Beidou precise dynamic positioning method considering satellite geometric configuration

Abstract

The embodiment of the invention discloses a Beidou precise dynamic positioning method considering a satellite geometric configuration, and relates to the technical field of satellite navigation positioning, and the method comprises the steps: obtaining a satellite geometric configuration composed of satellites corresponding to each observation value of a current epoch, and calculating the weight of each satellite in the satellite geometric configuration; rTK floating point solution calculation is carried out, the weight proportion in the filtering process is adjusted through an IGG-III robust optimization method considering the geometric configuration of the satellite, and an adjusted floating point solution is output; fixing the ambiguity, fixing the partial ambiguity which does not pass the ratio test based on a preset elimination sequence, and outputting an ambiguity fixed solution or an ambiguity floating point solution; and outputting a positioning result of the current epoch. According to the method, the satellite configuration and the error of each satellite are considered during floating point solution calculation, so that the precision of the floating point solution is effectively improved; by introducing an ambiguity subset optimization strategy considering the geometric configuration of the satellite, the ambiguity fixed rate and the precision of a fixed solution are improved.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation and positioning technology, and in particular to a Beidou precise dynamic positioning method that takes into account satellite geometric configuration. Background Art

[0002] Beidou satellite navigation and positioning technology has been widely used in science and engineering fields due to its all-weather, wide coverage, and high precision. It plays an indispensable role in people's social production activities. However, in complex urban environments, affected by high-rise buildings, tree tunnels, etc., satellite navigation signals are prone to attenuation and interruption, resulting in frequent gross errors and cycle slips in data, and the geometric configuration of Beidou satellites is prone to deterioration, which greatly affects the performance of Beidou positioning.

[0003] At present, when using Beidou satellites for navigation and positioning, generally

[0004] The accuracy of satellite navigation positioning is related to the accuracy of the observation value and the strength of the geometric configuration between the user and the satellite. The accuracy of the observation value can be expressed by the User Equivalent Range Error (UERE), which reflects the comprehensive influence of multiple errors such as orbit error, satellite clock error, ionospheric error, tropospheric error, multipath delay, noise, etc. on the user ranging accuracy. The strength of the geometric configuration can be reflected by the Dilution of Precision (DOP), and the positioning error m can be expressed as:

[0005] m = UERE·DOP;

[0006] Therefore, if we want to improve positioning accuracy, we should consider both ranging error and geometric configuration comprehensively.

[0007] In order to comprehensively consider the influence of ranging error and geometric configuration on positioning results, and thus improve Beidou positioning performance in complex urban environments, the present invention provides a Beidou precise dynamic positioning method that takes into account satellite geometric configuration. By calculating the contribution of each satellite to the overall satellite geometric configuration, the IGG-III anti-error optimization scheme that takes into account satellite geometric configuration is introduced during floating point solution, and the ambiguity subset selection optimization scheme that takes into account satellite geometric configuration is introduced when some ambiguities are fixed, thereby improving the satellite geometric configuration involved in the solution, and thus improving Beidou positioning accuracy in complex urban environments. The present invention is also applicable to other satellite navigation systems. Summary of the invention

[0008] The embodiment of the present application provides a Beidou precise dynamic positioning method taking into account the satellite geometric configuration, so as to solve the defects of the above-mentioned related technologies. The technical solution is as follows:

[0009] In a first aspect, an embodiment of the present application provides a Beidou precise dynamic positioning method taking into account satellite geometric configuration, including:

[0010] Acquire multiple observation values ​​when positioning the target to be positioned in the current epoch, determine the satellite geometric configuration formed by the satellites corresponding to each of the observation values, and calculate the satellite weight of the satellite corresponding to each of the observation values ​​in the satellite geometric configuration;

[0011] Calculating an RTK floating-point solution based on the plurality of observation values, adjusting the weight ratio of each observation value in the current epoch in the filtering process by an IGG-III robust optimization method taking into account the satellite geometric configuration, and outputting an adjusted floating-point solution;

[0012] All ambiguities are fixed and ratio tests are performed. If the ratio test is passed, the ambiguity fixed solution is output; if the ratio test is not passed, some ambiguities are fixed based on the preset elimination order, and the ambiguity fixed solution or ambiguity floating point solution is output;

[0013] The positioning result of the target to be positioned at the current epoch is output based on the fixed ambiguity fixed solution or the ambiguity floating point solution.

[0014] In an optional solution of the first aspect, before determining the satellite geometric configuration formed by the multiple satellites corresponding to each of the observation values, the method further includes:

[0015] Obtaining a signal-to-noise ratio parameter of each observation value in the current epoch and a corresponding altitude angle of each satellite;

[0016] If the altitude angle is less than the altitude angle threshold, or the signal-to-noise ratio parameter is less than the signal-to-noise ratio threshold, the corresponding observation value and satellite are discarded, and multiple satellites corresponding to the observation value are obtained based on the retained satellites.

[0017] In an optional solution of the first aspect, the method for determining the altitude angle threshold and the signal-to-noise ratio threshold includes:

[0018] Obtaining the distribution of the signal-to-noise ratio parameter of each observation value in the current epoch and the distribution of the corresponding altitude angle of each satellite;

[0019] The signal-to-noise ratio threshold is obtained by selecting a preset proportion of signal-to-noise ratio parameter values ​​from the distribution of the signal-to-noise ratio parameters, and the altitude angle threshold is obtained by selecting a preset proportion of altitude angle values ​​from the distribution of the altitude angle.

[0020] In an optional solution of the first aspect, the step of adjusting the weights of the observations in the current epoch in the filtering process by the IGG-III robust optimization method taking into account the satellite geometry configuration includes:

[0021] Obtaining a standardized residual corresponding to each of the observation values ​​obtained by the RTK floating point solution, and obtaining a satellite configuration-weighted standardized residual based on the standardized residual and the satellite weight corresponding to the observation value;

[0022] Comparing the standardized residual with the threshold of the retention zone and the threshold of the rejection zone respectively, and determining whether the standardized residual is in the retention zone, the downgrade zone or the rejection zone according to the comparison result;

[0023] Comparing the weighted standardized residual of the satellite configuration with a threshold value of a retention zone and a threshold value of a rejection zone respectively, and determining whether the weighted standardized residual of the satellite configuration is located in a retention zone, a degradation zone or a rejection zone according to the comparison result;

[0024] The weights of the observations in the current epoch in the filtering process are adjusted based on the result that the standardized residual of each observation and the satellite configuration weighted standardized residual fall into the retention zone, the downgrade zone or the rejection zone.

[0025] In an optional solution of the first aspect, fixing all ambiguities includes:

[0026] All ambiguities are fixed based on the LAMBDA method;

[0027] The ratio test is performed, and if the ratio test fails, the partial ambiguity is fixed based on a preset elimination order, including:

[0028] Fixing some ambiguities based on the first elimination order, for each observation value, if the standardized residual is in the rejection zone and the standardized residual weighted by the satellite configuration is in the downgraded zone, the corresponding observation value is eliminated, and the remaining ambiguities are fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test fails, the second elimination order is executed, otherwise the ambiguity fixed solution is output;

[0029] Fixing part of the ambiguity based on the second elimination order, eliminating the ambiguity corresponding to the maximum ambiguity variance, comparing the geometric dilution of precision after eliminating the ambiguity with a preset first geometric dilution of precision threshold, if the geometric dilution of precision is greater than the first geometric dilution of precision threshold, executing the third elimination order; otherwise, fixing the remaining ambiguity based on the LAMBDA method, and performing a ratio test, if the ratio test fails, executing the step of eliminating the ambiguity corresponding to the maximum ambiguity variance, otherwise, outputting an ambiguity fixed solution;

[0030] Based on the third elimination order, some ambiguities are fixed, and the ambiguities corresponding to the satellite with the smallest contribution of the geometric dilution of precision factor are eliminated. If the geometric dilution of precision factors of all remaining ambiguities are greater than a preset second geometric dilution of precision factor threshold, or the number of the remaining ambiguities is less than a preset ambiguity number threshold, the ambiguity floating-point solution is output; otherwise, the remaining ambiguities are fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test fails, the step of eliminating the ambiguities corresponding to the satellite with the smallest contribution of the geometric dilution of precision factor is executed, otherwise, the ambiguity fixed solution is output.

[0031] In an optional solution of the first aspect, the satellite weight of the satellite corresponding to each of the observation values ​​in the satellite geometric configuration is calculated by applying the formula:

[0032]

[0033]

[0034]

[0035] Among them, h i is the observation value corresponding to the i-th satellite, is the satellite weight corresponding to the i-th satellite in the satellite geometric configuration composed of n satellites, H n is the design matrix of n satellites, and trace() means calculating the trace of the corresponding matrix.

[0036] In an optional solution of the first aspect, the step of adjusting the weights of the observations in the current epoch in the filtering process by the IGG-III robust optimization method taking into account the satellite geometry configuration includes:

[0037] For a phase observation value, if the weighted standardized residual of the satellite configuration corresponding to the phase observation value is greater than the rejection zone threshold, it is determined that the phase observation value is located in the rejection zone, and the weight of the phase observation value is reset to 0;

[0038] The ambiguity parameters of the phase observations whose two consecutive epochs are both in the rejection zone are reset, and the weights of the phase observations in the filtering process are re-determined.

[0039] In a second aspect, the embodiment of the present application further provides a Beidou precise dynamic positioning device taking into account the satellite geometric configuration, including:

[0040] A satellite weight module is used to obtain multiple observation values ​​when positioning the target to be positioned in the current epoch, determine the satellite geometric configuration formed by the satellites corresponding to each of the observation values, and calculate the satellite weight of the satellite corresponding to each of the observation values ​​in the satellite geometric configuration;

[0041] A floating point solution calculation module, used for performing RTK floating point solution calculation based on the plurality of observation values, adjusting the weights of the observation values ​​in the current epoch in the filtering process by an IGG-III robust optimization method taking into account the satellite geometry, and outputting the adjusted floating point solution;

[0042] The ambiguity fixing module is used to fix all ambiguities and perform ratio test. If the ratio test is passed, the ambiguity fixed solution is output; if the ratio test is not passed, part of the ambiguity is fixed based on the preset elimination order, and the ambiguity fixed solution or ambiguity floating point solution is output;

[0043] The positioning module is used to output the positioning result of the target to be positioned at the current epoch based on the fixed ambiguity fixed solution or the ambiguity floating point solution.

[0044] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect is implemented.

[0045] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided by the first aspect of the embodiment of the present application or any one of the implementations of the first aspect.

[0046] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:

[0047] The embodiment of the present application provides a Beidou precise dynamic positioning method that takes into account the satellite geometric configuration. By calculating the contribution of each satellite to the satellite configuration, the method avoids the shortcomings of the traditional DOP calculation method, which has a large amount of calculation and cannot distinguish the influence of each satellite on the overall satellite configuration. The traditional IGG-III anti-error method is improved by introducing weighted standardized residuals, so that the satellite configuration and the errors of each satellite are taken into account when solving the floating-point solution, thereby effectively improving the accuracy of the floating-point solution. By introducing an ambiguity subset selection optimization strategy that takes into account the satellite geometric configuration, both the ambiguity fixing rate and the accuracy of the fixed solution are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 It is a flowchart of a Beidou precise dynamic positioning method taking into account satellite geometric configuration provided by an embodiment of the present application;

[0050] Figure 2 It is a flowchart of a Beidou precise dynamic positioning method taking into account satellite geometric configuration provided by an embodiment of the present application;

[0051] Figure 3 It is a flowchart of a Beidou precise dynamic positioning method taking into account satellite geometric configuration provided by an embodiment of the present application;

[0052] Figure 4 It is a structural schematic diagram of a Beidou precise dynamic positioning device taking into account the satellite geometric configuration provided by an embodiment of the present application;

[0053] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0056] It should be noted that the terms "first\second" involved in the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence where permitted. It should be understood that the objects distinguished by "first\second" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those described or illustrated herein.

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

[0058] Next, combine Figure 1, introduces a Beidou precise dynamic positioning method that takes into account the satellite geometric configuration provided by the embodiment of the present application. For details, please refer to Figure 1 , Figure 1 FIG. 1 is a flow chart of a Beidou precise dynamic positioning method taking into account the satellite geometric configuration provided by an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0059] S101, obtaining a plurality of observation values ​​when positioning a target to be positioned in a current epoch, determining a satellite geometric configuration formed by satellites corresponding to each of the observation values, and calculating a satellite weight of the satellite corresponding to each of the observation values ​​in the satellite geometric configuration;

[0060] S102, performing RTK floating-point solution calculation based on the plurality of observation values, adjusting the weight ratio of each observation value in the current epoch in the filtering process by using the IGG-III robust optimization method taking into account the satellite geometric configuration, and outputting the adjusted floating-point solution;

[0061] S103, fix all ambiguities and perform ratio test. If the ratio test is passed, output the ambiguity fixed solution; if the ratio test is not passed, fix some ambiguities based on a preset elimination order, and output the ambiguity fixed solution or the ambiguity floating point solution;

[0062] S104: Output a positioning result of the target to be positioned at the current epoch based on the fixed ambiguity fixed solution or the ambiguity floating-point solution.

[0063] It can be understood that the satellite geometry is the relative position relationship between multiple satellites used for positioning and the target to be positioned, and the relative position relationship between multiple satellites used for positioning within a certain epoch.

[0064] In some embodiments, before determining the satellite geometric configuration formed by the multiple satellites corresponding to each observation value in S101, the satellites may be screened according to the parameters corresponding to each observation value, including:

[0065] Obtaining a signal-to-noise ratio parameter of each observation value in the current epoch and a corresponding altitude angle of each satellite;

[0066] If the altitude angle is less than the altitude angle threshold, or the signal-to-noise ratio parameter is less than the signal-to-noise ratio threshold, the corresponding observation value and satellite are discarded, and multiple satellites corresponding to the observation value are obtained based on the retained satellites.

[0067] It can be understood that when positioning the GNSS signal receiving end based on the satellite and the GNSS signal receiving end, each satellite corresponds to an observation value, and each observation value includes a phase observation value and a pseudorange observation value.

[0068] Specifically, the altitude angle threshold and the signal-to-noise ratio threshold in the above steps can be determined based on the following steps, including:

[0069] Obtaining the distribution of the signal-to-noise ratio parameter of each observation value in the current epoch and the distribution of the corresponding altitude angle of each satellite;

[0070] The signal-to-noise ratio threshold is obtained by selecting a preset proportion of signal-to-noise ratio parameter values ​​from the distribution of the signal-to-noise ratio parameters, and the altitude angle threshold is obtained by selecting a preset proportion of altitude angle values ​​from the distribution of the altitude angle.

[0071] For example, the signal-to-noise ratio parameters of all satellites can be selected and arranged according to the values ​​of the signal-to-noise ratio parameters to obtain a sequence of the signal-to-noise ratio parameters, that is, the distribution. The signal-to-noise ratio parameter value corresponding to the 95% quantile of the signal-to-noise ratio parameter can be selected as the signal-to-noise ratio threshold. Similarly, for the altitude angle, the distribution of the altitude angle can also be obtained, and the altitude angle value corresponding to the 95% quantile of the altitude angle can be selected as the altitude angle threshold.

[0072] Since the signal-to-noise ratio and altitude angle of the satellites actually used for positioning will be affected by the environment, if a fixed threshold is used, some satellites with poor observation quality may not be eliminated in some environments, while too many satellites may be eliminated in other environments, affecting the positioning. Therefore, the corresponding signal-to-noise ratio threshold and altitude angle threshold can be dynamically adjusted according to the distribution of the signal-to-noise ratio parameters actually measured and the distribution of the corresponding altitude angle of each satellite. In open scenes, eliminating a small number or more satellites has little effect on the positioning results. In complex environments, since the signal-to-noise ratio of the observations is generally low, this method can effectively avoid the elimination of a large number of satellites, thereby ensuring the smooth progress of subsequent solutions.

[0073] In some embodiments, in S101, the satellite weight of the satellite corresponding to each observation value in the corresponding satellite geometric configuration is calculated using the formula:

[0074]

[0075]

[0076]

[0077] Among them, h i is the observation value corresponding to the i-th satellite, is the satellite weight corresponding to the i-th satellite in the satellite geometric configuration composed of n satellites, H n is the design matrix of n satellites, and trace() means calculating the trace of the corresponding matrix.

[0078] It can be understood that the design matrix of a satellite refers to a mathematical model used to describe the position and attitude of the satellite in space.

[0079] It can be understood that the IGG-III robust optimization method in the related art can use the standardized residual to detect abnormal observations, and use the variance inflation factor to construct an equivalent weight function to achieve the downgrading or elimination of abnormal observations. Assume that the double difference observations and their corresponding variances are L i , L j and R ii , R jj , and its corresponding covariance is R ij , after variance expansion, the corresponding variance and covariance are:

[0080]

[0081] In the formula, λ is the variance inflation factor, and They are double difference observation values ​​L i and L j The corresponding element of the variance-covariance matrix after expansion. The variance expansion factor is calculated as follows:

[0082]

[0083]

[0084] In the formula, λ ii is the variance inflation factor, γ ii is the equivalent weight magnification factor, v s,i is the standardized residual, k0 and k1 are constant thresholds. The value of the equivalent weight amplification factor is determined based on the comparison result between the standardized residual and the corresponding threshold, and then the weight is adjusted:

[0085] That is, when the standardized residual is less than the threshold k0 of the right-keeping zone, the weight in the right-keeping zone remains unchanged;

[0086] When the standardized residual is greater than or equal to the threshold k0 of the weight retention zone and less than or equal to the threshold k1 of the rejection zone, it is in the weight reduction zone and the weight is adjusted to

[0087] Otherwise, it is in the rejection zone and the weight is set to 0.

[0088] Generally, the threshold value of the weight-keeping zone is k0 = 1.5, and the threshold value of the rejection zone is k1 = 2.5. According to the size of the standardized residual, the observations participating in the filtering are divided into three parts: the weight-keeping zone, the weight-reducing zone, and the rejection zone according to the set thresholds k0 and k1. The influence of abnormal observations on the filtering results is reduced by adjusting the weight ratio of the observations in the filtering process.

[0089] Specifically, in S102 of the embodiment of the present application, the IGG-III robust optimization method considering the satellite geometric configuration is used to adjust the weights of each observation value in the current epoch in the filtering process, specifically including:

[0090] Get the standardized residual v corresponding to each of the observation values ​​obtained by the RTK floating point solution s,i ;

[0091] Based on the standardized residual v s,i The satellite weight f(GDOP) corresponding to the observation value i ) to obtain the satellite configuration weighted standardized residual v P,i , apply the formula:

[0092]

[0093]

[0094] Where i represents the i-th observation value, Represents the weight of the satellite corresponding to the observation value i in the satellite configuration composed of the satellites corresponding to the n observation values;

[0095] Among them, GDOP is the upper threshold of the weight of the observation value, for example, th GDOP =5.0.

[0096] Among them, the geometric precision reduction factor GDOP can be expressed as:

[0097]

[0098] in, Representation Matrix Trace of.

[0099] Specifically, in order to balance the influence of geometric configuration strength on positioning results, a double judgment of standardized residual and weighted standardized residual is considered. Then v P,i <v s,i .

[0100] Further comparing the standardized residual with the threshold of the retention zone and the threshold of the rejection zone respectively, and determining whether the standardized residual is in the retention zone, the downgrade zone or the rejection zone according to the comparison result;

[0101] The weighted standardized residual of the satellite configuration is compared with a threshold of a retention zone and a threshold of a rejection zone respectively, and it is determined according to the comparison result whether the weighted standardized residual of the satellite configuration is located in a retention zone, a degradation zone or a rejection zone.

[0102] Specifically, the improved robustness scheme based on satellite configuration can be expressed as follows:

[0103]

[0104] The weights of the observations in the current epoch in the filtering process are adjusted based on the result that the standardized residual of each observation and the satellite configuration weighted standardized residual fall into the retention zone, the downgrade zone or the rejection zone.

[0105] Specifically, Figure 2 As shown, in the standard Kalman filtering process, the results of the phase observation value and the pseudo-range observation value being located in the weight-keeping area, the weight-reducing area or the rejection area can be judged respectively.

[0106] For phase observations and pseudorange observations, if the standardized residual is less than or equal to the threshold of the right-keeping zone, the corresponding observation is in the right-keeping zone.

[0107] For phase observations and pseudorange observations, if the standardized residual is greater than the threshold of the weight-keeping zone, the standardized residual weighted by the satellite configuration is further compared with the threshold of the rejection zone. If the standardized residual weighted by the satellite configuration is less than or equal to the threshold of the rejection zone, the corresponding observation is in the downgraded zone.

[0108] For pseudorange observations and phase observations, if the standardized residual is greater than the weight-keeping zone threshold, the satellite configuration weighted standardized residual and the rejection zone threshold are further compared. If the satellite configuration weighted standardized residual is greater than the rejection zone threshold, the corresponding observation is in the rejection zone.

[0109] For the phase observation value, if the standardized residual is greater than the weight-keeping zone threshold, the standardized residual weighted by the satellite configuration is further compared with the rejection zone threshold. If the standardized residual weighted by the satellite configuration is greater than the rejection zone threshold, it is further judged whether the phase observation value satisfies the conditions that the standardized residual is greater than the weight-keeping zone threshold and the standardized residual weighted by the satellite configuration is greater than the rejection zone threshold within two consecutive epochs. If there are not two consecutive epochs, the corresponding observation value is in the rejection zone. If there are two consecutive epochs, the phase observation value is considered to be a cycle slip, and the ambiguity parameters of the phase observation value that is in the rejection zone for two consecutive epochs are reset.

[0110] Specifically, if the standardized residual of a certain observation value is in the rejection zone and the weighted standardized residual is in the downgraded zone, it is considered that the error of the observation value is large but the contribution to the satellite configuration is also large. The observation value is downgraded and marked, and is preferentially eliminated when the subsequent partial ambiguity is fixed.

[0111] Specifically, in S103, if Figure 3 As shown, first all ambiguities are fixed, including:

[0112] Based on the LAMBDA method, all ambiguities are fixed and a ratio test is performed. If ratio>k, the ratio test is passed and the ambiguity fixed solution is output; k is the preset threshold in the ratio test;

[0113] If the ratio test fails, the partial ambiguity is fixed based on the preset elimination order, including:

[0114] Based on the first elimination order, some ambiguities are fixed. For each observation value, if the standardized residual is in the rejection zone and the standardized residual weighted by the satellite configuration is in the reduced weight zone, the corresponding observation value is usually an observation value with a large error but a large weight on the satellite configuration. The corresponding observation value needs to be eliminated, and the remaining ambiguity is fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test is passed subsequently, the ambiguity fixed solution is output. If the ratio test is not passed, the second elimination order is executed.

[0115] The second elimination order includes:

[0116] An ambiguity subset selection scheme based on ambiguity variance commonly used in partial ambiguity fixing is adopted to eliminate the ambiguity corresponding to the maximum ambiguity variance, and compare the geometric dilution of precision GDOP after eliminating the ambiguity with the preset first geometric dilution of precision threshold th0. If the geometric dilution of precision GDOP is greater than the first geometric dilution of precision threshold th0, the third elimination sequence is executed; otherwise, the remaining ambiguity is fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test fails, the step of eliminating the ambiguity corresponding to the maximum ambiguity variance is executed, otherwise, the ambiguity fixed solution is output.

[0117] The third elimination order includes:

[0118] The scheme for selecting the ambiguities in the ambiguity subset according to the contribution of the satellite configuration is listed as the third elimination order, and the ambiguities corresponding to the satellite with the smallest contribution of the geometric dilution of precision factor are eliminated. If the geometric dilution of precision factor GDOP of all remaining ambiguities is greater than the preset second geometric dilution of precision factor threshold th1, or the number of the remaining ambiguities is less than the preset ambiguity number threshold, the ambiguity floating-point solution is output; otherwise, the remaining ambiguities are fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test fails, the step of eliminating the ambiguities corresponding to the satellite with the smallest contribution of the geometric dilution of precision factor is executed, otherwise, the ambiguity fixed solution is output.

[0119] Among them, the satellite with the smallest contribution to the geometric precision reduction factor can be understood as the satellite with the smallest satellite weight in the satellite geometric configuration corresponding to the geometric precision reduction factor. The larger the satellite weight, the greater the contribution to the geometric precision reduction factor, and vice versa. In the third elimination order, the ambiguity number threshold can be set to 4.

[0120] Further, after the above steps S101-S103, S104 may be executed to output the positioning result of the target to be positioned in the current epoch based on the fixed ambiguity fixed solution or the ambiguity floating point solution.

[0121] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0122] See next Figure 4 , which is a schematic diagram of the structure of a Beidou precise dynamic positioning device taking into account the satellite geometry configuration provided by an exemplary embodiment of the present application. The device can be implemented as all or part of a terminal through software, hardware, or a combination of both, and can also be integrated on a server as an independent module. The Beidou precise dynamic positioning device 40 taking into account the satellite geometry configuration in the embodiment of the present application can be applied to a terminal or a cloud. The device 40 includes a satellite weight module 401, a floating point solution module 402, an ambiguity fixing module 403, and a positioning module 404, wherein:

[0123] The satellite weight module 401 is used to obtain multiple observation values ​​when positioning the target to be positioned in the current epoch, determine the satellite geometric configuration formed by the satellites corresponding to each of the observation values, and calculate the satellite weight of the satellite corresponding to each of the observation values ​​in the satellite geometric configuration;

[0124] The floating point solution calculation module 402 is used to perform RTK floating point solution calculation based on the multiple observation values, adjust the weights of each observation value in the current epoch in the filtering process by using the IGG-III robust optimization method taking into account the satellite geometry, and output the adjusted floating point solution;

[0125] The ambiguity fixing module 403 is used to fix all ambiguities and perform a ratio test. If the ratio test 403 is passed, the ambiguity fixed solution is output; if the ratio test is not passed, part of the ambiguity is fixed based on a preset elimination order, and an ambiguity fixed solution or an ambiguity floating point solution is output;

[0126] The positioning module 404 is used to output the positioning result of the target to be positioned at the current epoch based on the fixed ambiguity fixed solution or the ambiguity floating point solution.

[0127] It should be noted that when the device 40 provided in the above embodiment executes the Beidou precise dynamic positioning method taking into account the satellite geometric configuration, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the Beidou precise dynamic positioning method embodiment taking into account the satellite geometric configuration belong to the same concept. The implementation process is detailed in the method embodiment, which will not be repeated here.

[0128] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the program.

[0129] See also Figure 5 , which is a structural block diagram of an electronic device provided in an embodiment of the present application.

[0130] like Figure 5 As shown, the electronic device 500 includes: a processor 501 and a memory 502 .

[0131] In the embodiment of the present application, the processor 501 is the control center of the computer system, which can be a processor of a physical machine or a processor of a virtual machine. The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array).

[0132] The processor 501 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also called a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0133] The memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one instruction, which is used to be executed by the processor 501 to implement the method in the embodiment of the present application.

[0134] In some embodiments, the electronic device 500 further includes: a peripheral device interface 503 and at least one peripheral device. The processor 501, the memory 502 and the peripheral device interface 503 can be connected via a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 503 via a bus, a signal line or a circuit board. Specifically, the peripheral devices include: a display screen 504, a camera 505 and an audio circuit 506. The peripheral device interface 503 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 501 and the memory 502.

[0135] In some embodiments of the present application, the processor 501, the memory 502, and the peripheral device interface 503 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 501, the memory 502, and the peripheral device interface 503 can be implemented on a separate chip or circuit board. This embodiment of the present application does not specifically limit this.

[0136] The display screen 504 is used to display a UI. The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 504 is a touch display screen, the display screen 504 also has the ability to collect touch signals on the surface or above the surface of the display screen 504. The touch signal may be input as a control signal to the processor 501 for processing. At this time, the display screen 504 may also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards.

[0137] In some embodiments of the present application, the display screen 504 may be one, which is arranged on the front panel of the electronic device 500; in other embodiments of the present application, the display screen 504 may be at least two, which are arranged on different surfaces of the electronic device 500 or are folded; in still other embodiments of the present application, the display screen 504 may be a flexible display screen, which is arranged on a curved surface or a folded surface of the electronic device 500. Even more, the display screen 504 may be arranged in a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 504 may be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode) and the like.

[0138] The camera 505 is used to capture images or videos. Optionally, the camera 505 includes a front camera and a rear camera. Usually, the front camera is arranged on the front panel of the electronic device, and the rear camera is arranged on the back of the electronic device. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize the panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments of the present application, the camera 505 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. The dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0139] The audio circuit 506 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 501 for processing. For the purpose of stereo sound collection or reduction, there may be multiple microphones, which are respectively arranged at different parts of the electronic device 500. The microphone may also be an array microphone or an omnidirectional collection microphone.

[0140] The power supply 507 is used to power various components in the electronic device 500. The power supply 507 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 507 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0141] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 500. The electronic device 500 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0142] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0143] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution can be essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A Beidou precise dynamic positioning method taking into account satellite geometric configuration, characterized in that: include: Acquire multiple observation values ​​when positioning the target to be positioned in the current epoch, determine the satellite geometric configuration formed by the satellites corresponding to each of the observation values, and calculate the satellite weight of the satellite corresponding to each of the observation values ​​in the satellite geometric configuration; Calculating an RTK floating-point solution based on the plurality of observation values, adjusting the weight ratio of each observation value in the current epoch in the filtering process by an IGG-III robust optimization method taking into account the satellite geometric configuration, and outputting an adjusted floating-point solution; All ambiguities are fixed and ratio tests are performed. If the ratio test is passed, the ambiguity fixed solution is output; if the ratio test is not passed, some ambiguities are fixed based on the preset elimination order, and the ambiguity fixed solution or ambiguity floating point solution is output; The positioning result of the target to be positioned at the current epoch is output based on the fixed ambiguity fixed solution or the ambiguity floating point solution.

2. The Beidou precise dynamic positioning method taking into account satellite geometric configuration according to claim 1, characterized in that: Before determining the satellite geometric configuration formed by the multiple satellites corresponding to each of the observation values, the method further includes: Obtaining a signal-to-noise ratio parameter of each observation value in the current epoch and a corresponding altitude angle of each satellite; If the altitude angle is less than the altitude angle threshold, or the signal-to-noise ratio parameter is less than the signal-to-noise ratio threshold, the corresponding observation value and satellite are discarded, and multiple satellites corresponding to the observation value are obtained based on the retained satellites.

3. The Beidou precise dynamic positioning method taking into account satellite geometric configuration according to claim 2, characterized in that: The method for determining the altitude angle threshold and the signal-to-noise ratio threshold comprises: Obtaining the distribution of the signal-to-noise ratio parameter of each observation value in the current epoch and the distribution of the corresponding altitude angle of each satellite; The signal-to-noise ratio threshold is obtained by selecting a preset proportion of signal-to-noise ratio parameter values ​​from the distribution of the signal-to-noise ratio parameters, and the altitude angle threshold is obtained by selecting a preset proportion of altitude angle values ​​from the distribution of the altitude angle.

4. The Beidou precise dynamic positioning method taking into account satellite geometric configuration according to claim 1, characterized in that: The step of adjusting the weights of each observation value in the current epoch in the filtering process by the IGG-III robust optimization method taking into account the satellite geometry configuration includes: Obtaining a standardized residual corresponding to each of the observation values ​​obtained by the RTK floating point solution, and obtaining a satellite configuration-weighted standardized residual based on the standardized residual and the satellite weight corresponding to the observation value; Comparing the standardized residual with the threshold of the retention zone and the threshold of the rejection zone respectively, and determining whether the standardized residual is in the retention zone, the downgrade zone or the rejection zone according to the comparison result; Comparing the weighted standardized residual of the satellite configuration with a threshold value of a retention zone and a threshold value of a rejection zone respectively, and determining whether the weighted standardized residual of the satellite configuration is located in a retention zone, a degradation zone or a rejection zone according to the comparison result; The weights of the observations in the current epoch in the filtering process are adjusted based on the result that the standardized residual of each observation and the satellite configuration weighted standardized residual fall into the retention zone, the downgrade zone or the rejection zone.

5. The Beidou precise dynamic positioning method taking into account satellite geometric configuration according to claim 4, characterized in that: The fixing of all ambiguities includes: All ambiguities are fixed based on the LAMBDA method; The ratio test is performed, and if the ratio test fails, the partial ambiguity is fixed based on a preset elimination order, including: Fixing some ambiguities based on the first elimination order, for each observation value, if the standardized residual is in the rejection zone and the standardized residual weighted by the satellite configuration is in the downgraded zone, the corresponding observation value is eliminated, and the remaining ambiguities are fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test fails, the second elimination order is executed, otherwise the ambiguity fixed solution is output; Fixing part of the ambiguity based on the second elimination order, eliminating the ambiguity corresponding to the maximum ambiguity variance, comparing the geometric dilution of precision after eliminating the ambiguity with a preset first geometric dilution of precision threshold, if the geometric dilution of precision is greater than the first geometric dilution of precision threshold, executing the third elimination order; otherwise, fixing the remaining ambiguity based on the LAMBDA method, and performing a ratio test, if the ratio test fails, executing the step of eliminating the ambiguity corresponding to the maximum ambiguity variance, otherwise, outputting an ambiguity fixed solution; Based on the third elimination order, some ambiguities are fixed, and the ambiguities corresponding to the satellite with the smallest contribution of the geometric dilution of precision factor are eliminated. If the geometric dilution of precision factors of all remaining ambiguities are greater than a preset second geometric dilution of precision factor threshold, or the number of the remaining ambiguities is less than a preset ambiguity number threshold, the ambiguity floating-point solution is output; otherwise, the remaining ambiguities are fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test fails, the step of eliminating the ambiguities corresponding to the satellite with the smallest contribution of the geometric dilution of precision factor is executed, otherwise, the ambiguity fixed solution is output.

6. A Beidou precise dynamic positioning method taking into account satellite geometric configuration according to any one of claims 1 to 5, characterized in that: The satellite weight of the satellite corresponding to each of the observation values ​​in the satellite geometric configuration is calculated by applying the formula: Among them, h i is the observation value corresponding to the i-th satellite, is the satellite weight corresponding to the i-th satellite in the satellite geometric configuration composed of n satellites, H n is the design matrix of n satellites, and trace() means calculating the trace of the corresponding matrix.

7. The Beidou precise dynamic positioning method taking into account satellite geometric configuration according to claim 4, characterized in that: The step of adjusting the weights of each observation value in the current epoch in the filtering process by the IGG-III robust optimization method taking into account the satellite geometry configuration includes: For a phase observation value, if the weighted standardized residual of the satellite configuration corresponding to the phase observation value is greater than the rejection zone threshold, it is determined that the phase observation value is located in the rejection zone, and the weight of the phase observation value is reset to 0; The ambiguity parameters of the phase observations whose two consecutive epochs are both in the rejection zone are reset, and the weights of the phase observations in the filtering process are re-determined.

8. A Beidou precise dynamic positioning device taking into account satellite geometric configuration, characterized in that: include: A satellite weight module is used to obtain multiple observation values ​​when positioning the target to be positioned in the current epoch, determine the satellite geometric configuration formed by the satellites corresponding to each of the observation values, and calculate the satellite weight of the satellite corresponding to each of the observation values ​​in the satellite geometric configuration; A floating point solution calculation module, used for performing RTK floating point solution calculation based on the plurality of observation values, adjusting the weights of the observation values ​​in the current epoch in the filtering process by an IGG-III robust optimization method taking into account the satellite geometry, and outputting the adjusted floating point solution; The ambiguity fixing module is used to fix all ambiguities and perform ratio test. If the ratio test is passed, the ambiguity fixed solution is output; if the ratio test is not passed, part of the ambiguity is fixed based on the preset elimination order, and the ambiguity fixed solution or ambiguity floating point solution is output; The positioning module is used to output the positioning result of the target to be positioned at the current epoch based on the fixed ambiguity fixed solution or the ambiguity floating point solution.

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

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

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