A method for precise dynamic positioning of beidou considering satellite geometry

Abstract

The embodiment of the application discloses a Beidou precise dynamic positioning method considering satellite geometry configuration, and relates to the technical field of satellite navigation and positioning. The method comprises the following steps: acquiring a satellite geometry configuration formed by satellites corresponding to each observation value of a current epoch, calculating the weight of each satellite in the satellite geometry configuration; performing RTK floating point solution calculation, adjusting the weight proportion in the filtering process through an IGG-III robust optimization method considering the satellite geometry configuration, and outputting the adjusted floating point solution; performing ambiguity fixing, fixing the part of ambiguities that do not pass the ratio test based on a preset elimination order, and outputting an ambiguity fixed solution or an ambiguity floating point solution; and outputting the positioning result of the current epoch. The embodiment of the application considers the satellite configuration and the errors of each satellite when performing floating point solution calculation, effectively improves the precision of the floating point solution, introduces an ambiguity subset optimization strategy considering the satellite geometry configuration, and improves the ambiguity fixing rate and the precision of the fixed solution.

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 considering satellite geometry configuration. BACKGROUND

[0002] The Beidou satellite navigation and positioning technology has been widely used in scientific and engineering fields due to its all-weather, wide coverage, high precision and other characteristics, and plays an indispensable role in people's social production activities. However, in the complex urban environment, affected by high-rise buildings, viaducts, trees and tunnels, satellite navigation signals are easily attenuated and interrupted, leading to frequent occurrence of data gross errors and cycle slips, and the geometry configuration of Beidou satellites is also easily deteriorated, which greatly affects the Beidou positioning performance.

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

[0004] The satellite navigation and positioning precision is related to the precision of the observation value and the geometry configuration strength between the user and the satellite. The precision of the observation value can be represented by the user equivalent range error (UERE), which reflects the comprehensive influence of orbit error, satellite clock error, ionospheric error, tropospheric error, multipath delay, noise and other errors on the user ranging precision. The geometry configuration strength can be reflected by the dilution of precision (DOP), and the positioning error m can be represented as:

[0005] m = UERE·DOP;

[0006] Therefore, to improve the positioning precision, the ranging error and the geometry configuration should be considered comprehensively.

[0007] In order to comprehensively consider the influence of ranging error and geometry configuration on the positioning result and further improve the Beidou positioning performance in complex urban environment, the present application provides a Beidou precise dynamic positioning method considering satellite geometry configuration. By calculating the contribution of each satellite to the overall satellite geometry configuration, the IGG-III robust optimization scheme considering satellite geometry configuration is introduced in the float solution calculation, and the ambiguity subset selection optimization scheme considering satellite geometry configuration is introduced in the partial ambiguity fixing, so as to improve the satellite geometry configuration involved in the calculation, and further improve the Beidou positioning precision in complex urban environment. The present application is also applicable to other satellite navigation systems. SUMMARY

[0008] The present application provides a Beidou precise dynamic positioning method considering satellite geometry configuration to solve the defects of the above related technologies, and the technical solution is as follows:

[0009] In a first aspect, the embodiments of the present application provide a Beidou precise dynamic positioning method considering satellite geometry, comprising:

[0010] Obtaining a plurality of observation values when positioning the target to be positioned at a current epoch, determining a satellite geometry formed by a plurality of satellites corresponding to each observation value, and calculating a satellite weight of each satellite in the satellite geometry corresponding to each observation value;

[0011] Performing RTK floating point solution calculation based on the plurality of observation values, adjusting a weight proportion of each observation value in a filtering process in the current epoch by an IGG-III robust optimization method considering satellite geometry, and outputting an adjusted floating point solution;

[0012] Fixing all ambiguities, performing ratio test, and outputting an ambiguity fixed solution if the ratio test is passed; otherwise, fixing part of ambiguities based on a preset elimination order, and outputting an ambiguity fixed solution or an ambiguity floating point solution;

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

[0014] In an optional solution of the first aspect, before the determination of the satellite geometry formed by the plurality of satellites corresponding to each observation value, the method further comprises:

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

[0016] If the elevation angle is less than an elevation angle threshold or the signal-to-noise ratio parameter is less than a signal-to-noise ratio threshold, the corresponding observation value and satellite are eliminated, and the plurality of satellites corresponding to the observation value are obtained based on the remaining satellites.

[0017] In an optional solution of the first aspect, the determination method of the elevation angle threshold and the signal-to-noise ratio threshold comprises:

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

[0019] Selecting a signal-to-noise ratio parameter value of a preset proportion in the distribution of the signal-to-noise ratio parameter to obtain the signal-to-noise ratio threshold, and selecting an elevation angle value of a preset proportion in the distribution of the elevation angle to obtain the elevation angle threshold.

[0020] In an optional solution of the first aspect, the adjustment of the weight of each observation value in the filtering process in the current epoch by the IGG-III robust optimization method considering satellite geometry comprises:

[0021] Obtain the standardized residual corresponding to each observation value obtained by the RTK floating-point solution, and obtain the satellite configuration-weighted standardized residual based on the standardized residual and the satellite weights corresponding to the observation value;

[0022] The standardized residual is compared with the preservation zone threshold and the rejection zone threshold, and the standardized residual is determined to be located in the preservation zone, the de-weighting zone or the rejection zone based on the comparison results.

[0023] The standardized residuals weighted by the satellite configuration are compared with the thresholds for the preservation region and the rejection region, respectively. Based on the comparison results, it is determined whether the standardized residuals weighted by the satellite configuration are located in the preservation region, the deweighting region, or the rejection region.

[0024] The weights of each observation in the current epoch are adjusted in the filtering process based on the result of the standardized residuals of each observation and the standardized residuals weighted by the satellite configuration falling into the preservation zone, deweighting zone, or rejection zone.

[0025] In one alternative to the first aspect, fixing all ambiguities includes:

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

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

[0028] Based on the first elimination order, some ambiguities are fixed. For each observation, if the standardized residual is in the rejection region and the satellite configuration-weighted standardized residual is in the deweighting region, the corresponding observation is eliminated. The remaining ambiguities are fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test is not passed, the second elimination order is executed; otherwise, the ambiguity fixed solution is output.

[0029] Based on the second elimination order, some ambiguities are fixed, and the ambiguities corresponding to the maximum ambiguity variance are eliminated. The geometric precision attenuation factor after eliminating ambiguities is compared with the preset first geometric precision attenuation factor threshold. If the geometric precision attenuation factor is greater than the first geometric precision attenuation factor threshold, the third elimination order is executed; 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 maximum ambiguity variance is executed; otherwise, the ambiguity fixed solution is output.

[0030] Based on the third elimination order, partial ambiguity fixing is performed, ambiguities corresponding to satellite pairs with the smallest geometric dilution of precision factor are eliminated, if geometric dilution of precision factors of all remaining ambiguities are greater than a preset second geometric dilution of precision threshold, or, the number of the remaining ambiguities is less than a preset ambiguity number threshold, then the ambiguity float solution is output; otherwise, the LAMBDA method is used to fix the remaining ambiguities, and ratio test is performed, if the ratio test is not passed, the step of eliminating ambiguities corresponding to satellite pairs with the smallest geometric dilution of precision factor is performed, otherwise, the ambiguity fixed solution is output.

[0031] In an optional implementation of the first aspect, the satellite weight of the satellite corresponding to each observation value in the satellite geometry is calculated by using the formula:

[0032]

[0033]

[0034]

[0035] wherein 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 geometry formed by the n satellites, H n is the design matrix of the n satellites, and trace() represents the trace of the corresponding matrix.

[0036] In an optional implementation of the first aspect, the IGG-III robust optimization method considering the satellite geometry is used to adjust the weight of each observation value in the filtering process in the current epoch, and the method comprises the following steps.

[0037] For the phase observation value, if the satellite geometry weighted normalized residual corresponding to the phase observation value is greater than the rejection region threshold, it is determined that the phase observation value is in the rejection region, and the weight of the phase observation value is reset to 0.

[0038] The ambiguity parameter of the phase observation value in the consecutive two epochs in the rejection region is reset, and the weight of the phase observation value in the filtering process is re-determined.

[0039] In the second aspect, the embodiments of the present application further provide a Beidou precise dynamic positioning device considering the satellite geometry, comprising:

[0040] A satellite weight module is configured to acquire a plurality of observation values when a target to be positioned is positioned in a current epoch, determine a satellite geometry formed by a satellite corresponding to each observation value, and calculate a satellite weight of the satellite corresponding to each observation value in the satellite geometry.

[0041] a float solution calculation module, configured to perform RTK float solution calculation based on the plurality of observation values, to adjust the weight of each observation value in the filter process in the current epoch by an IGG-III robustness optimization method considering satellite geometry, and to output an adjusted float solution;

[0042] a ambiguity fixing module, configured to fix all ambiguities, to perform ratio test, and to output an ambiguity fixed solution if the ratio test is passed, or to fix part of ambiguities based on a preset rejection sequence and to output an ambiguity fixed solution or an ambiguity float solution if the ratio test is not passed;

[0043] a positioning module, configured to output a positioning result of the target to be positioned in the current epoch based on the ambiguity fixed solution or the ambiguity float solution.

[0044] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method provided in the first aspect or any of the implementation manners of the first aspect when executing the program.

[0045] In a fourth aspect, a non-transitory computer readable storage medium is provided, which stores a computer program executable on a processor, and the computer program implements the method provided in the first aspect or any of the implementation manners of the first aspect when executed on the processor.

[0046] The technical scheme provided by some embodiments of the present application has at least the following beneficial effects:

[0047] The Beidou precise dynamic positioning method provided by the embodiments of the present application 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, by calculating the contribution of each satellite to the satellite configuration. The traditional IGG-III robustness method is improved by introducing a weighted standardized residual, so that the satellite configuration and the error of each satellite are considered when calculating the float solution, thereby effectively improving the precision of the float solution. The ambiguity subset selection optimization strategy considering satellite geometry is introduced, which improves the ambiguity fixing rate and the precision of the fixed solution. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical scheme in the present application or related art, the following will briefly introduce the drawings needed to be used in the embodiments or related art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0049] Figure 1 is a flowchart of a Beidou precise dynamic positioning method considering satellite geometry configuration provided by an embodiment of the present application;

[0050] Figure 2 is a flowchart of a Beidou precise dynamic positioning method considering satellite geometry configuration provided by an embodiment of the present application;

[0051] Figure 3 is a flowchart of a Beidou precise dynamic positioning method considering satellite geometry configuration provided by an embodiment of the present application;

[0052] Figure 4 is a structural schematic diagram of a Beidou precise dynamic positioning device provided by an embodiment of the present application;

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

[0054] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0055] The terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover the non-exclusive inclusion. 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 can optionally further include steps or modules not listed, or can optionally further include other steps or modules inherent to the process, method, product or device.

[0056] It should be noted that the terms "first" and "second" involved in the present application are merely to distinguish similar objects, and do not represent a specific order of the objects. Understandably, "first" and "second" can be interchanged in a specific order or sequence as allowed. It should be understood that the objects distinguished by "first" and "second" can be interchanged under appropriate circumstances, 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 will be described in detail below with reference to specific embodiments.

[0058] Next, the present application will be described in detail below with reference to specific embodiments. Figure 1, and introduce a Beidou precise dynamic positioning method considering satellite geometry configuration provided by the embodiments of the present application. For details, please refer to Figure 1 , Figure 1 A flowchart of a Beidou precise dynamic positioning method considering satellite geometry configuration provided by the embodiments of the present application is shown. As shown in Figure 1 , the method comprises the following steps:

[0059] S101, obtaining a plurality of observation values when positioning a target to be positioned at a current epoch, determining a satellite geometry configuration composed of satellites corresponding to each observation value, and calculating a satellite weight of each satellite in the satellite geometry configuration corresponding to each observation value;

[0060] S102, performing RTK floating point solution calculation based on a plurality of observation values, adjusting the weight proportion of each observation value in the filtering process within the current epoch through an IGG-III robustness optimization method considering satellite geometry configuration, and outputting the adjusted floating point solution;

[0061] S103, fixing all ambiguities, performing ratio test, and if the ratio test is passed, outputting the ambiguity fixed solution; if the ratio test is not passed, fixing part of the ambiguities based on a preset rejection order, and outputting the ambiguity fixed solution or the ambiguity floating point solution;

[0062] S104, outputting the positioning result of the target to be positioned at the current epoch based on the ambiguity fixed solution or the ambiguity floating point solution after fixing.

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

[0064] In some embodiments, before determining the satellite geometry configuration composed of a plurality of satellites corresponding to each observation value in S101, the satellites can also be screened according to the parameters corresponding to each observation value, comprising:

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

[0066] If the elevation angle is less than the elevation 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 rejected, and the plurality of satellites corresponding to the observation value are obtained based on the retained satellites.

[0067] It can be understood that when the GNSS signal receiving end is positioned 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 pseudo-range observation value.

[0068] In particular, the elevation angle threshold and the signal-to-noise ratio threshold in the above steps can be determined based on the following steps, comprising:

[0069] obtaining a distribution of the signal-to-noise ratio parameters of each observation value in the current epoch and a distribution of the elevation angles of each satellite corresponding thereto;

[0070] selecting a signal-to-noise ratio parameter value of a preset proportion in the distribution of the signal-to-noise ratio parameters to obtain the signal-to-noise ratio threshold, and selecting an elevation angle value of a preset proportion in the distribution of the elevation angles to obtain the elevation angle threshold.

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

[0072] Since the signal-to-noise ratio and the elevation angle of the satellite actually used for positioning are affected by the environment, if a fixed threshold is used, it can result in that some satellites with poor observation quality are not excluded in some environments, and too many satellites are excluded in some other environments, which affects the positioning. Therefore, the corresponding signal-to-noise ratio threshold and the elevation angle threshold can be dynamically adjusted according to the distribution of the actually measured signal-to-noise ratio parameters and the distribution of the elevation angles of each satellite corresponding thereto. In an open scene, a small number of satellites are excluded or a large number of satellites are excluded, which has little effect on the positioning result. In a complex environment, since the signal-to-noise ratio of the observation value is generally low, this method can effectively avoid a large number of satellites being excluded, thereby ensuring the smooth progress of subsequent calculation.

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

[0074]

[0075]

[0076]

[0077] wherein 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 geometry of n satellites, H n is the design matrix of n satellites, and trace() represents the trace of the corresponding matrix.

[0078] Understandably, a satellite design matrix refers to a mathematical model used to describe the position and attitude of a satellite in space.

[0079] Understandably, the IGG-III robust optimization method in related technologies can use standardized residuals to detect outlier observations and construct an equivalent weight function using a variance inflation factor to reduce or eliminate outlier observations. Assume that the double-difference observations and their corresponding variances are L... i L j and R ii R jj Its corresponding covariance is R ij After variance inflation, the corresponding variance and covariance are as follows:

[0080]

[0081] In the formula, λ is the variance inflation factor. and These are the double-difference observations L i and L j The corresponding elements after the variance-covariance matrix is ​​expanded. The variance expansion factor is calculated as follows:

[0082]

[0083]

[0084] In the formula, λ ii γ is the variance inflation factor. ii v is the equivalent weight amplification factor. s,i For the standardized residuals, k0 and k1 are constant thresholds. The equivalent weight amplification factor is determined based on the comparison between the standardized residuals and the corresponding thresholds, and the weights are then adjusted accordingly.

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

[0086] When the standardized residual is greater than or equal to the preservation zone threshold k0 and less than or equal to the rejection zone threshold k1, it is in the deweighting zone, and the weights are adjusted accordingly.

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

[0088] Generally, the threshold for the preservation region is k0 = 1.5, and the threshold for the rejection region is k1 = 2.5. Based on the magnitude of the standardized residuals, and according to the set thresholds k0 and k1, the observations participating in the filtering are divided into three parts: the preservation region, the de-weighting region, and the rejection region. This reduces the impact of outlier observations on the filtering results by adjusting the weight ratio of the observations in the filtering process.

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

[0090] Obtain the standardized residual v corresponding to each observation obtained from the RTK floating-point solution. s,i ;

[0091] Based on standardized residual v s,i The satellite weight f(GDOP) corresponding to the observed value i The standardized residual v is obtained by weighting the satellite configuration. P,i Apply the formula:

[0092]

[0093]

[0094] Where i represents the i-th observation, This represents the weight of the satellite corresponding to observation i in the satellite configuration consisting of satellites corresponding to n observations;

[0095] Among them, th GDOP The upper limit threshold for the weights of the observations, for example, can be th. GDOP =5.0.

[0096] The geometric precision attenuation factor GDOP can be expressed as:

[0097]

[0098] in, Representation matrix The traces.

[0099] Specifically, to balance the impact of geometric configuration strength on positioning results, a dual assessment of standardized residuals and weighted standardized residuals is considered. Then v P,i <v s,i .

[0100] The standardized residual is further compared with the preservation zone threshold and the rejection zone threshold, and the standardized residual is determined to be located in the preservation zone, the de-weighting zone or the rejection zone based on the comparison results;

[0101] The standardized residuals weighted by the satellite configuration are compared with the thresholds for the preservation zone and the rejection zone, respectively. Based on the comparison results, it is determined whether the standardized residuals weighted by the satellite configuration are located in the preservation zone, the deweighting zone, or the rejection zone.

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

[0103]

[0104] The result of the standardized residual error of each observation value and the satellite configuration weighted standardized residual error falling into the protected weight area, the reduced weight area or the rejection area adjusts the weight of each observation value in the current epoch in the filtering process.

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

[0106] For the phase observation value and the pseudo-range observation value, if the standardized residual error is less than or equal to the protected weight area threshold, the corresponding observation value is located in the protected weight area.

[0107] For the phase observation value and the pseudo-range observation value, if the standardized residual error is greater than the protected weight area threshold, the satellite configuration weighted standardized residual error is further compared with the rejection area threshold, and if the satellite configuration weighted standardized residual error is less than or equal to the rejection area threshold, the corresponding observation value is located in the reduced weight area.

[0108] For the pseudo-range observation value and the phase observation value, if the standardized residual error is greater than the protected weight area threshold, the satellite configuration weighted standardized residual error is further compared with the rejection area threshold, and if the satellite configuration weighted standardized residual error is greater than the rejection area threshold, the corresponding observation value is located in the rejection area.

[0109] For the phase observation value, if the standardized residual error is greater than the protected weight area threshold, the satellite configuration weighted standardized residual error is further compared with the rejection area threshold, and if the satellite configuration weighted standardized residual error is greater than the rejection area threshold, it is further determined whether the phase observation value in the two consecutive epochs satisfies the condition that the standardized residual error is greater than the protected weight area threshold and the satellite configuration weighted standardized residual error is greater than the rejection area threshold, if not in the two consecutive epochs, the corresponding observation value is located in the rejection area, if in the two consecutive epochs, it is considered that the phase observation value is a cycle slip, and the ambiguity parameter of the phase observation value located in the rejection area in the two consecutive epochs is reset.

[0110] Specifically, if the standardized residual error of a certain observation value is located in the rejection area and the weighted standardized residual error is located in the reduced weight area, 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 reduced in weight and marked, and is preferentially excluded in the subsequent partial ambiguity fixing.

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

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

[0113] If ratio test is not passed, partial ambiguity fixing is performed based on a preset elimination order, including:

[0114] Based on the first elimination order, partial ambiguity fixing is performed, for each observation value, if the standardized residual is in the rejection region, and the satellite configuration weighted standardized residual is in the weight reduction region, the corresponding observation value is usually an observation value with larger error but also larger weight of satellite configuration, the corresponding observation value needs to be eliminated, the remaining ambiguities are fixed based on the LAMBDA method, and ratio test is performed, if ratio test is passed subsequently, the ambiguity fixed solution is output, if ratio test is not passed, the second elimination order is executed.

[0115] The second elimination order includes:

[0116] The ambiguity subset selection scheme based on ambiguity variance commonly used in partial ambiguity fixing is adopted, the ambiguity corresponding to the maximum ambiguity variance is eliminated, the geometric dilution of precision GDOP after eliminating the ambiguity is compared with the first geometric dilution of precision threshold value th0, if the geometric dilution of precision GDOP is greater than the first geometric dilution of precision threshold value th0, the third elimination order is executed; otherwise, the remaining ambiguities are fixed based on the LAMBDA method, and ratio test is performed, if ratio test is not passed, 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] According to the contribution of the satellite configuration, the ambiguity in the ambiguity subset is selected as the third elimination order, the ambiguity corresponding to the satellite with the smallest contribution of geometric dilution of precision is eliminated, if the geometric dilution of precision GDOP of all remaining ambiguities is greater than the second geometric dilution of precision threshold value th1, or, the number of the remaining ambiguities is less than the preset ambiguity number threshold value, the ambiguity float solution is output; otherwise, the remaining ambiguities are fixed based on the LAMBDA method, and ratio test is performed, if ratio test is not passed, the step of eliminating the ambiguity corresponding to the satellite with the smallest contribution of geometric dilution of precision is executed, otherwise, the ambiguity fixed solution is output.

[0119] The satellite with the smallest contribution of the geometric dilution of precision factor can be understood as a satellite with the smallest satellite weight in a satellite geometry corresponding to the geometric dilution of precision factor. The greater the satellite weight, the greater the contribution to the geometric dilution of precision factor, and vice versa. In the third elimination sequence, the ambiguity number threshold can be set to 4.

[0120] Further, after the above steps S101-S103, S104 can be performed to output a positioning result of the target to be positioned at the current epoch based on the fixed ambiguity fixed solution or the ambiguity float solution.

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

[0122] Next, please refer to Figure 4 The structure diagram of the Beidou precise dynamic positioning device considering satellite geometry provided for an exemplary embodiment of the present application. The device can be realized by software, hardware or a combination of the two to become all or part of the terminal, and can also be integrated as an independent module on the server. The Beidou precise dynamic positioning device considering satellite geometry 40 in the embodiment of the present application can be applied to the terminal or the cloud. The device 40 includes a satellite weight module 401, a float solution calculation module 402, an ambiguity fixing module 403 and a positioning module 404, wherein:

[0123] The satellite weight module 401 is used to obtain a plurality of observation values for positioning the target to be positioned at a current epoch, determine a satellite geometry composed of satellites corresponding to each observation value, and calculate a satellite weight of each satellite in the satellite geometry corresponding to each observation value;

[0124] The float solution calculation module 402 is used to perform RTK float solution calculation based on a plurality of observation values, adjust the weight of each observation value in the filtering process within the current epoch by the IGG-III robustness optimization method considering satellite geometry, and output the adjusted float solution;

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

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

[0127] It should be noted that the apparatus 40 provided by the above embodiment is only taken as an example to divide the above functions when the Beidou precise dynamic positioning method considering satellite geometry is executed, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the apparatus provided by the above embodiment and the Beidou precise dynamic positioning method considering satellite geometry belong to the same concept, and the implementation process is detailed in the method embodiment, which will not be described here.

[0128] The embodiment of the present application further provides an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the steps of the method of any one of the above embodiments.

[0129] Please refer to Figure 5 The structure block diagram of an electronic device provided by the embodiment of the present application is shown.

[0130] As Figure 5 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 the processor of a physical machine or the processor of a virtual machine. The processor 501 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 501 can be implemented in at least one of the hardware forms of a DSP (Digital Signal Processing), a FPGA (Field-Programmable Gate Array) and a PLA (Programmable Logic Array).

[0132] The processor 501 can also include a main processor and a coprocessor. The main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in a standby state.

[0133] The memory 502 can include one or more computer-readable storage media. The computer-readable storage media can be non-transitory. The memory 502 can also include high-speed random access memory and can include non-volatile memory, such as one or more magnetic disk storage devices, optical storage devices, flash memory devices, or other non-volatile solid-state storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 502 is configured to store at least one instruction for being executed by the processor 501 to implement the method in the embodiments 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 through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 503 through a bus, a signal line or a circuit board. Specifically, the peripheral device includes 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 input / output (I / O) 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. The embodiments of the present application do not make specific limitations in this regard.

[0136] The display screen 504 is used to display a UI. The UI can include graphics, text, icons, video, 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 or above the surface of the display screen 504. The touch signals can be input to the processor 501 as control signals for processing. At this time, the display screen 504 can 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 can be one, arranged on the front panel of the electronic device 500; in some other embodiments of the present application, the display screen 504 can be at least two, arranged on different surfaces of the electronic device 500 or in a folding design; in some other embodiments of the present application, the display screen 504 can be a flexible display screen, arranged on a curved surface or a folding surface of the electronic device 500. Even, the display screen 504 can also be arranged in an irregular shape other than a rectangle, that is, a special-shaped screen. The display screen 504 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0138] The camera 505 is used to capture images or videos. Optionally, the camera 505 includes a front camera and a rear camera. Generally, 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, the rear camera is at least two, which are any one of a main camera, a depth-of-field camera, a wide-angle camera, and a long-focus camera, to realize the background blurring function of the main camera and the depth-of-field camera, the panoramic shooting and VR (Virtual Reality) shooting function of the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments of the present application, the camera 505 can also include a flash. The flash can be a single-color-temperature flash or a dual-color-temperature flash. The dual-color-temperature flash refers to the combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0139] The audio circuit 506 can include a microphone and a speaker. The microphone is used to capture sound waves of the user and the environment, and convert the sound waves into an electrical signal input to the processor 501 for processing. For the purpose of stereo sound collection or reduction, the microphone can be multiple, arranged at different parts of the electronic device 500. The microphone can also be an array microphone or an omnidirectional collection microphone.

[0140] The power supply 507 is used to supply power to each component in the electronic device 500. The power supply 507 can be alternating current, 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 charging battery or a wireless charging battery. The wired charging battery is a battery charged through a wired line, and the wireless charging 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 embodiments of the present application does not constitute a limitation on the electronic device 500, and the electronic device 500 can include more or fewer components than shown, or combine certain components, or use a different arrangement of components.

[0142] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the method of any of the preceding embodiments. The computer readable storage medium can 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 nano system (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0143] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary universal hardware platform, and of course can also be implemented by hardware. Based on such an understanding, the above technical solutions, essentially or in terms of related art, can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

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

Claims

1. A BeiDou precise dynamic positioning method that takes into account satellite geometry, characterized in that, include: Obtain multiple observation values ​​when locating the target at the current epoch, determine the satellite geometry configuration of the satellites corresponding to each observation value, and calculate the satellite weight of the satellites corresponding to each observation value in the satellite geometry configuration; RTK floating-point solution is calculated based on multiple observations. The weight ratio of each observation in the current epoch in the filtering process is adjusted by the IGG-III robust optimization method that takes into account the satellite geometry, and the adjusted floating-point solution is output. All ambiguities are fixed, and a ratio test is performed. If the ratio test passes, the fixed ambiguity solution is output; if the ratio test fails, some ambiguities are fixed based on a preset elimination order, and either the fixed ambiguity solution or the floating-point ambiguity solution is output. The positioning result of the target to be located in the current epoch is output based on the fixed ambiguity solution or the floating-point ambiguity solution. The process of adjusting the weight ratio specifically includes: Obtain the standardized residual corresponding to each observation value obtained by the RTK floating-point solution, and obtain the satellite configuration-weighted standardized residual based on the standardized residual and the satellite weights corresponding to the observation value; The standardized residual is compared with the preservation zone threshold and the rejection zone threshold, and the standardized residual is determined to be located in the preservation zone, the de-weighting zone or the rejection zone based on the comparison results. The standardized residuals weighted by the satellite configuration are compared with the thresholds for the preservation region and the rejection region, respectively. Based on the comparison results, it is determined whether the standardized residuals weighted by the satellite configuration are located in the preservation region, the deweighting region, or the rejection region. The weights of each observation in the current epoch are adjusted in the filtering process based on the result of the standardized residuals of each observation and the standardized residuals weighted by the satellite configuration falling into the preservation zone, deweighting zone, or rejection zone.

2. The BeiDou precise dynamic positioning method considering satellite geometry according to claim 1, characterized in that, Before determining the satellite geometry configuration of multiple satellites corresponding to each observation value, the method further includes: Obtain the signal-to-noise ratio parameter for each observation within the current epoch and the corresponding elevation angle for each satellite; If the elevation angle is less than the elevation angle threshold, or the signal-to-noise ratio parameter is less than the signal-to-noise ratio threshold, then the corresponding observation and satellite are removed, and multiple satellites corresponding to the observation are obtained based on the retained satellites.

3. The BeiDou precise dynamic positioning method considering satellite geometry according to claim 2, characterized in that, The methods for determining the elevation angle threshold and the signal-to-noise ratio threshold include: Obtain the distribution of the signal-to-noise ratio parameter for each observation within the current epoch and the corresponding distribution of the elevation angle for each satellite; The signal-to-noise ratio (SNR) threshold is obtained by selecting a preset proportion of SNR parameter values ​​from the distribution of the SNR parameters, and the elevation angle threshold is obtained by selecting a preset proportion of elevation angle values ​​from the distribution of elevation angles.

4. The BeiDou precise dynamic positioning method considering satellite geometry according to claim 1, characterized in that, The fixation of all ambiguities includes: All ambiguities are fixed based on the LAMBDA method; The process involves performing a ratio test. If the ratio test fails, partial ambiguity is fixed based on a preset elimination order, including: Based on the first elimination order, some ambiguities are fixed. For each observation, if the standardized residual is in the rejection region and the satellite configuration-weighted standardized residual is in the deweighting region, the corresponding observation is eliminated. The remaining ambiguities are fixed based on the LAMBDA method, and a ratio test is performed. If the ratio test is not passed, the second elimination order is executed; otherwise, the ambiguity fixed solution is output. Based on the second elimination order, some ambiguities are fixed, and the ambiguities corresponding to the maximum ambiguity variance are eliminated. The geometric precision attenuation factor after eliminating ambiguities is compared with the preset first geometric precision attenuation factor threshold. If the geometric precision attenuation factor is greater than the first geometric precision attenuation factor threshold, the third elimination order is executed; 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 maximum ambiguity variance is executed; otherwise, the ambiguity fixed solution is output. Based on the third elimination order, partial ambiguity is fixed, and the ambiguity corresponding to the satellite with the smallest contribution to geometric precision attenuation factor is eliminated. If the geometric precision attenuation factor of all remaining ambiguities is greater than the preset second geometric precision attenuation factor threshold, or the number of remaining ambiguities is less than the preset ambiguity number threshold, then the floating-point solution of the ambiguity 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 ambiguity corresponding to the satellite with the smallest contribution to geometric precision attenuation factor is executed; otherwise, the fixed ambiguity solution is output.

5. A BeiDou precise dynamic positioning method considering satellite geometry according to any one of claims 1-4, characterized in that, The satellite weights corresponding to each observation value in the satellite geometry are calculated using the following formula: ； ； ； in, It is the first The observation values ​​corresponding to each satellite for In the satellite geometry configuration consisting of 10 satellites, the 10th satellite is the 10th satellite. The satellite weights corresponding to each satellite for The design matrix of the satellites, This indicates that the trace of the corresponding matrix is ​​calculated.

6. The BeiDou precise dynamic positioning method considering satellite geometry according to claim 1, characterized in that, The adjustment of the weights of each observation in the current epoch during the filtering process using the IGG-III robust optimization method that takes into account satellite geometry includes: For a phase observation, if the standardized residual weighted by the satellite configuration corresponding to the phase observation is greater than the rejection zone threshold, then the phase observation is determined to be in the rejection zone, and the weight of the phase observation is reset to 0. The ambiguity parameters of the phase observations that are in the rejection region for two consecutive epochs are reset, and the weights of the phase observations in the filtering process are redefined.

7. An apparatus for a BeiDou precise dynamic positioning method considering satellite geometry as described in any one of claims 1-6, characterized in that, The device includes: The satellite weighting module is used to acquire multiple observation values ​​when positioning the target at the current epoch, determine the satellite geometry configuration of the satellites corresponding to each observation value, and calculate the satellite weight of the satellites corresponding to each observation value in the satellite geometry configuration. The floating-point solution module is used to perform RTK floating-point solution calculation based on multiple observations. It adjusts the weights of each observation in the current epoch during the filtering process by taking into account the satellite geometry using the IGG-III robust optimization method, and outputs the adjusted floating-point solution. The ambiguity fixing module is used to fix all ambiguities and perform a ratio test. If the ratio test is passed, the ambiguity fixing solution is output; if the ratio test is not passed, some ambiguities are fixed based on a preset elimination order, and the ambiguity fixing solution or ambiguity floating-point solution is output. The positioning module is used to output the positioning result of the target to be positioned in the current epoch based on the fixed ambiguity solution or the floating-point ambiguity solution.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method as described in any one of claims 1 to 6.

9. 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, it implements the steps of the method as described in any one of claims 1 to 6.

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