INS / ODO assistance-based GNSS quality control method and storage medium

Abstract

The invention discloses a GNSS quality control method based on INS / ODO assistance and a storage medium, and the method comprises the steps: firstly carrying out the evaluation processing of a positioning scene where a GNSS receiver is located, and outputting the evaluation scores of the positioning scene of a plurality of indexes; sorting the evaluation scores of the positioning scenes, and recording the positioning scene with the highest evaluation score as a target positioning scene of the GNSS receiver of the current epoch; processing operations of estimating precision, calculating errors and dynamically adjusting the STD value of the GNSS positioning result of the current epoch are executed; according to the method, a large amount of experimental data is widely collected and deeply analyzed, and precision parameters related to the lock losing time and the lock losing distance under the GNSS / INS / ODO integrated navigation lock losing condition are obtained through precise statistics. The precision parameters are used as algorithm input and can be flexibly adjusted according to the precision levels of different inertial modules, so that the adaptability and universality of the system are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite positioning, and particularly relates to a GNSS quality control method and a storage medium based on INS / ODO assistance. Background Art

[0002] In the combined algorithm of the Global Navigation Satellite System (GNSS) and the Inertial Navigation System (INS), the R matrix, as the covariance matrix of the measurement noise, is mainly assigned depending on the posterior variance of the GNSS positioning solution (usually referred to as the standard deviation of the GNSS position solution, Standard Deviation, STD). The R matrix is one of the key factors determining the accuracy of the GNSS / INS combined solution. The STD of the GNSS position solution needs to accurately reflect the true error level of the GNSS position solution to ensure a high consistency with the true error of the position. This problem can also be understood as whether the STD of the GNSS position solution can accurately characterize its error.

[0003] However, due to the influence of various factors, in the processing of existing various GNSS algorithms, the consistency between the STD of the GNSS position solution and the true error is often poor. Especially in an environment with signal occlusion, the STD of the GNSS position solution often cannot accurately reflect its true error level, resulting in the system possibly introducing a GNSS positioning solution with a seemingly small STD but a large actual error, thus seriously affecting the positioning accuracy and reliability of the GNSS / INS combined solution.

[0004] The following gives several representative GNSS quality control methods. For example, the Chinese patent document "A Quality Control Method and Device for Observation Data Based on Consistency" proposes a GNSS observation data quality control method based on consistency. The processing method adopted in the above patent document: first, screen the observation data set to obtain a subset and calculate the first parameter value, then back-substitute to generate residual data, select satellites that meet the preset requirements as samples, and finally calculate the target parameter based on the samples. The samples can also be screened iteratively multiple times, and the satellite elevation angle, signal-to-noise ratio and other information are used to determine the data quality and construct a subset. After simulation and actual experiments, it is verified that this method can effectively resist multiple gross errors, improve the data quality and calculation efficiency, increase the ambiguity fixation rate, and reduce the solution error.

[0005] GNSS positioning quality assessment based on signal characteristics; the GNSS / INS integrated navigation data quality control method proposed in "GNSS / INS Integrated Navigation Data Quality Control Method"; the processing method adopted in the above patent literature: first read GNSS data, extract various statistics such as signal-to-noise ratio and satellite elevation angle, and then determine the weight factor reflecting the observation environment based on these statistics. Subsequently, according to the GNSS positioning mode and weight factor classification, enter the data quality control algorithm to determine the classification threshold of each component of the satellite observation value residual statistic, so as to determine the new GNSS position STD value. Finally, set the threshold according to the actual distribution of the new STD to eliminate gross errors, thereby effectively improving the consistency between the GNSS position solution STD and the position true error and improving the quality of the integrated solution.

[0006] INS-aided GNSS positioning quality assessment, namely "A GNSS Data Processing Method and Device", the processing method adopted in the above patent literature: identify and eliminate GNSS outliers through dead reckoning eigenvalue to improve the quality control level of integrated navigation data. If the target GNSS data is a non-fixed solution, obtain dead reckoning eigenvalues such as dead reckoning position error and lateral error. Input these eigenvalues into the detection model to judge whether the target GNSS data is an outlier. If it is an outlier, control the integrated navigation algorithm not to fuse this data; if not, then perform fusion. This technology utilizes the characteristic of high short-term accuracy of dead reckoning to effectively identify and eliminate GNSS outliers and improve the integrated navigation fusion accuracy.

[0007] In the GNSS / INS integrated navigation system, the actual accuracy of the GNSS positioning result and the STD index it gives are the key factors affecting the stability and reliability of the GNSS / INS integrated navigation result. There are several limitations in current related research: some studies only focus on improving the positioning accuracy of the GNSS system itself, but ignore the adjustment of the STD value; some other studies consider the satellite signal characteristics and positioning mode and adjust the STD value, but due to the lack of other auxiliary information, the reliability of the adjusted value is difficult to determine; there are also some studies that use other means to assist in identifying and eliminating GNSS outliers, but do not conduct more refined and in-depth processing on the GNSS STD value. Summary of the Invention

[0008] The purpose of the present invention is to provide an INS / ODO-aided GNSS quality control method and storage medium, which solve the above technical problems pointed out in the prior art.

[0009] The present invention provides an INS / ODO-aided GNSS quality control method, including the following operating steps:

[0010] Obtain the first parameter information and the second parameter information;

[0011] The first parameter information is GNSS-related attribute parameter information, which includes GNSS positioning accuracy parameters in different positioning scenarios, the theoretical number of visible satellites, the actual number of observed satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio of satellites in different positioning scenarios; the second parameter information is INS / ODO-related attribute parameter information, which includes the integrated navigation position error parameters corresponding to the unlock time and the integrated navigation position error parameters corresponding to the unlock distance.

[0012] Obtain GNSS positioning information; the GNSS positioning information includes positioning time and positioning results, and also includes the theoretical number of visible satellites, the actual number of observed satellites, satellite numbers, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio.

[0013] Perform GNSS positioning scenario evaluation. During specific operations, according to the theoretical number of visible satellites, the actual number of observed satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio, perform evaluation processing on the positioning scenario where the GNSS receiver is located, and output the evaluation scores of the positioning scenarios of multiple indicators.

[0014] Sort the evaluation scores of each positioning scenario, and record the positioning scenario with the highest evaluation score as the target positioning scenario of the GNSS receiver in the current epoch.

[0015] Obtain the positioning status of the target positioning scenario of GNSS in the current epoch; according to the target positioning scenario and positioning status of GNSS in the current epoch, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses as the STD value of the GNSS positioning result in the current epoch; perform processing operations for estimating accuracy, calculating errors, and dynamically adjusting the STD value of the GNSS positioning result in the current epoch.

[0016] Preferably, the step of sorting the evaluation scores of each positioning scenario and recording the positioning scenario with the highest evaluation score as the target positioning scenario of the GNSS receiver in the current epoch specifically includes:

[0017] Match scores according to the actual number of observed satellites and the ratio of the actual number of observed satellites to the theoretical number of visible satellites, based on the RMS value, maximum value, and minimum value in different positioning scenarios.

[0018] Calculate the difference between the actual number of satellites and the ideal number of satellites in the high, medium, and low elevation angle ranges, and match scores based on the RMS value, maximum value, and minimum value of the difference between the actual number of satellites and the ideal number of satellites in the high, medium, and low elevation angle ranges in different positioning scenarios.

[0019] Calculate the difference between the actual number of satellites and the ideal number of satellites in the east, south, west, and north ranges, and match the scores according to the RMS value, maximum value, and minimum value of the difference between the actual number of satellites and the ideal number of satellites in the east, south, west, and north ranges under different positioning scenarios;

[0020] Calculate the RMS value of the signal-to-noise ratio of all visible satellites in the current epoch, and allocate corresponding scores according to the RMS value, maximum value, and minimum value of the signal-to-noise ratio of visible satellites under different positioning scenarios;

[0021] Sort the scores of each positioning scenario, and record the scenario with the highest score as the target positioning scenario of the GNSS receiver in the current epoch.

[0022] Preferably, before obtaining the first parameter information and the second parameter information, data collection and data processing operations are performed on the first parameter information and the second parameter information.

[0023] Preferably, when performing data collection on the first parameter information, plan a sports car experiment route, and various positioning scenarios are included in the sports car experiment route; drive the car for testing according to the planned route, and record the start and end times of each positioning scenario;

[0024] Equip with a high-precision POS system and a GNSS receiver assisted by INS / ODO;

[0025] Sort out the data of multiple road tests. Taking the positioning results output by the high-precision POS system as the reference benchmark, statistically analyze the RMS value of the positioning results, the maximum value of the positioning result error, the RMS value, maximum value, and minimum value of the actual observed number of satellites, the RMS value, maximum value, and minimum value of the ratio of the actual observed number of satellites to the visible number of satellites, the RMS value, maximum value, and minimum value of the difference between the actual number of satellites and the ideal number of satellites in the high, medium, and low altitude angle ranges, the RMS value, maximum value, and minimum value of the difference between the actual number of satellites and the ideal number of satellites in the east, south, west, and north ranges, and the RMS value, maximum value, and minimum value of the signal-to-noise ratio of visible satellites by scenario and positioning status.

[0026] Preferably, when performing data collection on the second parameter information, plan a sports car experiment route and select an open scenario; equip with a high-precision POS system and a GNSS receiver assisted by INS / ODO;

[0027] Drive the car for testing according to the planned route and turn every once in a while; sort out the data of multiple road tests. For each group of road test data, after initializing for 600 s, perform a loss-of-lock simulation, set the loss-of-lock interval to 120 s, and the recovery period to 120 s; during the loss-of-lock period, taking the positioning results output by the high-precision POS system as the reference benchmark, record the north-east-down errors of the integrated navigation positioning according to the loss-of-lock time and loss-of-lock distance respectively, and after summarization, statistically analyze the RMS value and maximum value of the north-east-down of the integrated navigation positioning error corresponding to the loss-of-lock time and loss-of-lock distance respectively;

[0028] Draw curves of the RMS value and the maximum value of the NEU error according to the lock - loss time and the lock - loss distance respectively. According to the trend of the curves, sample key data points to form combined navigation position error parameters corresponding to the lock - loss time and the lock - loss distance. The errors of the lock - loss time and the lock - loss distance at non - sampled key points are obtained by linear interpolation.

[0029] Preferably, the process of performing the estimation accuracy, calculating the error, and dynamically adjusting the STD value of the current epoch GNSS positioning result specifically includes:

[0030] Input the positioning status and GNSS positioning information of the target positioning scenario of the current epoch GNSS;

[0031] According to the positioning scenario and positioning status of the current epoch GNSS, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses as the STD value STD of the current epoch GNSS positioning result GNSS ; The STD value STD of the current epoch GNSS positioning result GNSS is a vector, and the vector includes three elements which are NEU respectively;

[0032] Starting from the last epoch moment t of each positioning status in sequence 0_i , to the lock - loss duration lost_t and the distance lost_d during the lock - loss period at the current GNSS moment t cur , estimate the combined navigation positioning accuracy STD based on the lock - loss time and the combined navigation positioning accuracy at the starting moment respectively according to the combined navigation position error parameters INS_Time and the combined navigation positioning accuracy STD based on the lock - loss distance at the current moment INS_Dist ;

[0033] Calculate the difference dXYZ between the GNSS position and the combined navigation position, and convert it into a vector dNEU in the NEU three - directions;

[0034] According to the GNSS position, obtain the rotation matrix for converting the vector in the ECEF coordinate system to the NEU coordinate system

[0035]

[0036] dNEU is expressed as:

[0037] According to the STD value of the current epoch GNSS positioning result and the estimated accuracy of the combined navigation positioning result, calculate the difference error STD between the GNSS position and the combined navigation position through the error propagation law GNSS_INS ; STD GNSS_INSis the difference error;

[0038]

[0039] wherein, STD GNSS_INS is a vector, and the three elements are north, east, and up respectively;

[0040] Taking the absolute value of the difference conversion vector dNEU between the GNSS position and the integrated navigation position and the estimated difference error STD GNSS_INS as the judgment condition for error adjustment, and according to the judgment condition and the STD value STD of the GNSS positioning result GNSS adjust and process in the three directions of north, east, and up respectively.

[0041] Preferably, according to the judgment condition and the STD value STD of the GNSS positioning result GNSS adjusting in the three directions of north, east, and up respectively includes the following operation steps:

[0042] Obtain the absolute value of the difference conversion vector dNEU between the GNSS position and the integrated navigation position and the difference error STD GNSS_INS ;

[0043] Judge whether the absolute value of the difference conversion vector dNEU between the current GNSS position and the integrated navigation position is less than the difference error STD GNSS_INS ; if so, divide the STD value STD of the current GNSS positioning result GNSS by 2 for output adjustment, that is, adjust it to half of the STD value of the current GNSS positioning result;

[0044] Judge whether the absolute value of the difference conversion vector dNEU between the current GNSS position and the integrated navigation position is greater than 2 times the difference error STD GNSS_INS ; if so, adjust and output the maximum value of the GNSS positioning error in the current GNSS positioning state and positioning scenario; STD GNSS_i_MAX is the maximum value of the GNSS positioning error in the current GNSS positioning state and positioning scenario;

[0045] Judge whether the absolute value of the difference conversion vector dNEU between the current GNSS position and the integrated navigation position is greater than or equal to the difference error STD GNSS_INS and less than or equal to 2 times the difference error STD GNSS_INS ; if so, output the STD value STD of the GNSS positioning result GNSS remains unchanged.

[0046] Preferably, the STD GNSS_i_MAXFor the current GNSS positioning status and positioning scenario, the maximum value of the GNSS positioning error is a vector.

[0047] The present invention provides a storage medium, which includes: a memory, a communication interface, and a processor; the processor is used to execute a computer program to implement the above-mentioned GNSS quality control method assisted by INS / ODO.

[0048] Compared with the prior art, the embodiments of the present invention have at least the following technical advantages:

[0049] Analyzing the above-mentioned GNSS quality control method and storage medium assisted by INS / ODO provided by the present invention, in specific applications, first obtain first parameter information and second parameter information; obtain GNSS positioning information; the GNSS positioning information includes positioning time and positioning result, and also includes the theoretical number of visible satellites, the actual number of observed satellites, satellite numbers, satellite elevation angles, azimuth angles, and signal-to-noise ratios.

[0050] Perform GNSS positioning scenario evaluation. In specific operations, according to the theoretical number of visible satellites, the actual number of observed satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio, perform evaluation processing on the positioning scenario where the GNSS receiver is located, and output the evaluation scores of the positioning scenarios of multiple indicators; sort the evaluation scores of each positioning scenario, and record the positioning scenario with the highest evaluation score as the target positioning scenario of the current epoch GNSS receiver.

[0051] Finally, obtain the positioning status of the target positioning scenario of the current epoch GNSS; according to the target positioning scenario and positioning status of the current epoch GNSS, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses as the STD value of the current epoch GNSS positioning result; perform processing operations for estimating accuracy, calculating errors, and dynamically adjusting the STD value of the current epoch GNSS positioning result.

[0052] The above technical solution adopted in the embodiments of the present invention improves the GNSS positioning quality assessment by introducing INS and ODO, and is particularly applicable to complex environmental scenarios under vehicle-mounted conditions, such as urban canyons, tree-lined roads, under viaducts, etc., which can effectively improve the positioning accuracy and reliability. At the same time, the present invention collects and deeply analyzes a large amount of experimental data, and accurately calculates the accuracy parameters related to the unlocking time and the unlocking distance under the condition of GNSS / INS / ODO combined navigation unlocking. These accuracy parameters are used as algorithm inputs and can be flexibly adjusted according to the accuracy levels of different inertial modules, significantly improving the adaptability and versatility of the system. This method makes full use of the high-precision characteristics of INS and ODO in a short time and is supported by a large amount of statistical data, ensuring the stability and reliability of the GNSS positioning quality assessment, providing a solid technical guarantee for GNSS positioning-based applications, and having important engineering practice value. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 FIG. is a schematic diagram of the main process of a GNSS quality control method assisted by INS / ODO;

[0054] Figure 2 FIG. is a schematic diagram of sorting the evaluation scores of each positioning scenario in a GNSS quality control method assisted by INS / ODO;

[0055] Figure 3 FIG. is a schematic diagram of a process for performing operations such as estimating accuracy, calculating errors, and dynamically adjusting the STD value of the GNSS positioning result of the current epoch in a GNSS quality control method assisted by INS / ODO;

[0056] Figure 4 FIG. is another schematic diagram of a process for performing operations such as estimating accuracy, calculating errors, and dynamically adjusting the STD value of the GNSS positioning result of the current epoch in a GNSS quality control method assisted by INS / ODO. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0059] Embodiment 1

[0060] As Figure 1As shown in the figure, Embodiment 1 of the present invention provides a GNSS quality control method based on INS / ODO assistance, including the following steps:

[0061] Step S10: Obtain first parameter information and second parameter information;

[0062] The first parameter information is attribute parameter information related to GNSS, which includes GNSS positioning accuracy parameters in different positioning scenarios, the theoretical number of visible satellites, the actual number of observed satellites, satellite elevation angle, azimuth angle, and signal-to-noise ratio of satellites in different positioning scenarios; the second parameter information is attribute parameter information related to the INS / ODO, which includes combined navigation position error parameters corresponding to the lock loss time and combined navigation position error parameters corresponding to the lock loss distance;

[0063] Step S20: Obtain GNSS positioning information; the GNSS positioning information includes positioning time and positioning result, and also includes the theoretical number of visible satellites, the actual number of observed satellites, satellite numbers, satellite elevation angle, azimuth angle, and signal-to-noise ratio; the above GNSS positioning information not only has positioning time and positioning result, but also includes information such as the theoretical number of visible satellites, the actual number of observed satellites, satellite numbers, satellite elevation angle, azimuth angle, and signal-to-noise ratio; based on the theoretical number of visible satellites, the actual number of observed satellites, satellite elevation angle, azimuth angle, signal-to-noise ratio, etc., it is used for the evaluation of the scene where the GNSS receiver is located;

[0064] Step S30: Perform GNSS positioning scene evaluation. During specific operation, according to the theoretical number of visible satellites, the actual number of observed satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio, perform evaluation processing on the positioning scene where the GNSS receiver is located, and output the evaluation scores of the positioning scene of multiple indicators;

[0065] Sort the evaluation scores of each positioning scene, and record the positioning scene with the highest evaluation score as the target positioning scene of the GNSS receiver at the current epoch;

[0066] Step S40: Obtain the positioning status of the target positioning scene of GNSS at the current epoch; according to the target positioning scene and positioning status of GNSS at the current epoch, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenes and different positioning statuses as the STD value of the GNSS positioning result at the current epoch; perform processing operations for estimating accuracy, calculating errors, and dynamically adjusting the STD value of the GNSS positioning result at the current epoch.

[0067] The present invention proposes a GNSS quality control method assisted by INS / ODO, which uses INS and ODO to assist in the control of GNSS positioning quality, mainly including the following aspects: 1. Statistically analyze the actual accuracy RMS of GNSS positioning results in different positioning scenarios and different positioning states; 2. Select sections with better signals and artificially create signal loss at regular intervals, and statistically analyze the corresponding relationships between the signal loss time, signal loss distance, and integrated navigation positioning error; 3. Identify the current scenario based on the number of satellites, elevation angle, signal-to-noise ratio, GNSS positioning state, etc. within a certain period of time; 4. Determine the new GNSS position STD value based on the GNSS positioning state, statistically analyzed GNSS positioning accuracy, corresponding parameters of signal loss time and integrated navigation positioning error, corresponding parameters of signal loss distance and integrated navigation positioning error, GNSS scenario identification situation, and the difference between the current GNSS positioning and integrated navigation positioning results.

[0068] The complete flowchart of the method described in the embodiment of the present invention is as Figure 1 shown.

[0069] Initialize the necessary parameters for processing, including GNSS positioning accuracy parameters in different positioning scenarios and different positioning states, integrated navigation position error parameters corresponding to signal loss time, integrated navigation position error parameters corresponding to signal loss distance, etc. These parameters directly affect the quality control effect.

[0070] Obtain GNSS positioning information, including positioning results, theoretical visible satellite number, actual observed satellite number, satellite elevation angle, azimuth angle, and signal-to-noise ratio, etc. Assign scores to different positioning scenarios based on the distribution of theoretical visible satellite number, actual observed satellite number, satellite elevation angle, azimuth angle, and signal-to-noise ratio. After sorting the scores of each scenario, determine the scenario with the highest score.

[0071] Estimate the STD value of the GNSS positioning result according to the positioning scenario, positioning state, and accuracy parameters, and then estimate the accuracy of the integrated navigation positioning result according to the signal loss error parameters. Evaluate the decomposed difference error based on the STD value and the integrated navigation estimated accuracy, and dynamically adjust the STD value of the GNSS positioning result to reflect the true level of the current positioning quality.

[0072] Refer to Figure 1 , the specific implementation steps of the present invention are as follows:

[0073] Step S10, obtain the first parameter information and the second parameter information; the first parameter information is attribute parameter information related to GNSS, which includes GNSS positioning accuracy parameters in different positioning scenarios, the theoretical number of visible satellites, the actual number of observed satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio of satellites in different positioning scenarios; the second parameter information is attribute parameter information related to the INS / ODO, which includes the integrated navigation position error parameters corresponding to the unlocking time and the integrated navigation position error parameters corresponding to the unlocking distance.

[0074] The first parameter information and the second parameter information that need to be obtained in advance, that is, it includes two major categories, attribute parameter information related to GNSS and attribute parameter information related to INS / ODO. Among them, the attribute parameter information related to GNSS includes the distribution of GNSS positioning accuracy parameters in different positioning scenarios (high-speed roads, urban expressways, urban canyons, single-sided tree-lined roads, double-sided tree-lined roads, under flyovers, etc.) and different positioning states (RTK fixed solution, RTK float solution, pseudorange differential, single-point positioning), the theoretical number of visible satellites, the actual number of observed satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio of satellites in different positioning scenarios. The parameters related to INS / ODO are the integrated navigation position error parameters corresponding to the unlocking time and the integrated navigation position error parameters corresponding to the unlocking distance.

[0075] The acquisition of the above first parameter information and second parameter information mainly includes two parts: data acquisition and data processing. When collecting data, a high-precision POS system needs to be equipped as a reference benchmark.

[0076] That is, before obtaining the first parameter information and the second parameter information, it includes performing data acquisition and data processing operations on the first parameter information and the second parameter information.

[0077] Step S11, the acquisition process of the first parameter information related to GNSS is as follows:

[0078] Plan a sports car experiment route, and the route includes various scenarios, such as: high-speed roads, urban expressways, urban canyons, single-sided tree-lined roads, double-sided tree-lined roads, under flyovers, etc.;

[0079] Install the reference equipment (high-precision POS system) and the experimental equipment (GNSS receiver assisted by INS / ODO, and try to have as many equipment as possible, and collect multiple data samples in one experiment). Measure the lever arm value parameter between the high-precision inertial navigation and the GNSS antenna, which is used to convert the POS position to the GNSS antenna position.

[0080] Conduct a sports car test according to the planned route, and record the start and end times of each scenario, which is convenient for subsequent statistical analysis of each parameter by scenario. The number of sports car runs is based on the statistical characteristics that can reflect the GNSS positioning accuracy of each scenario and each positioning state.

[0081] Sort out the multi - time road test data. Taking the positioning results output by the high - precision POS system as the reference benchmark, statistically analyze the RMS value of the positioning results, the maximum value of the positioning result error, the RMS value of the actual observed satellite number, the maximum and minimum values, the RMS value, the maximum and minimum values of the ratio of the actual observed satellite number to the visible satellite number, the RMS value, the maximum and minimum values of the difference between the actual satellite number and the ideal satellite number in the high, medium, and low altitude angle ranges, the RMS value, the maximum and minimum values of the difference between the actual satellite number and the ideal satellite number in the east, south, west, and north ranges, and the RMS value, the maximum and minimum values of the signal - to - noise ratio of the visible satellites by scenario and positioning status.

[0082] Step S12. The process for obtaining the second parameter information related to INS / ODO is as follows:

[0083] Plan the sports car experiment route, select an open - space scenario, a road section similar to a chessboard grid with multiple mutually perpendicular routes;

[0084] Install the reference equipment (high - precision POS system) and the experimental equipment (INS / ODO - assisted GNSS receiver, with as many equipment as possible, and collect multiple data samples in one experiment). Measure the lever - arm value parameter between the high - precision inertial navigation and the GNSS antenna for converting the POS position to the GNSS antenna position.

[0085] Conduct road tests according to the planned route. Note that the vehicle speed should be kept stable during the road test. Turn at regular intervals, alternating between left and right turns as much as possible to make the driving distances in the two perpendicular directions close. The number of sports car runs should be based on the standard of reflecting the statistical characteristics of the integrated navigation positioning error under the signal - loss condition.

[0086] Sort out the multi - time road test data. For each group of road test data, after 600 s of initialization, conduct signal - loss simulation with a signal - loss interval of 120 s and a recovery period of 120 s. During the signal - loss period, taking the positioning results output by the high - precision POS system as the reference benchmark, record the north - east - down errors of the integrated navigation positioning according to the signal - loss time and signal - loss distance respectively. After summarization, statistically analyze the north - east - down RMS values and maximum values of the integrated navigation positioning errors corresponding to the signal - loss time and signal - loss distance respectively.

[0087] Draw the curve graphs of the RMS values and maximum values of the north - east - down errors according to the signal - loss time and signal - loss distance respectively. According to the trend of the curves, sample the key data points to form the integrated navigation position error parameters corresponding to the signal - loss time and signal - loss distance. Obtain the errors of the non - sampled key - point signal - loss time and signal - loss distance by linear interpolation.

[0088] See Figure 2, sorting the evaluation scores of each of the positioning scenarios, and designating the positioning scenario with the highest evaluation score as the target positioning scenario of the current epoch GNSS receiver, specifically including:

[0089] S301. According to the actual number of observed satellites and the ratio of the actual number of observed satellites to the theoretically visible satellites, match scores based on the RMS value, maximum value, and minimum value under different positioning scenarios; the score closest to the RMS value is the highest, and interpolation is performed proportionally between the maximum and minimum values, with values outside the range being 0.

[0090] The score matching formula is as follows:

[0091]

[0092] Among them, Cal is the calculated value, RMS, Max, and Min are parameters obtained in advance, and S is the matched score. The subsequent score matching method is the same as above.

[0093] S302. Calculate the difference between the actual number of satellites and the ideal number of satellites in the high, medium, and low elevation angle ranges, and match scores based on the RMS value, maximum value, and minimum value of the difference between the actual number of satellites and the ideal number of satellites in the high, medium, and low elevation angle ranges under different positioning scenarios;

[0094] S303. Calculate the difference between the actual number of satellites and the ideal number of satellites in the east, south, west, and north ranges, and match scores based on the RMS value, maximum value, and minimum value of the difference between the actual number of satellites and the ideal number of satellites in the east, south, west, and north ranges under different positioning scenarios;

[0095] S304. Calculate the RMS value of the signal-to-noise ratio of all visible satellites in the current epoch, and allocate corresponding scores based on the RMS value, maximum value, and minimum value of the signal-to-noise ratio of visible satellites under different positioning scenarios;

[0096] S305. Sort the scores of each positioning scenario, and designate the scenario with the highest score as the target positioning scenario of the current epoch GNSS receiver.

[0097] During the execution of S40; obtain the positioning status of the target positioning scenario of the current epoch GNSS; according to the target positioning scenario and positioning status of the current epoch GNSS, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses as the STD value of the current epoch GNSS positioning result; perform processing operations for estimating accuracy, calculating errors, and dynamically adjusting the STD value of the current epoch GNSS positioning result.

[0098] See Figure 3 , the processing operations for estimating accuracy, calculating errors, and dynamically adjusting the STD value of the current epoch GNSS positioning result specifically include:

[0099] S401. Input the positioning status and GNSS positioning information of the target positioning scenario of the current epoch GNSS;

[0100] S402. According to the positioning scenario and positioning status of the current epoch GNSS, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses as the STD value STD of the current epoch GNSS positioning result GNSS ; The STD value STD of the current epoch GNSS positioning result GNSS is a vector, and the three elements of the vector are north, east, and up respectively;

[0101] S403. Starting from the last epoch moment of each positioning status in sequence for t 0_i , to the current GNSS moment t cur , calculate the duration lost_t of signal loss and the distance lost_d of the signal loss period, and estimate the integrated navigation positioning accuracy STD based on the signal loss time and the integrated navigation positioning accuracy at the starting moment respectively for the current moment INS_Time and the integrated navigation positioning accuracy STD based on the signal loss distance for the current moment INS_Dist ;

[0102] S404. Calculate the difference dXYZ between the GNSS position and the integrated navigation position, and convert it into a vector dNEU in the three directions of north, east, and up;

[0103] Obtain the rotation matrix for converting the vector in the ECEF coordinate system to the NEU coordinate system according to the GNSS position

[0104]

[0105] dNEU is expressed as:

[0106] S405. According to the STD value of the current epoch GNSS positioning result and the estimated accuracy of the integrated navigation positioning result, calculate the difference error STD between the GNSS position and the integrated navigation position through the error propagation law GNSS_INS ; STD GNSS_INS is the difference error;

[0107]

[0108] Among them, STD GNSS_INS is a vector, and the three elements are north, east, and up respectively;

[0109] S406. Use the absolute value of the difference conversion vector dNEU between the GNSS position and the integrated navigation position and the estimated difference error STD GNSS_INSAs the judgment condition for error adjustment, according to the judgment condition and the STD value STD of the GNSS positioning result GNSS Adjust and process in the three directions of north, east, and sky respectively.

[0110] The above steps are executed with reference to the figure. By dynamically adjusting the error estimation of the GNSS positioning result, the reliability of the positioning result is improved.

[0111] The above GNSS positioning quality control process can also be referred to Figure 4 . Refer to Figure 4 ;(1) According to the positioning scenario and positioning status of the current epoch GNSS, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses as the STD value STD of the current epoch GNSS positioning result GNSS , STD GNSS is a vector, and the three elements are north, east, and sky respectively.

[0112] (2) Starting from the last epoch moment of each positioning status in turn, calculate t 0_i , to the lost lock duration lost_t and the distance lost_d of the lost lock period from the current GNSS moment t cur . Estimate the integrated navigation positioning accuracy STD based on the lost lock time and lost lock distance at the current moment according to the integrated navigation position error parameter and the integrated navigation positioning accuracy at the starting moment INS_Time and STD INS_Dist .

[0113] Taking the estimation of STD INS_Time as an example, assume that the error parameters of the integrated navigation represented by the lost lock time are as follows:

[0114]

[0115] STD INS_Time The estimation of is calculated according to the following formula:

[0116]

[0117] STD INS_Dist The estimation method of is similar to that of STD INS_Time .

[0118] The integrated navigation positioning accuracy STD of each positioning status INS_i takes the value according to the following formula:

[0119] STD INS_i = MIN(STD INS_Time , STD INS_Dist )

[0120] Finally, the integrated navigation positioning accuracy STD at the current moment INSTake values according to the following formula:

[0121] STD INS = MIN(STD INS_0 , STD INS_1 , STD INS_2 , STD INS_3 )

[0122] Wherein, STD INS_Time , STD INS_Dist , STD INS_i and STD INS are all vectors, and the three elements are north, east, and up respectively. The value of i is 0, 1, 2, 3. 0 represents the RTK fixed solution, 1 represents the RTK floating solution, 2 represents the pseudorange difference solution, and 3 represents the single point positioning solution.

[0123] (3) Calculate the difference dXYZ between the GNSS position and the integrated navigation position, and convert it into a vector dNEU in the north, east, and up directions.

[0124] According to the GNSS position, the rotation matrix for converting the vector in the ECEF coordinate system to the NEU coordinate system can be obtained

[0125]

[0126] Then dNEU can be expressed as:

[0127] (4) Based on the STD value of the GNSS positioning result and the estimated accuracy of the integrated navigation positioning result, calculate the error STD of the difference between the GNSS position and the integrated navigation position through the error propagation law GNSS_INS .

[0128]

[0129] Wherein, STD GNSS_INS is a vector, and the three elements are north, east, and up respectively.

[0130] (5) Using the absolute value of the difference dNEU between the GNSS and the integrated navigation position and the estimated difference error STD GNSS_INS as the judgment condition for error adjustment, the STD value STD GNSS of the GNSS positioning result is adjusted in the three directions of north, east, and up respectively. The method is shown in the following formula:

[0131]

[0132] If STD GNSS_INS ≤ |dNEU| ≤ 2 · STD GNSS_INS , STD GNSS remains unchanged.

[0133] Among them, STD GNSS_i_MAX is the maximum value of the GNSS positioning error under the current GNSS positioning status and positioning scenario, and is a vector.

[0134] The STD value STD of the GNSS positioning result according to the judgment condition GNSS is adjusted in the three directions of north, east, and sky respectively, including the following operation steps:

[0135] Obtain the absolute value of the difference conversion vector dNEU between the GNSS position and the integrated navigation position and the difference error STD GNSS_INS ;

[0136] Judge whether the absolute value of the difference conversion vector dNEU between the current GNSS position and the integrated navigation position is less than the difference error STD GNSS_INS ; If yes, adjust the output of the STD value STD of the current GNSS positioning result GNSS by dividing it by 2, that is, adjusting it to half of the STD value of the current GNSS positioning result;

[0137] Judge whether the absolute value of the difference conversion vector dNEU between the current GNSS position and the integrated navigation position is greater than 2 times the difference error STD GNSS_INS ; If yes, adjust and output the maximum value of the GNSS positioning error under the current GNSS positioning status and positioning scenario; STD GNSS_i_MAX is the maximum value of the GNSS positioning error under the current GNSS positioning status and positioning scenario;

[0138] Judge whether the absolute value of the difference conversion vector dNEU between the current GNSS position and the integrated navigation position is greater than or equal to the difference error STD GNSS_INS and less than or equal to 2 times the difference error STD GNSS_INS ; If yes, output the STD value STD of the GNSS positioning result GNSS remain unchanged.

[0139] Embodiment 2

[0140] On the other hand, based on a GNSS quality control method assisted by INS / ODO provided in Embodiment 1 of the invention, Embodiment 2 of the present invention further provides a computer storage medium (referred to as a storage medium), which includes:

[0141] A memory for storing computer programs; a communication interface for connecting the memory to the processor; a processor for executing the computer programs to implement an INS / ODO-assisted GNSS quality control method disclosed in any of the above embodiments in combination.

[0142] In summary, an INS / ODO-assisted GNSS quality control method and a storage medium proposed in the embodiments of the present invention dynamically adjust the error estimation of GNSS positioning results based on parameters such as RMS values and extreme values statistically obtained from a large amount of experimental data. By fusing the position difference between GNSS and integrated navigation and its error propagation calculation, intelligent correction of the error threshold (such as segmentally adjusting the STD value) is achieved, enhancing the self-adaptability of quality control. Through multi-dimensional parameter matching (number of satellites, elevation angle, signal-to-noise ratio, etc.) in different scenarios and positioning states, combined with high-precision POS benchmark verification, this technical solution realizes a comprehensive improvement in the accuracy, robustness, and adaptability of the positioning system in complex vehicle environments through environment perception, dynamic error modeling, and data analysis.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; those of ordinary skill in the art can modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A GNSS quality control method assisted by INS / ODO, characterized in that, It includes the following operating steps: Obtain the first parameter information and the second parameter information; The first parameter information is attribute parameter information related to GNSS, which includes GNSS positioning accuracy parameters in different positioning scenarios, the theoretical number of visible satellites of satellites in different positioning scenarios, the actual number of observed satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio; The second parameter information is attribute parameter information related to the INS / ODO, which includes the integrated navigation position error parameter corresponding to the lock loss time and the integrated navigation position error parameter corresponding to the lock loss distance; Obtain GNSS positioning information; The GNSS positioning information includes the positioning time and the positioning result, and also includes the theoretical number of visible satellites, the actual number of observed satellites, the satellite number, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio; Perform GNSS positioning scenario evaluation. During specific operations, according to the theoretical number of visible satellites, the actual number of observed satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio, perform evaluation processing on the positioning scenario where the GNSS receiver is located, and output the evaluation scores of the positioning scenarios of multiple indicators; Sort the evaluation scores of each positioning scenario, and record the positioning scenario with the highest evaluation score as the target positioning scenario of the GNSS receiver in the current epoch; Obtain the positioning status of the target positioning scenario of GNSS in the current epoch; according to the target positioning scenario and the positioning status of GNSS in the current epoch, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses as the STD value of the GNSS positioning result in the current epoch; perform processing operations such as estimating accuracy, calculating errors, and dynamically adjusting the STD value of the GNSS positioning result in the current epoch.

2. The GNSS quality control method based on INS / ODO assistance according to claim 1, wherein The sorting of the evaluation scores of each positioning scenario and recording the positioning scenario with the highest evaluation score as the target positioning scenario of the GNSS receiver in the current epoch specifically includes: Match scores according to the actual number of observed satellites and the ratio of the actual number of observed satellites to the theoretical number of visible satellites, based on the RMS value, maximum value, and minimum value in different positioning scenarios; Calculate the difference between the actual number of satellites and the ideal number of satellites in the high, medium, and low elevation angle ranges, and match scores based on the RMS value, maximum value, and minimum value of the difference between the actual number of satellites and the ideal number of satellites in the high, medium, and low elevation angle ranges in different positioning scenarios; Calculate the difference between the actual number of satellites and the ideal number of satellites in the east, south, west, and north ranges, and match scores based on the RMS value, maximum value, and minimum value of the difference between the actual number of satellites and the ideal number of satellites in the east, south, west, and north ranges in different positioning scenarios; Calculate the RMS value of the signal-to-noise ratio of all visible satellites in the current epoch, and allocate corresponding scores based on the RMS value, maximum value, and minimum value of the signal-to-noise ratio of visible satellites in different positioning scenarios; Sort the scores of each positioning scenario, and record the scenario with the highest score as the target positioning scenario of the GNSS receiver in the current epoch.

3. The GNSS quality control method based on INS / ODO assistance according to claim 2, wherein, Before obtaining the first parameter information and the second parameter information, it includes performing data collection and data processing operations on the first parameter information and the second parameter information.

4. A GNSS quality control method based on INS / ODO assistance according to claim 3, characterized in that, When performing data acquisition on the first parameter information, plan a sports car experiment route, which includes various positioning scenarios; drive the sports car for testing according to the planned route, and record the start and end times of each positioning scenario; Equip with a high-precision POS system and a GNSS receiver assisted by INS / ODO; Sort out the data of multiple road tests. Taking the positioning results output by the high-precision POS system as the reference benchmark, statistically analyze the RMS value of the positioning results, the maximum value of the positioning result error, the RMS value of the actual observed satellite number, the maximum and minimum values, the RMS value, the maximum and minimum values of the ratio of the actual observed satellite number to the visible satellite number, the RMS value, the maximum and minimum values of the difference between the actual satellite number and the ideal satellite number in the high, medium and low altitude angle ranges, the RMS value, the maximum and minimum values of the difference between the actual satellite number and the ideal satellite number in the east, south, west and north ranges, and the RMS value, the maximum and minimum values of the signal-to-noise ratio of the visible satellites for each positioning scenario and positioning status.

5. A GNSS quality control method based on INS / ODO assistance according to claim 4, characterized in that, When performing data acquisition on the second parameter information, plan a sports car experiment route and select an open scenario; Equip with a high-precision POS system and a GNSS receiver assisted by INS / ODO; Drive the sports car for testing according to the planned route and turn at regular intervals; Sort out the data of multiple road tests. For each group of road test data, after initializing for 600 s, perform a loss-of-lock simulation, set the loss-of-lock interval to 120 s, and the recovery period to 120 s; during the loss-of-lock period, taking the positioning results output by the high-precision POS system as the reference benchmark, record the north-east-down errors of the integrated navigation positioning according to the loss-of-lock time and the loss-of-lock distance respectively, and after summarization, statistically analyze the RMS values and the maximum values of the north-east-down errors of the integrated navigation positioning corresponding to the loss-of-lock time and the loss-of-lock distance respectively; Draw the curves of the RMS values and the maximum values of the north-east-down errors according to the loss-of-lock time and the loss-of-lock distance respectively. According to the trend of the curves, sample the key data points to form the integrated navigation position error parameters corresponding to the loss-of-lock time and the loss-of-lock distance, and obtain the errors of the non-sampled key-point loss-of-lock time and the loss-of-lock distance by linear interpolation.

6. A GNSS quality control method based on INS / ODO assistance according to claim 1, characterized in that The processing operation of performing the estimation accuracy, calculating the error, and dynamically adjusting the STD value of the current epoch GNSS positioning result specifically includes: Input the positioning status and GNSS positioning information of the target positioning scenario of the current epoch GNSS; According to the positioning scenario and positioning status of GNSS in the current epoch, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses as the STD value STD of the GNSS positioning result in the current epoch GNSS ; The STD value STD of the GNSS positioning result in the current epoch GNSS is a vector, and the vector includes three elements, namely north, east, and up; Starting from the last epoch of each positioning state in sequence, calculate t 0_i , until the current GNSS time t cur The duration of signal loss lost_t and the distance of the signal loss period lost_d from the starting time are used to estimate the integrated navigation positioning accuracy STD based on the signal loss time at the current time and the integrated navigation positioning accuracy STD based on the signal loss distance at the current time respectively according to the integrated navigation position error parameter and the integrated navigation positioning accuracy at the starting time INS_Time ; INS_Dist ; Calculate the difference dXYZ between the GNSS position and the integrated navigation position, and convert it into a vector dNEU in the three directions of north, east and down; The rotation matrix for converting the vector in the ECEF coordinate system obtained from the GNSS position to the NEU coordinate system dNEU is expressed as: According to the STD value of the current epoch GNSS positioning result and the estimated accuracy of the integrated navigation positioning result, the STD of the difference error between the GNSS position and the integrated navigation position is calculated through the error propagation law GNSS_INS ; STD GNSS_INS is the difference error; Among them, STD GNSS_INS is a vector, and its three elements are north-east-up respectively; The absolute value of the difference conversion vector dNEU between the GNSS position and the integrated navigation position and the estimated difference error STD GNSS_INS As the judgment condition for error adjustment, according to the judgment condition and the STD value STD of the GNSS positioning result GNSS Adjust and process in the three directions of north, east, and up respectively.

7. A GNSS quality control method based on INS / ODO assistance according to claim 6, characterized in that, The STD value STD of the GNSS positioning result according to the judgment condition GNSS Adjust in the three directions of north, east, and sky respectively, including the following operation steps: Obtain the absolute value of the difference transformation vector dNEU between the GNSS position and the integrated navigation position and the difference error STD GNSS_INS ; Determine whether the absolute value of the difference transformation vector dNEU between the current GNSS position and the integrated navigation position is less than the difference error STD GNSS_INS ; if yes, output-adjust the STD value STD of the current GNSS positioning result GNSS by dividing it by 2, that is, adjust it to half of the STD value of the current GNSS positioning result; Determine whether the absolute value of the difference conversion vector dNEU between the current GNSS position and the integrated navigation position is greater than twice the difference error STD GNSS_INS ; if yes, adjust and output the maximum value of the GNSS positioning error in the current GNSS positioning state and positioning scenario; STD GNSS_i_MAX is the maximum value of the GNSS positioning error in the current GNSS positioning state and positioning scenario; Determine whether the absolute value of the differential transformation vector dNEU between the current GNSS position and the integrated navigation position is greater than or equal to the differential error STD GNSS_INS and less than or equal to 2 times the differential error STD GNSS_INS ; If it is yes, output the STD value STD of the GNSS positioning result GNSS Remain unchanged.

8. A GNSS quality control method based on INS / ODO assistance according to claim 7, characterized in that, The STD GNSS_i_MAX is a vector representing the maximum value of the GNSS positioning error under the current GNSS positioning status and positioning scenario.

9. A storage medium, characterized in that, The storage medium includes: a memory, a communication interface and a processor; the processor is used to execute a computer program to implement a GNSS quality control method based on INS / ODO assistance as described in any one of claims 1-8 above.

Images