reachability density of the intermediate Beidou positioning data, represents the local reachable density of any Beidou positioning data in the k-neighborhood of the intermediate Beidou positioning data, represents the k-neighborhood of the intermediate Beidou positioning data, ;

[0016] Set the extreme threshold to , when the local outlier factor value of the intermediate Beidou positioning data is greater than the extreme threshold, the intermediate Beidou positioning data is normal data, otherwise the intermediate Beidou positioning data is extreme data, the extreme data is cleared, and the other Beidou positioning data are judged in turn to be extreme data, and the processed vehicle and offshore equipment positioning data set is obtained;

[0017] S112, in the processed vehicle and offshore equipment positioning data set, set data To repair the Beidou positioning data, find the data The nearest Beidou positioning data in the nearest neighbor set is obtained, and the nearest Beidou positioning data in the nearest neighbor set is clustered to obtain a plurality of clusters; in the data In the corresponding cluster, the correlation coefficient between the Beidou positioning data to be repaired and other Beidou positioning data is calculated, and the weighted Euclidean distance between the Beidou positioning data to be repaired and other Beidou positioning data is calculated according to the correlation coefficient, and the Beidou positioning data corresponding to the minimum weighted Euclidean distance is selected as the Beidou positioning data to be repaired, until the processed vehicle and offshore equipment positioning data set is repaired, the extreme data repair is completed, and the processed vehicle and offshore equipment positioning data set is obtained;

[0018] S12, obtaining the positioning device receiving signal time and Beidou satellite pseudo-range observation value from the processed vehicle and marine equipment positioning data set, and setting the Beidou satellite transmitting signal speed to , then the calculation formula for the Beidou satellite signal transmission time is as follows:

[0019] ;

[0020] in, Indicates the time when the positioning device receives the signal. represents the Beidou satellite pseudorange observation value, Indicates the time when Beidou satellite transmits signals;

[0021] Normalize the Beidou satellite signal transmission time, and then perform error correction to obtain the final Beidou satellite signal transmission time;

[0022] S13. Set the major semi-axis of the Beidou satellite orbit to , the average angular velocity correction value of Beidou satellite is , represents a constant. The mean anomaly angle of the Beidou satellite at the final Beidou satellite signal transmission time is The eccentricity of the Beidou satellite's elliptical orbit is , then the calculation formula of the Beidou satellite's anomaly angle at the final Beidou satellite signal transmission time is as follows:

[0023] , , ;

[0024] in, represents the average angular velocity of Beidou satellite. Indicates the actual mean anomaly angle of Beidou satellite. Indicates the final Beidou satellite signal transmission time. Indicates the anomaly angle of the Beidou satellite at the final Beidou satellite signal transmission time;

[0025] According to the eccentric anomaly angle of the Beidou satellite at the final Beidou satellite signal transmission time, the geocentric diameter of the Beidou satellite and the true anomaly angle of the Beidou satellite at the final Beidou satellite signal transmission time are calculated to obtain the Beidou satellite amplitude angle and the Beidou satellite orbit inclination angle, and then the Beidou satellite amplitude angle and the Beidou satellite orbit inclination angle are used to calculate the plane position coordinates of the Beidou satellite, which are recorded as , then the calculation formula of Beidou satellite position coordinates is as follows:

[0026] , ,

[0027] ;

[0028] in, Indicates the ascending node accuracy of the Beidou satellite at the time of the final Beidou satellite signal transmission. Indicates the orbital inclination of Beidou satellite, Indicates the Beidou satellite position coordinates.

[0029] The invention calculates the local reachable density of the initial vehicle and offshore equipment positioning data set, identifies and removes extreme data, effectively reducing subsequent calculations. The method has fast detection speed and strong search capability. The improved k-nearest neighbor algorithm is then used to repair the data by dividing the data into several clusters and comparing the weighted Euclidean distances corresponding to the data. This makes up for the problems of the k-nearest neighbor algorithm ignoring data correlation and incomplete data processing. The improved algorithm has high accuracy and good repair effect.

[0030] Preferably, S2 comprises the following steps:

[0031] S21. According to the processed vehicle and offshore equipment positioning data set, the real distance value from the Beidou satellite to the positioning device is obtained, and the receiver clock difference between the base station and the positioning device is set to , the noise error generated by Beidou satellite is , then the Beidou satellite pseudorange single difference measurement value calculation formula is as follows:

[0032] ;

[0033] in, d Represents the Beidou satellite pseudorange single difference measurement value, Indicates the actual distance value from the Beidou satellite to the positioning device. represents a constant;

[0034] for m Beidou satellites, and obtain the Beidou satellite pseudo-range single difference measurement value set ,in Indicates mBeidou satellite pseudorange single difference measurement values, use average filtering to process the Beidou satellite pseudorange single difference measurement value set, and establish the processed pseudorange measurement single difference equation. The specific steps are as follows:

[0035] S211, sorting the Beidou satellite pseudorange single difference measurement values ​​in the Beidou satellite pseudorange single difference measurement value set, removing the maximum Beidou satellite pseudorange single difference measurement value and the minimum Beidou satellite pseudorange single difference measurement value, and then calculating the average value of all the remaining Beidou satellite pseudorange single difference measurement values, recorded as the Beidou satellite pseudorange single difference measurement mean;

[0036] S212, according to the Beidou satellite pseudorange single difference measurement mean, the Beidou satellite pseudorange single difference measurement value calculation formula is updated to obtain the processed pseudorange measurement single difference equation as follows:

[0037] ;

[0038] in, represents the single-difference equation of the processed pseudorange measurement, Indicates that Beidou satellite generates random errors other than noise errors;

[0039] S22, constructing a Householder matrix, performing a Householder transformation on the processed pseudorange measurement single difference equation, and setting the Householder matrix to , multiply both ends of the processed pseudo-range measurement single difference equation by the Householder matrix to obtain the corrected pseudo-range measurement single difference equation. The calculation formula is as follows:

[0040] ;

[0041] in That is, the positioning device clock error, extract the positioning device clock error of the corrected pseudo-range measurement single difference equation, and perform average filtering to eliminate the positioning device clock error, and obtain the pseudo-range measurement single difference equation that eliminates the positioning device clock error;

[0042] S23, Denoted as high-frequency thermal noise, the high-frequency thermal noise is filtered in sequence to obtain a filter vector, and the filter vector is inversely filtered to obtain a pseudo-range measurement differential residual term that eliminates the high-frequency thermal noise. The pseudo-range measurement differential residual term that eliminates the high-frequency thermal noise is used to replace the high-frequency thermal noise in the corrected pseudo-range measurement single difference equation. The formula is as follows:

[0043] ;

[0044] in, represents the pseudo-range measurement differential residual term that eliminates high-frequency thermal noise;

[0045] Will Recorded as , Recorded as , and the single difference equation of pseudo-range measurement after error elimination is obtained .

[0046] This invention calculates the Beidou satellite pseudorange single difference measurement value, uses the average filtering algorithm to establish the processed pseudorange measurement single difference equation, effectively eliminates the error interference of the pseudorange difference observation value and eliminates random errors; then performs correction processing to remove the error, cleverly uses the symmetric positive definite property of the Householder matrix to eliminate the positioning equipment clock error and high-frequency thermal noise.

[0047] Preferably, S3 comprises the following steps:

[0048] S31, according to the pseudo-range measurement single difference equation after the error elimination, obtain the Beidou satellite pseudo-range correction, introduce the weighted least squares method to construct a weight matrix, the specific steps are as follows:

[0049] S311, using the pseudo-range measurement single difference equation after the error is eliminated as the Beidou satellite pseudo-range correction value, m BeiDou satellites, and obtain the pseudorange correction value set ,in Indicates m Beidou satellite pseudorange correction, calculate the pseudorange correction set variance, the calculation formula is as follows:

[0050] ;

[0051] in, represents the ensemble variance of pseudorange corrections, Indicates n Beidou satellite pseudorange correction, ;

[0052] S312: Calculate the variance of the pseudorange correction value set and the absolute value of each pseudorange correction value difference in the pseudorange correction value set to generate a new pseudorange correction value set. ,in Indicates m A new Beidou satellite pseudorange correction is calculated based on the new pseudorange correction set. The calculation formula is as follows:

[0053] ;

[0054] in, Indicates m The weight corresponding to a new Beidou satellite pseudorange correction;

[0055] Calculate in sequence m The weights of BeiDou satellites are used to construct a weight matrix;

[0056] S32, use the Beidou satellite position coordinates to perform linear processing on the pseudo-range measurement single difference equation after error elimination, obtain the final pseudo-range measurement single difference equation, and set the initial coordinates of the vehicle and the marine equipment to , according to the final pseudo-range measurement single difference equation, correction is performed to obtain the g-th corrected coordinates of the vehicle and the marine equipment. The specific steps are as follows:

[0057] S321, setting the vehicle and offshore equipment positioning coordinates , the Beidou satellite pseudo-range single difference measurement value is d The correction parameters are , and , the pseudo-range measurement single difference equation after the error elimination is updated to obtain the final pseudo-range measurement single difference equation, and the calculation formula is as follows:

[0058] , , , ;

[0059] in, D represents the final pseudorange measurement single difference equation, E represents the final pseudorange measurement set and , , ;

[0060] S322, combining the weight matrix and the final pseudo-range measurement single difference equation to obtain an error correction value , correct the initial coordinates of the vehicle and offshore equipment to obtain the first corrected coordinates of the vehicle and offshore equipment. The calculation formula is as follows:

[0061] , , ;

[0062] in, Indicates the first correction coordinates of vehicles and offshore equipment;

[0063] The first corrected coordinates of the vehicle and the offshore equipment are used as the initial coordinates of the vehicle and the offshore equipment, and the linear processing is continuously iterated, and the maximum number of iterations is set to g. When the number of iterations reaches the maximum number of iterations, the iteration is stopped to obtain the g-th corrected coordinates of the vehicle and the offshore equipment;

[0064] S33. Set the transfer state matrix, establish a prediction equation according to the g-th corrected coordinates of the vehicle and the marine engineering equipment, correct the prediction equation to obtain a filter gain, use the filter gain to update the prediction equation and the Beidou satellite pseudorange single difference measurement value, obtain the final coordinates of the vehicle and the marine engineering equipment, and realize Beidou positioning of the vehicle and the marine engineering equipment.

[0065] This invention constructs a weight matrix and performs linear processing on the single difference equation of pseudorange measurement after error elimination. The weighted least squares method is introduced to effectively reduce positioning errors and ensure positioning accuracy. Coordinate correction is then performed to increase positioning accuracy again through continuous iteration to obtain the final coordinates of the vehicle and marine engineering equipment, thereby achieving high-precision Beidou positioning.

[0066] This embodiment also discloses a Beidou positioning method system, which specifically includes: an extreme data clearing and repairing module, a Beidou satellite position coordinate calculation module, a pseudo-range measurement single difference equation establishment module, and a vehicle and marine equipment coordinate correction module;

[0067] The extreme data clearing and repairing module is used to use an improved k-nearest neighbor algorithm to perform extreme data clearing and repair on initial vehicle and offshore equipment positioning data;

[0068] The Beidou satellite position coordinate calculation module is used to calculate the Beidou satellite position coordinates according to the processed vehicle and marine equipment positioning data;

[0069] The pseudo-range measurement single-difference equation establishment module is used to perform average filtering and error elimination processing on the pseudo-range measurement single-difference equation;

[0070] The vehicle and offshore equipment coordinate correction module is used to perform coordinate correction after linear processing on the pseudo-range measurement single difference equation, and output the final coordinates of the vehicle and offshore equipment.

[0071] The present invention has the following beneficial effects:

[0072] 1. The invention calculates the local reachable density of the initial vehicle and offshore equipment positioning data set, identifies and removes extreme data, effectively reduces subsequent calculations, and the method has fast detection speed and strong search capability.

[0073] 2. The invention repairs the data by using an improved k-nearest neighbor algorithm, dividing the data into several clusters, and then comparing the weighted Euclidean distances corresponding to the data. This makes up for the problems of the traditional k-nearest neighbor algorithm that ignores data correlation and incomplete data processing. The improved algorithm has high accuracy and good repair effect.

[0074] 3. This invention calculates the Beidou satellite pseudorange single difference measurement value, uses the average filtering algorithm to establish the processed pseudorange measurement single difference equation, effectively eliminates the error interference of the pseudorange differential observation value, and eliminates random errors; then performs correction processing to remove the error, cleverly uses the symmetric positive definite property of the Householder matrix, and eliminates the positioning equipment clock error and high-frequency thermal noise.

[0075] 4. This invention constructs a weight matrix and performs linear processing on the single difference equation of pseudo-range measurement after error elimination, and introduces the weighted least squares method to effectively reduce positioning errors and ensure positioning accuracy; then coordinate correction is performed, and the positioning accuracy is increased again through continuous iteration to obtain the final coordinates of the vehicle and marine engineering equipment, thereby achieving high-precision Beidou positioning.

[0076] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the technical solutions of the embodiments of the invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, they can also obtain drawings based on these drawings without paying creative work.

[0078] Figure 1 A schematic flow chart of the application of a Beidou positioning system in vehicles and marine equipment provided by the present invention. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0080] In the description of the present invention, it is necessary to understand that the terms "opening", "upper", "lower", "top", "middle", "inside" and the like indicating orientation or positional relationship are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention.

[0081] Example 1

[0082] See also Figure 1 This embodiment discloses a Beidou positioning method, which specifically includes the following contents:

[0083] S1. Obtain Beidou satellite observation files, obtain initial vehicle and offshore equipment positioning data sets, perform extreme data clearing and repair, obtain processed vehicle and offshore equipment positioning data sets, and calculate Beidou satellite position coordinates based on the processed vehicle and offshore equipment positioning data sets;

[0084] The S1 comprises the following steps:

[0085] S11, placing positioning equipment on vehicles and offshore equipment, obtaining Beidou satellite observation files, collecting Beidou positioning related data in the Beidou satellite observation files, the Beidou positioning related data including Beidou satellite orbit parameters, Beidou satellite observation time, Beidou satellite pseudo-range observation values, etc., generating an initial vehicle and offshore equipment positioning data set, the initial vehicle and offshore equipment positioning data set including i Beidou positioning related data subsets, each Beidou positioning related data subset including j data; using an improved k-nearest neighbor algorithm to clear and repair extreme data from the initial vehicle and offshore equipment positioning data set, to obtain a processed vehicle and offshore equipment positioning data set, the specific steps are as follows:

[0086] S111, select any Beidou positioning related data subset from the initial vehicle and offshore equipment positioning data set, record it as the Beidou positioning data set to be processed, select intermediate Beidou positioning data from the Beidou positioning data set to be processed, calculate the distance from other Beidou positioning data to the intermediate Beidou positioning data in the Beidou positioning data set to be processed, obtain a distance set, sort the distance set in ascending order, and then select all Beidou positioning data within the first k distances, record it as the k neighborhood of the intermediate Beidou positioning data; select the maximum distance from the intermediate Beidou positioning data to other Beidou positioning data within the k neighborhood of the intermediate Beidou positioning data, record it as the neighborhood maximum distance, calculate the local reachable density of the intermediate Beidou positioning data according to the neighborhood maximum distance, and then calculate the local outlier factor value, the calculation formula is as follows:

[0087] ;

[0088] in, Indicates the local outlier factor value of the intermediate Beidou positioning data, Represents the local reachability density of the intermediate Beidou positioning data, represents the local reachable density of any Beidou positioning data in the k-neighborhood of the intermediate Beidou positioning data, represents the k-neighborhood of the intermediate Beidou positioning data, ;

[0089] Set the extreme threshold to , when the local outlier factor value of the intermediate Beidou positioning data is greater than the extreme threshold, the intermediate Beidou positioning data is normal data, otherwise the intermediate Beidou positioning data is extreme data, the extreme data is cleared, and the other Beidou positioning data are judged in turn to be extreme data, and the processed vehicle and offshore equipment positioning data set is obtained;

[0090] S112, in the processed vehicle and offshore equipment positioning data set, set data To repair the Beidou positioning data, find the data The nearest Beidou positioning data in the nearest neighbor set is obtained, and the nearest Beidou positioning data in the nearest neighbor set is clustered to obtain a plurality of clusters; in the data In the corresponding cluster, the correlation coefficient between the Beidou positioning data to be repaired and other Beidou positioning data is calculated, and the weighted Euclidean distance between the Beidou positioning data to be repaired and other Beidou positioning data is calculated according to the correlation coefficient, and the Beidou positioning data corresponding to the minimum weighted Euclidean distance is selected as the Beidou positioning data to be repaired, until the processed vehicle and offshore equipment positioning data set is repaired, the extreme data repair is completed, and the processed vehicle and offshore equipment positioning data set is obtained;

[0091] S12, obtaining the positioning device receiving signal time and Beidou satellite pseudo-range observation value from the processed vehicle and marine equipment positioning data set, and setting the Beidou satellite transmitting signal speed to , then the calculation formula for the Beidou satellite signal transmission time is as follows:

[0092] ;

[0093] in, Indicates the time when the positioning device receives the signal. represents the Beidou satellite pseudorange observation value, Indicates the time when Beidou satellite transmits signals;

[0094] Normalize the Beidou satellite signal transmission time, and then perform error correction to obtain the final Beidou satellite signal transmission time;

[0095] S13. Set the major semi-axis of the Beidou satellite orbit to , the average angular velocity correction value of Beidou satellite is , represents a constant. The mean anomaly angle of the Beidou satellite at the final Beidou satellite signal transmission time is The eccentricity of the Beidou satellite's elliptical orbit is , then the calculation formula of the Beidou satellite's anomaly angle at the final Beidou satellite signal transmission time is as follows:

[0096] , , ;

[0097] in, represents the average angular velocity of Beidou satellite. Indicates the actual mean anomaly angle of Beidou satellite. Indicates the final Beidou satellite signal transmission time. Indicates the anomaly angle of the Beidou satellite at the final Beidou satellite signal transmission time;

[0098] According to the eccentric anomaly angle of the Beidou satellite at the final Beidou satellite signal transmission time, the geocentric diameter of the Beidou satellite and the true anomaly angle of the Beidou satellite at the final Beidou satellite signal transmission time are calculated to obtain the Beidou satellite amplitude angle and the Beidou satellite orbit inclination angle, and then the Beidou satellite amplitude angle and the Beidou satellite orbit inclination angle are used to calculate the plane position coordinates of the Beidou satellite, which are recorded as , then the calculation formula of Beidou satellite position coordinates is as follows:

[0099] , ,

[0100] ;

[0101] in, Indicates the ascending node accuracy of the Beidou satellite at the time of the final Beidou satellite signal transmission. Indicates the orbital inclination of Beidou satellite, Indicates the position coordinates of Beidou satellite;

[0102] S2. Calculate the Beidou satellite pseudo-range single-difference measurement value according to the processed vehicle and marine equipment positioning data set, establish the processed pseudo-range measurement single-difference equation based on the average filtering algorithm, and perform error elimination on the processed pseudo-range measurement single-difference equation to obtain the pseudo-range measurement single-difference equation after error elimination;

[0103] The S2 comprises the following steps:

[0104] S21. According to the processed vehicle and offshore equipment positioning data set, the real distance value from the Beidou satellite to the positioning device is obtained, and the receiver clock difference between the base station and the positioning device is set to , the noise error generated by Beidou satellite is , then the Beidou satellite pseudorange single difference measurement value calculation formula is as follows:

[0105] ;

[0106] in, d Represents the Beidou satellite pseudorange single difference measurement value, Indicates the actual distance value from the Beidou satellite to the positioning device. represents a constant;

[0107] for m Beidou satellites, and obtain the Beidou satellite pseudo-range single difference measurement value set ,in Indicates m Beidou satellite pseudorange single difference measurement values, use average filtering to process the Beidou satellite pseudorange single difference measurement value set, and establish the processed pseudorange measurement single difference equation. The specific steps are as follows:

[0108] S211, sorting the Beidou satellite pseudorange single difference measurement values ​​in the Beidou satellite pseudorange single difference measurement value set, removing the maximum Beidou satellite pseudorange single difference measurement value and the minimum Beidou satellite pseudorange single difference measurement value, and then calculating the average value of all the remaining Beidou satellite pseudorange single difference measurement values, recorded as the Beidou satellite pseudorange single difference measurement mean;

[0109] S212, according to the Beidou satellite pseudorange single difference measurement mean, the Beidou satellite pseudorange single difference measurement value calculation formula is updated to obtain the processed pseudorange measurement single difference equation as follows:

[0110] ;

[0111] in, represents the single-difference equation of the processed pseudorange measurement, Indicates that Beidou satellite generates random errors other than noise errors;

[0112] S22, constructing a Householder matrix, performing a Householder transformation on the processed pseudorange measurement single difference equation, and setting the Householder matrix to , multiply both ends of the processed pseudo-range measurement single difference equation by the Householder matrix to obtain the corrected pseudo-range measurement single difference equation. The calculation formula is as follows:

[0113] ;

[0114] in That is, the positioning device clock error, extract the positioning device clock error of the corrected pseudo-range measurement single difference equation, and perform average filtering to eliminate the positioning device clock error, and obtain the pseudo-range measurement single difference equation that eliminates the positioning device clock error;

[0115] S23, Denoted as high-frequency thermal noise, the high-frequency thermal noise is filtered in sequence to obtain a filter vector, and the filter vector is inversely filtered to obtain a pseudo-range measurement differential residual term that eliminates the high-frequency thermal noise. The pseudo-range measurement differential residual term that eliminates the high-frequency thermal noise is used to replace the high-frequency thermal noise in the corrected pseudo-range measurement single difference equation. The formula is as follows:

[0116] ;

[0117] in, represents the pseudo-range measurement differential residual term that eliminates high-frequency thermal noise;

[0118] Will Recorded as , Recorded as , and the single difference equation of pseudo-range measurement after error elimination is obtained ;

[0119] S3, using the pseudo-range measurement single difference equation after the error elimination to construct a weight matrix, according to the Beidou satellite position coordinates and the weight matrix, the pseudo-range measurement single difference equation after the error elimination is linearly processed, and then the coordinate correction is performed, and the final coordinates of the vehicle and the offshore equipment are output to realize the Beidou positioning of the vehicle and the offshore equipment;

[0120] The S3 comprises the following steps:

[0121] S31, according to the pseudo-range measurement single difference equation after the error elimination, obtain the Beidou satellite pseudo-range correction, introduce the weighted least squares method to construct a weight matrix, the specific steps are as follows:

[0122] S311, using the pseudo-range measurement single difference equation after the error is eliminated as the Beidou satellite pseudo-range correction value, m BeiDou satellites, and obtain the pseudorange correction value set ,in Indicates m Beidou satellite pseudorange correction, calculate the pseudorange correction set variance, the calculation formula is as follows:

[0123] ;

[0124] in, represents the ensemble variance of pseudorange corrections, Indicates n Beidou satellite pseudorange correction, ;

[0125] S312: Calculate the variance of the pseudorange correction value set and the absolute value of each pseudorange correction value difference in the pseudorange correction value set to generate a new pseudorange correction value set. ,in Indicates m A new Beidou satellite pseudorange correction is calculated based on the new pseudorange correction set. The calculation formula is as follows:

[0126] ;

[0127] in, Indicates mThe weight corresponding to a new Beidou satellite pseudorange correction;

[0128] Calculate in sequence m The weights of BeiDou satellites are used to construct a weight matrix;

[0129] S32, use the Beidou satellite position coordinates to perform linear processing on the pseudo-range measurement single difference equation after error elimination, obtain the final pseudo-range measurement single difference equation, and set the initial coordinates of the vehicle and the marine equipment to , according to the final pseudo-range measurement single difference equation, correction is performed to obtain the g-th corrected coordinates of the vehicle and the marine equipment. The specific steps are as follows:

[0130] S321, setting the vehicle and offshore equipment positioning coordinates , the Beidou satellite pseudo-range single difference measurement value is d The correction parameters are , and , the pseudo-range measurement single difference equation after the error elimination is updated to obtain the final pseudo-range measurement single difference equation, and the calculation formula is as follows:

[0131] , , , ;

[0132] in, D represents the final pseudorange measurement single difference equation, E represents the final pseudorange measurement set and , , ;

[0133] S322, combining the weight matrix and the final pseudo-range measurement single difference equation to obtain an error correction value , correct the initial coordinates of the vehicle and offshore equipment to obtain the first corrected coordinates of the vehicle and offshore equipment. The calculation formula is as follows:

[0134] , , ;

[0135] in, Indicates the first correction coordinates of vehicles and offshore equipment;

[0136] The first corrected coordinates of the vehicle and the offshore equipment are used as the initial coordinates of the vehicle and the offshore equipment, and the linear processing is continuously iterated, and the maximum number of iterations is set to g. When the number of iterations reaches the maximum number of iterations, the iteration is stopped to obtain the g-th corrected coordinates of the vehicle and the offshore equipment;

[0137] S33. Set the transfer state matrix, establish a prediction equation according to the g-th corrected coordinates of the vehicle and the marine engineering equipment, correct the prediction equation to obtain a filter gain, use the filter gain to update the prediction equation and the Beidou satellite pseudorange single difference measurement value, obtain the final coordinates of the vehicle and the marine engineering equipment, and realize Beidou positioning of the vehicle and the marine engineering equipment.

[0138] Example 2

[0139] This embodiment also discloses a Beidou positioning method system, which specifically includes: an extreme data clearing and repairing module, a Beidou satellite position coordinate calculation module, a pseudo-range measurement single difference equation establishment module, and a vehicle and marine equipment coordinate correction module;

[0140] The extreme data clearing and repairing module is used to use an improved k-nearest neighbor algorithm to perform extreme data clearing and repair on initial vehicle and offshore equipment positioning data;

[0141] The Beidou satellite position coordinate calculation module is used to calculate the Beidou satellite position coordinates according to the processed vehicle and marine equipment positioning data;

[0142] The pseudo-range measurement single-difference equation establishment module is used to perform average filtering and error elimination processing on the pseudo-range measurement single-difference equation;

[0143] The vehicle and offshore equipment coordinate correction module is used to perform coordinate correction after linear processing on the pseudo-range measurement single difference equation, and output the final coordinates of the vehicle and offshore equipment.

[0144] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0145] The preferred embodiments of the invention disclosed above are only used to help explain the invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the invention, so that those skilled in the art can understand and use the invention well.

Claims

1. A Beidou positioning method, characterized in that: The steps include: S1. Obtain Beidou satellite observation files, obtain initial vehicle and offshore equipment positioning data sets, perform extreme data clearing and repair, obtain processed vehicle and offshore equipment positioning data sets, and calculate Beidou satellite position coordinates based on the processed vehicle and offshore equipment positioning data sets; S2. Calculate the Beidou satellite pseudo-range single-difference measurement value according to the processed vehicle and marine equipment positioning data set, establish the processed pseudo-range measurement single-difference equation based on the average filtering algorithm, and perform error elimination on the processed pseudo-range measurement single-difference equation to obtain the pseudo-range measurement single-difference equation after error elimination; S3, using the pseudo-range measurement single difference equation after the error elimination to construct a weight matrix, according to the Beidou satellite position coordinates and the weight matrix, the pseudo-range measurement single difference equation after the error elimination is linearly processed, and then the coordinates are corrected, and the final coordinates of the vehicle and the offshore equipment are output to achieve Beidou positioning of the vehicle and the offshore equipment; The S1 comprises the following steps: S11. Place positioning equipment on vehicles and offshore equipment, obtain Beidou satellite observation files, and generate initial vehicle and offshore equipment positioning data sets; use an improved k-nearest neighbor algorithm to perform extreme data removal and repair on the initial vehicle and offshore equipment positioning data sets to obtain processed vehicle and offshore equipment positioning data sets; S12, obtaining the positioning device receiving signal time and Beidou satellite pseudorange observation value from the processed vehicle and offshore equipment positioning data set, and calculating the final Beidou satellite transmitting signal time; S13, calculating the Beidou satellite position coordinates according to the final Beidou satellite signal transmission time; The method of using the improved k-nearest neighbor algorithm to perform extreme data removal and repair on the initial vehicle and offshore equipment positioning data set to obtain a processed vehicle and offshore equipment positioning data set comprises the following steps: A Beidou positioning related data subset is selected from the initial vehicle and offshore equipment positioning data set, recorded as a Beidou positioning data set to be processed, intermediate Beidou positioning data is selected, a k-neighborhood of the intermediate Beidou positioning data is determined, and then a local outlier factor value is calculated; Set the extreme threshold to , by comparing the local outlier factor value and the extreme threshold, after determining whether the Beidou positioning data is extreme data, the extreme data is removed to obtain a processed vehicle and offshore equipment positioning data set; clustering the processed vehicle and offshore equipment positioning data set, Several clusters are obtained; the Beidou positioning data to be repaired is set, the weighted Euclidean distance between the Beidou positioning data in the cluster and the Beidou positioning data to be repaired is calculated, and the Beidou positioning data corresponding to the minimum weighted Euclidean distance is selected as the Beidou positioning data to be repaired, the extreme data repair is completed, and the processed vehicle and marine equipment positioning data set is obtained.

2. A Beidou positioning method according to claim 1, characterized in that: The S2 comprises the following steps: S21, according to the processed vehicle and offshore equipment positioning data set, calculate the Beidou satellite pseudo-range single difference measurement value, for m Beidou satellites, and obtain a set of Beidou satellite pseudo-range single-difference measurement values; Process the Beidou satellite pseudorange single-difference measurement value set using average filtering to establish a processed pseudorange measurement single-difference equation; S22, constructing a Householder matrix, performing a Householder transformation on the processed pseudorange measurement single difference equation to obtain a corrected pseudorange measurement single difference equation, and then eliminating the positioning device clock error to obtain a pseudorange measurement single difference equation that eliminates the positioning device clock error; S23, eliminating high-frequency thermal noise in the pseudo-range measurement single-difference equation for eliminating the positioning device clock error, and obtaining the pseudo-range measurement single-difference equation after error elimination.

3. A Beidou positioning method according to claim 2, characterized in that: The method of using average filtering to process the Beidou satellite pseudorange single-difference measurement value set and establishing the processed pseudorange measurement single-difference equation comprises the following steps: The Beidou satellite pseudorange single difference measurement values ​​in the Beidou satellite pseudorange single difference measurement value set are sorted, the maximum Beidou satellite pseudorange single difference measurement value and the minimum Beidou satellite pseudorange single difference measurement value are removed, and then the average value of all the remaining Beidou satellite pseudorange single difference measurement values ​​is calculated, which is recorded as the Beidou satellite pseudorange single difference measurement mean; according to the Beidou satellite pseudorange single difference measurement mean, the Beidou satellite pseudorange single difference measurement value calculation formula is updated to obtain the processed pseudorange measurement single difference equation.

4. A Beidou positioning method according to claim 3, characterized in that: The S3 comprises the following steps: S31, according to the pseudo-range measurement single difference equation after the error elimination, obtain the Beidou satellite pseudo-range correction, and introduce the weighted least square method to construct a weight matrix; S32, using the Beidou satellite position coordinates to perform linear processing on the pseudorange measurement single difference equation after error elimination to obtain a final pseudorange measurement single difference equation, and making corrections according to the final pseudorange measurement single difference equation to obtain the g-th corrected coordinates of the vehicle and the marine equipment; S33. Set the transfer state matrix, establish a prediction equation according to the g-th corrected coordinates of the vehicle and the marine engineering equipment, correct the prediction equation to obtain a filter gain, use the filter gain to update the prediction equation and the Beidou satellite pseudorange single difference measurement value, obtain the final coordinates of the vehicle and the marine engineering equipment, and realize Beidou positioning of the vehicle and the marine engineering equipment.

5. A Beidou positioning method according to claim 4, characterized in that: The S31 comprises the following steps: S311, using the pseudo-range measurement single difference equation after the error is eliminated as the Beidou satellite pseudo-range correction value, m Beidou satellites, obtain a set of pseudorange corrections, and calculate the variance of the pseudorange correction set; S312, calculate the variance of the pseudorange correction set and the absolute value of each pseudorange correction difference in the pseudorange correction set to generate a new pseudorange correction set; use the weighted least squares method to calculate the weight according to the new pseudorange correction set, and calculate m The weights of the BeiDou satellites are used to construct a weight matrix.

6. A Beidou positioning method according to claim 5, characterized in that: The S32 comprises the following steps: S321, using the Beidou satellite position coordinates to perform linear processing on the pseudorange measurement single difference equation after error elimination to obtain a final pseudorange measurement single difference equation; S322. Combine the weight matrix and the final pseudo-range measurement single difference equation to obtain the error correction amount, set the initial coordinates of the vehicle and the marine engineering equipment, use the error correction amount to correct the initial coordinates of the vehicle and the marine engineering equipment, and obtain the first corrected coordinates of the vehicle and the marine engineering equipment; use the first corrected coordinates of the vehicle and the marine engineering equipment as the initial coordinates of the vehicle and the marine engineering equipment, continuously iterate through linear processing, set the maximum number of iterations to g, and when the number of iterations reaches the maximum number of iterations, stop iterating to obtain the g-th corrected coordinates of the vehicle and the marine engineering equipment.

7. A system for implementing the Beidou positioning method according to any one of claims 1 to 6, characterized in that: Specifically include: Extreme data clearing and repair module, Beidou satellite position coordinate calculation module, pseudo-range measurement single difference equation establishment module and vehicle and offshore equipment coordinate correction module; The extreme data clearing and repairing module is used to use an improved k-nearest neighbor algorithm to perform extreme data clearing and repair on initial vehicle and offshore equipment positioning data; The Beidou satellite position coordinate calculation module is used to calculate the Beidou satellite position coordinates according to the processed vehicle and marine equipment positioning data; The pseudo-range measurement single-difference equation establishment module is used to perform average filtering and error elimination processing on the pseudo-range measurement single-difference equation; The vehicle and offshore equipment coordinate correction module is used to perform coordinate correction after linear processing on the pseudo-range measurement single difference equation, and output the final coordinates of the vehicle and offshore equipment.

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