A GNSS quality control method based on INS / ODO assistance and a storage medium

Abstract

The application discloses a GNSS quality control method based on INS / ODO assistance and a storage medium. First, an evaluation process of a positioning scene in which a GNSS receiver is located is performed, and evaluation scores of the positioning scene of multiple indexes are output. The evaluation scores of each positioning scene are sorted, and the positioning scene with the highest evaluation score is recorded as a target positioning scene of the GNSS receiver at a current epoch. A processing operation of estimating accuracy, calculating error and dynamically adjusting the STD value of the GNSS positioning result at the current epoch is performed. The above method collects and deeply analyzes a large amount of experimental data, and accurately counts precision parameters related to lock loss time and lock loss distance under the condition that the GNSS / INS / ODO combined navigation is lost. The precision parameters are used as algorithm inputs, and can be flexibly adjusted according to the precision level of different inertial modules, so that the adaptability and universality of the system are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of satellite positioning technology, and in particular to a GNSS quality control method and storage medium based on INS / ODO assistance. Background Technology

[0002] In the combined algorithm of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS), the R matrix, as the covariance matrix of measurement noise, is primarily determined by the posterior variance of the GNSS positioning solution (commonly referred to as the standard deviation, STD, of the GNSS position solution). 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, ensuring a high degree of consistency with the true position error. This issue can also be understood as whether the STD of the GNSS position solution can accurately characterize its error.

[0003] However, due to various factors, the consistency between the STD of the GNSS position solution and the actual error is often poor in existing GNSS algorithms. Especially in signal-obstructed environments, the STD of the GNSS position solution often fails to accurately reflect its true error level. This can lead to the introduction of GNSS positioning solutions with seemingly small STDs but actually large errors, severely impacting the positioning accuracy and reliability of the GNSS / INS combined solution.

[0004] Several representative GNSS quality control methods are presented below. For example, the Chinese patent document "A Quality Control Method and Device for Consistent Observation Data" proposes a consistency-based GNSS observation data quality control method. The processing method used in the aforementioned patent document involves: first, filtering the observation data set to obtain a subset and calculating the first parameter value; then, back-substituting to generate residual data; selecting satellites that meet preset requirements as samples; and finally, calculating the target parameters based on the samples. Multiple iterations of sample filtering can be performed, using information such as satellite elevation angle and signal-to-noise ratio to determine data quality and construct subsets. Simulation and actual experiments have verified that this method can effectively resist multiple gross errors, improve data quality and computational efficiency, increase ambiguity fixation rate, and reduce solution errors.

[0005] GNSS positioning quality assessment based on signal characteristics; GNSS / INS integrated navigation data quality control method proposed in "GNSS / INS Integrated Navigation Data Quality Control Method"; the processing method used in the aforementioned patent literature: first, GNSS data is read, and various statistical quantities such as signal-to-noise ratio and satellite elevation angle are extracted. Then, weighting factors reflecting the observation environment are determined based on these statistical quantities. Subsequently, the data quality control algorithm is entered according to the GNSS positioning mode and weighting factor classification to determine the classification threshold of each component of the satellite observation residual statistics, thereby determining the new GNSS position STD value. Finally, a threshold is set 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 actual position error, and improving the quality of the integrated solution.

[0006] The INS-assisted GNSS positioning quality assessment, specifically the "GNSS Data Processing Method and Apparatus" patent document, employs a method that identifies and eliminates GNSS outliers using dead reckoning feature values, thereby improving the quality control level of integrated navigation data. If the target GNSS data is a non-fixed solution, dead reckoning feature values, such as dead reckoning position error and lateral error, are obtained. These feature values ​​are then input into a detection model to determine whether the target GNSS data is an outlier. If it is an outlier, the integrated navigation algorithm is prevented from fusing the data; otherwise, fusion is performed. This technology leverages the high short-term accuracy of dead reckoning to effectively identify and eliminate GNSS outliers, thus improving the accuracy of integrated navigation fusion.

[0007] In GNSS / INS integrated navigation systems, the actual accuracy of GNSS positioning results and the given STD index are key factors affecting the stability and reliability of GNSS / INS integrated navigation results. Current research has several limitations: some studies focus solely on improving the positioning accuracy of the GNSS system itself, neglecting the adjustment of STD values; others consider satellite signal characteristics and positioning modes and adjust STD values, but due to a lack of other auxiliary information, the reliability of the adjusted values ​​is difficult to determine; still others use other methods to help identify and eliminate GNSS outliers, but have not conducted more refined and in-depth processing of GNSS STD values. Summary of the Invention

[0008] The purpose of this invention is to provide a GNSS quality control method and storage medium based on INS / ODO assistance, which solves the above-mentioned technical problems pointed out in the prior art.

[0009] This invention provides a GNSS quality control method based on INS / ODO assistance, comprising the following steps:

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

[0011] The first parameter information is attribute parameter information related to GNSS, which includes GNSS positioning accuracy parameters under 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 under different positioning scenarios; the second parameter information is attribute parameter information related to the INS / ODO, which includes the integrated navigation position error parameter corresponding to the time of loss of lock and the integrated navigation position error parameter corresponding to the distance of loss of lock.

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

[0013] The GNSS positioning scene evaluation is performed. In specific operations, the theoretically visible number of satellites, the actual observed number of satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio are used to perform evaluation processing on the positioning scene where the GNSS receiver is located, and output the evaluation score of the positioning scene for multiple indicators.

[0014] The evaluation scores of each positioning scenario are sorted, and the positioning scenario with the highest evaluation score is recorded as the target positioning scenario of the GNSS receiver in the current epoch.

[0015] Obtain the positioning status of the target positioning scene in the current epoch of GNSS; based on the target positioning scene and positioning status of the target positioning scene in the current epoch of GNSS, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenes and different positioning statuses, and use it as the STD value of the GNSS positioning result in the current epoch; perform processing operations such as estimating accuracy, calculating error, and dynamically adjusting the STD value of the GNSS positioning result in the current epoch of GNSS.

[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] The score is matched based on the actual number of observed satellites and the ratio of the actual number of observed satellites to the theoretical number of visible satellites, according to the RMS value, maximum value and minimum value under different positioning scenarios.

[0018] Calculate the difference between the actual number of satellites and the ideal number of satellites within the high, medium and low elevation angle ranges, and match the score 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 within the high, medium and low elevation angle ranges under different positioning scenarios;

[0019] Calculate the difference between the actual number of satellites and the ideal number of satellites in the four cardinal directions. Match the score 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 four cardinal directions under different positioning scenarios.

[0020] Calculate the RMS value of the signal-to-noise ratio of all visible satellites in the current epoch, and assign 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;

[0021] The scores of each positioning scenario are sorted, and the scenario with the highest score is recorded as the target positioning scenario of the GNSS receiver in the current epoch.

[0022] Preferably, the process of acquiring the first parameter information and the second parameter information includes performing data acquisition and data processing operations on the first parameter information and the second parameter information before acquiring the first parameter information and the second parameter information.

[0023] Preferably, when collecting data on the first parameter information, a test route for the sports car is planned, which includes various positioning scenarios; the sports car is tested according to the planned route, and the start and end times of each positioning scenario are recorded.

[0024] A GNSS receiver equipped with a high-precision POS system and INS / ODO assistance;

[0025] Data from multiple road tests were compiled, using the positioning results output by the high-precision POS system as a reference. The following statistics were collected for different scenarios and positioning states: RMS value of positioning results, maximum value of positioning result error, RMS value of actual observed satellites, maximum and minimum values, RMS value of the ratio of actual observed satellites to visible satellites, maximum and minimum values, RMS value of the difference between actual and ideal satellites in high, medium and low elevation angle ranges, maximum and minimum values, RMS value of the difference between actual and ideal satellites in the east, west, south and north ranges, maximum and minimum values, and RMS value of visible satellite signal-to-noise ratio.

[0026] Preferably, when collecting data on the second parameter information, the test route for the sports car is planned, and an open scene is selected; a high-precision POS system and an INS / ODO-assisted GNSS receiver are used.

[0027] The test vehicle was driven along the planned route, turning at intervals. Multiple road test data were collected. For each set of road test data, after initialization for 600 seconds, a lock-out simulation was performed, with a lock-out interval of 120 seconds and a recovery period of 120 seconds. During the lock-out period, the positioning results output by the high-precision POS system were used as a reference. The NR0 (northeast) error of the integrated navigation positioning was recorded according to the lock-out time and lock-out distance. After summarizing, the NR0 RMS value and maximum value of the integrated navigation positioning error corresponding to the lock-out time and lock-out distance were calculated.

[0028] Plot the RMS value and maximum value of the NE-T error according to the lock-out time and lock-out distance respectively. Following the trend of the curve, sample key data points to form the combined navigation position error parameters corresponding to the lock-out time and lock-out distance. The errors of the lock-out time and lock-out distance of non-sampled key points are obtained by linear interpolation.

[0029] Preferably, the processing operations for estimating accuracy, calculating errors, and dynamically adjusting the STD value of the current epoch GNSS positioning result specifically include:

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

[0031] Based on the current GNSS positioning scenario and positioning status, the RMS value is extracted from the GNSS positioning accuracy parameter information of different positioning scenarios and positioning statuses, and used as the STD value of the current GNSS positioning result. GNSS The STD value of the current epoch GNSS positioning result. GNSS The vector consists of three elements: North, East, and Sky.

[0032] t is calculated sequentially from the last epoch of each positioning state. 0_i up to the current GNSS time t cur The duration of the lock loss (lost_t) and the distance of the lock loss period (lost_d) are used to estimate the current integrated navigation positioning accuracy (STD) based on the lock loss time, according to the integrated navigation position error parameters and the integrated navigation positioning accuracy at the starting time. INS_Time Combined navigation positioning accuracy (STD) based on the current moment's loss-of-lock distance INS_Dist ;

[0033] 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 northeast, south, and sky.

[0034] Based on the GNSS position, obtain the rotation matrix for vector transformation from ECEF coordinate system to NEU coordinate system.

[0035]

[0036] dNEU is represented as:

[0037] Based on the STD value of the current epoch GNSS positioning result and the estimation accuracy of the integrated navigation positioning result, the difference error STD between the GNSS position and the integrated navigation position is calculated using the error propagation law. GNSS_INS ;STD GNSS_INSThis is the difference error;

[0038]

[0039] Among them, STD GNSS_INS Let it be a vector with three elements representing North, East, and Sky;

[0040] The absolute value of the vector dNEU, converted from the difference between the GNSS position and the integrated navigation position, and the estimated difference error STD are used. GNSS_INS As a criterion for error adjustment, the STD value of the GNSS positioning result is used as the basis for the criterion. GNSS Adjustments were made separately for the three directions: North, East, and Sky.

[0041] Preferably, the step of determining the STD value based on the judgment conditions and the GNSS positioning result is... GNSS Adjustments are made in the three directions: North, East, and Sky, including the following steps:

[0042] Obtain the absolute value of the difference transformation vector dNEU between the GNSS position and the integrated navigation position, as well as the difference error STD. GNSS_INS ;

[0043] 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, then the STD value of the current GNSS positioning result is calculated. GNSS Divide by 2 to adjust the output, that is, adjust it to half of the STD value of the current GNSS positioning result;

[0044] Determine whether the absolute value of the difference transformation vector dNEU between the current GNSS position and the integrated navigation position is greater than twice the difference error STD. GNSS_INS If so, adjust the output to show the current GNSS positioning status and the maximum value of the GNSS positioning error in the current positioning scenario; STD GNSS_i_MAX This represents the maximum value of the GNSS positioning error under the current GNSS positioning status and scenario.

[0045] Determine whether the absolute value of the difference transformation 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 the difference error STD is less than or equal to more than 2 times. GNSS_INS Between; if yes, output the STD value of the GNSS positioning result. GNSS It remains unchanged.

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

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

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

[0049] Analysis of the INS / ODO-assisted GNSS quality control method and storage medium provided by the present invention shows that, in specific applications, the first parameter information and the second parameter information are first obtained; then, GNSS positioning information is obtained; the GNSS positioning information includes positioning time and positioning result, as well as the theoretical number of visible satellites, the actual number of observed satellites, satellite number, satellite elevation angle, azimuth angle, and signal-to-noise ratio.

[0050] The GNSS positioning scene evaluation is performed. In specific operations, the theoretically visible number of satellites, the actual observed number of satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio are used to evaluate the positioning scene of the GNSS receiver and output the evaluation scores of the positioning scene for multiple indicators. The evaluation scores of each positioning scene are sorted, and the positioning scene with the highest evaluation score is recorded as the target positioning scene of the GNSS receiver in the current epoch.

[0051] Finally, the positioning status of the target positioning scene in the current epoch of GNSS is obtained; based on the target positioning scene and positioning status of the target positioning scene in the current epoch of GNSS, the RMS value is extracted from the GNSS positioning accuracy parameter information of different positioning scenes and different positioning statuses, and used as the STD value of the GNSS positioning result in the current epoch; processing operations such as estimating accuracy, calculating error, and dynamically adjusting the STD value of the GNSS positioning result in the current epoch are performed.

[0052] The technical solution adopted in this invention, by introducing INS and ODO to assist in GNSS positioning quality assessment, is particularly suitable for complex environmental scenarios under vehicle-mounted conditions, such as urban canyons, tree-lined roads, and under viaducts, effectively improving positioning accuracy and reliability. Simultaneously, this invention, through extensive collection and in-depth analysis of a large amount of experimental data, accurately statistically derives accuracy parameters related to the time and distance of loss of lock under GNSS / INS / ODO integrated navigation conditions. These accuracy parameters, as algorithm inputs, can be flexibly adjusted according to the accuracy levels of different inertial modules, significantly improving the system's adaptability and versatility. This method fully utilizes the high accuracy characteristics of INS and ODO within a short time and is supported by a large amount of statistical data, ensuring the stability and reliability of GNSS positioning quality assessment, providing a solid technical guarantee for GNSS-based positioning applications, and possessing significant engineering practical value. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the main process of a GNSS quality control method based on INS / ODO assistance;

[0054] Figure 2 This is a schematic diagram illustrating the ranking of evaluation scores for various positioning scenarios in an INS / ODO-assisted GNSS quality control method.

[0055] Figure 3 This is a flowchart illustrating the processing operations for estimating accuracy, calculating error, and dynamically adjusting the STD value of the GNSS positioning result at the current epoch in an INS / ODO-assisted GNSS quality control method.

[0056] Figure 4 This is another flowchart illustrating the processing operations for estimating accuracy, calculating error, and dynamically adjusting the STD value of the GNSS positioning result at the current epoch in an INS / ODO-assisted GNSS quality control method. Detailed Implementation

[0057] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0059] Example 1

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

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

[0062] The first parameter information is attribute parameter information related to GNSS, which includes GNSS positioning accuracy parameters under 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 under different positioning scenarios; the second parameter information is attribute parameter information related to the INS / ODO, which includes the integrated navigation position error parameter corresponding to the time of loss of lock and the integrated navigation position error parameter corresponding to the distance of loss of lock.

[0063] Step S20: Obtain GNSS positioning information; the GNSS positioning information includes positioning time and positioning result, as well as the theoretically visible number of satellites, the actual number of observed satellites, satellite numbers, satellite elevation angles, azimuth angles, and signal-to-noise ratio; the above-mentioned GNSS positioning information includes not only positioning time and positioning result, but also the theoretically visible number of satellites, the actual number of observed satellites, satellite numbers, satellite elevation angles, azimuth angles, and signal-to-noise ratio; based on the theoretically visible number of satellites, the actual number of observed satellites, satellite elevation angles, azimuth angles, 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. In specific operation, 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 are used to perform evaluation processing on the positioning scene where the GNSS receiver is located, and output the evaluation score of the positioning scene for multiple indicators.

[0065] The evaluation scores of each positioning scenario are sorted, and the positioning scenario with the highest evaluation score is recorded as the target positioning scenario of the GNSS receiver in the current epoch.

[0066] Step S40: Obtain the positioning status of the target positioning scene of the GNSS in the current epoch; based on the target positioning scene and positioning status of the GNSS in the current epoch, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenes and different positioning statuses, and use it as the STD value of the GNSS positioning result in the current epoch; perform processing operations such as estimating accuracy, calculating error, and dynamically adjusting the STD value of the GNSS positioning result in the current epoch.

[0067] This invention proposes a GNSS quality control method based on INS / ODO assistance. It utilizes INS and ODO to assist in controlling GNSS positioning quality, mainly including the following aspects: 1. Statistically calculating the actual RMS accuracy of GNSS positioning results under different positioning scenarios and states; 2. Artificially causing signal loss at regular intervals in selected road segments with good signal strength, and statistically analyzing the correspondence between the loss time and loss distance and the integrated navigation positioning error; 3. Identifying the current scene based on the number of satellites, elevation angle, signal-to-noise ratio, GNSS positioning status, etc., over a period of time; 4. Determining a new GNSS position STD value through GNSS positioning status, statistically calculated GNSS positioning accuracy, the corresponding parameters of loss time and integrated navigation positioning error, the corresponding parameters of loss distance and integrated navigation positioning error, GNSS scene identification status, and the difference between the current GNSS positioning and integrated navigation positioning results.

[0068] A complete flowchart of the method described in the embodiments of the present invention is shown below. Figure 1 As shown.

[0069] The essential parameters required for initialization include GNSS positioning accuracy parameters under different positioning scenarios and states, integrated navigation position error parameters corresponding to the time of loss of lock, and integrated navigation position error parameters corresponding to the distance of loss of lock. These parameters directly affect the quality control effect.

[0070] Acquire GNSS positioning information, including positioning results, theoretically visible satellite count, actual observed satellite count, satellite elevation angle, azimuth angle, and signal-to-noise ratio; assign scores to different positioning scenarios based on the distribution of theoretically visible satellite count, actual observed satellite count, satellite elevation angle, azimuth angle, and signal-to-noise ratio; sort the scores of each scenario and determine the scenario with the highest score.

[0071] The STD value of the GNSS positioning result is estimated based on the positioning scenario, positioning status, and accuracy parameters. Then, the accuracy of the integrated navigation positioning result is estimated based on the loss-of-lock error parameter. Based on the STD value and the accuracy estimated by integrated navigation, the difference error after decomposition is evaluated, and the STD value of the GNSS positioning result is dynamically adjusted to reflect the true level of the current positioning quality.

[0072] Reference Figure 1 The specific implementation steps of this invention are as follows:

[0073] Step S10: Obtain first parameter information and second parameter information; the first parameter information is attribute parameter information related to GNSS, which includes GNSS positioning accuracy parameters under 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 under different positioning scenarios; the second parameter information is attribute parameter information related to the INS / ODO, which includes the integrated navigation position error parameter corresponding to the time of loss of lock and the integrated navigation position error parameter corresponding to the distance of loss of lock.

[0074] The first and second parameter information that needs to be acquired beforehand includes two main categories: GNSS-related attribute parameters and INS / ODO-related attribute parameters. The GNSS-related attribute parameters include GNSS positioning accuracy parameters under different positioning scenarios (highways, urban expressways, urban canyons, single-sided tree-lined roads, double-sided tree-lined roads, under viaducts, etc.) and different positioning states (RTK fixed solution, RTK floating-point solution, pseudorange differential, single-point positioning), as well as the distribution of the theoretically visible number of satellites, the actual observed number of satellites, satellite elevation angle, azimuth angle, and signal-to-noise ratio under different positioning scenarios. The INS / ODO-related parameters include the integrated navigation position error parameters corresponding to the time of loss of lock and the integrated navigation position error parameters corresponding to the distance of loss of lock.

[0075] The acquisition of the first and second parameter information mentioned above mainly includes two parts: data collection and data processing. A high-precision POS system is required as a reference benchmark during data collection.

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

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

[0078] Plan a test route for the sports car, which includes various scenarios such as: highways, urban expressways, urban canyons, single-sided tree-lined roads, double-sided tree-lined roads, and under viaducts;

[0079] The installation of reference equipment (high-precision POS system) and experimental equipment (INS / ODO-assisted GNSS receiver, with as many devices as possible, and multiple data samples collected in one experiment) and the measurement of the arm value parameters between the high-precision inertial navigation system and the GNSS antenna are used to convert the POS position to the GNSS antenna position.

[0080] Test the vehicle according to the planned route, and record the start and end times of each scenario to facilitate subsequent statistical analysis of various parameters by scenario. The number of tests should be based on the statistical characteristics of GNSS positioning accuracy that can reflect each scenario and positioning status.

[0081] Data from multiple road tests were compiled, using the positioning results output by the high-precision POS system as a reference. The following statistics were collected for different scenarios and positioning states: RMS value of positioning results, maximum value of positioning result error, RMS value of actual observed satellites, maximum and minimum values, RMS value of the ratio of actual observed satellites to visible satellites, maximum and minimum values, RMS value of the difference between actual and ideal satellites in high, medium and low elevation angle ranges, maximum and minimum values, RMS value of the difference between actual and ideal satellites in the east, west, south and north ranges, maximum and minimum values, and RMS value of visible satellite signal-to-noise ratio.

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

[0083] Plan the test route for the sports car, select an open scene, a section of road similar to a chessboard, with multiple mutually perpendicular routes;

[0084] The installation of reference equipment (high-precision POS system) and experimental equipment (INS / ODO-assisted GNSS receiver, with as many devices as possible, and multiple data samples collected in one experiment) and the measurement of the arm value parameters between the high-precision inertial navigation system and the GNSS antenna are used to convert the POS position to the GNSS antenna position.

[0085] Test the vehicle according to the planned route. During the road test, pay attention to keeping the vehicle speed stable. Make turns every once in a while, alternating between left and right turns as much as possible, so that the distance traveled in the two perpendicular directions is close. The number of test runs should be based on the statistical characteristics of the combined navigation positioning error under the condition of loss of lock.

[0086] Multiple road test data were processed. For each set of road test data, after initialization for 600 seconds, a lock-out simulation was performed, with a lock-out interval of 120 seconds and a recovery period of 120 seconds. During the lock-out period, the positioning results output by the high-precision POS system were used as a reference. The N-E-Tian error of the integrated navigation positioning was recorded according to the lock-out time and lock-out distance. After summarizing, the N-E-Tian RMS value and maximum value of the integrated navigation positioning error corresponding to the lock-out time and lock-out distance were calculated.

[0087] Plot the RMS value and maximum value of the NE-T error according to the lock-out time and lock-out distance respectively. Following the trend of the curve, sample key data points to form the combined navigation position error parameters corresponding to the lock-out time and lock-out distance. The errors of the lock-out time and lock-out distance of non-sampled key points are obtained by linear interpolation.

[0088] See Figure 2The 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:

[0089] S301. Based on the actual number of observed satellites and the ratio of the actual number of observed satellites to the theoretical number of visible satellites, the score is matched according to the RMS value, maximum value and minimum value under different positioning scenarios; the score is highest for the closest RMS value, and the maximum and minimum values ​​are interpolated proportionally, and the score is 0 for values ​​outside the range.

[0090] The score matching formula is as follows:

[0091]

[0092] Where Cal is the calculated value, RMS, Max, and Min are pre-obtained parameters, and S is the matching score. Subsequent score matching methods are the same as above.

[0093] S302. Calculate the difference between the actual number of satellites and the ideal number of satellites within the range of high, medium and low elevation angles. Match the score 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 within the range of high, medium and low elevation angles under different positioning scenarios.

[0094] S303. Calculate the difference between the actual number of satellites and the ideal number of satellites in the east, west, south, and north regions. Match the score 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, west, south, and north regions 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 assign 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.

[0096] S305. 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.

[0097] During the execution of S40: the positioning status of the target positioning scene of the current epoch GNSS is obtained; based on the target positioning scene and positioning status of the current epoch GNSS, the RMS value is extracted from the GNSS positioning accuracy parameter information of different positioning scenes and different positioning statuses, and used as the STD value of the current epoch GNSS positioning result; the processing operations of estimating accuracy, calculating error and dynamically adjusting the STD value of the current epoch GNSS positioning result are performed.

[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 scene in the current epoch of GNSS;

[0100] S402. Based on the current epoch GNSS positioning scenario and positioning status, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses, and use it as the STD value of the current epoch GNSS positioning result. GNSS The STD value of the current epoch GNSS positioning result. GNSS The vector consists of three elements: North, East, and Sky.

[0101] S403, starting from the last epoch of each positioning state, t is calculated sequentially. 0_i up to the current GNSS time t cur The duration of the lock loss (lost_t) and the distance of the lock loss period (lost_d) are used to estimate the current integrated navigation positioning accuracy (STD) based on the lock loss time, according to the integrated navigation position error parameters and the integrated navigation positioning accuracy at the starting time. INS_Time Combined navigation positioning accuracy (STD) based on the current moment's loss-of-lock distance 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 northeast, south, and sky.

[0103] Based on the GNSS position, obtain the rotation matrix for vector transformation from ECEF coordinate system to NEU coordinate system.

[0104]

[0105] dNEU is represented as:

[0106] S405. Based on the STD value of the current epoch GNSS positioning result and the estimation accuracy of the integrated navigation positioning result, the difference error STD between the GNSS position and the integrated navigation position is calculated using the error propagation law. GNSS_INS ;STD GNSS_INS This is the difference error;

[0107]

[0108] Among them, STD GNSS_INS Let it be a vector with three elements representing North, East, and Sky;

[0109] S406. The absolute value of the vector dNEU, which is the difference between the GNSS position and the integrated navigation position, and the estimated difference error STD are used as the basis for calculation. GNSS_INSAs a criterion for error adjustment, the STD value of the GNSS positioning result is used as the basis for the criterion. GNSS Adjustments were made separately for the three directions: North, East, and Sky.

[0110] The above steps are performed according to the reference diagram. By dynamically adjusting the error estimation of the GNSS positioning results, the reliability of the positioning results is improved.

[0111] The above GNSS positioning quality control process can also be found in [reference needed]. Figure 4 See also Figure 4 (1) Based on the current epoch GNSS positioning scenario and positioning status, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenarios and different positioning statuses, and use it as the STD value of the current epoch GNSS positioning result. GNSS STD GNSS Let be a vector, with three elements representing North, East, and Sky respectively.

[0112] (2) Start calculating t sequentially from the last epoch of each positioning state. 0_i up to the current GNSS time t cur Given the duration of the lock loss (lost_t) and the distance of the lock loss period (lost_d), the combined navigation positioning accuracy (STD) based on the combined navigation position error parameters and the combined navigation positioning accuracy at the starting time is estimated for the current time, based on the lock loss time and the lock loss distance. INS_Time and STD INS_Dist .

[0113] With STD INS_Time Taking the estimation as an example, let's assume the error parameters of the integrated navigation, expressed in terms of lock-out time, are as follows:

[0114]

[0115] STD INS_Time The estimate is calculated using the following formula:

[0116]

[0117] STD INS_Dist The estimation method and STD INS_Time similar.

[0118] Combined navigation positioning accuracy (STD) for each positioning state INS_i Take the value according to the following formula:

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

[0120] Final current moment integrated navigation positioning accuracy (STD) INSTake the value according to the following formula:

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

[0122] Among them, STD INS_Time STD INS_Dist STD INS_i and STD INS All are vectors, with three elements representing North, East, and Sky respectively. The value of i is 0, 1, 2, 3, where 0 represents the RTK fixed solution, 1 represents the RTK floating-point solution, 2 represents the pseudo-range difference decomposition, and 3 represents the single-point positioning solution.

[0123] (3) Calculate the difference dXYZ between the GNSS position and the combined navigation position, and convert it into a vector dNEU in the three directions of northeast, south and east.

[0124] The rotation matrix for transforming a vector from the ECEF coordinate system to the NEU coordinate system can be obtained based on the GNSS position.

[0125]

[0126] Then dNEU can be represented as:

[0127] (4) Based on the STD value of the GNSS positioning result and the estimation accuracy of the integrated navigation positioning result, the error STD between the GNSS position and the integrated navigation position is calculated using the error propagation law. GNSS_INS .

[0128]

[0129] Among them, STD GNSS_INS Let be a vector, with three elements representing North, East, and Sky respectively.

[0130] (5) The absolute value of the difference between the GNSS and integrated navigation positions, dNEU, and the estimated difference error, STD, are used. GNSS_INS The STD value of the GNSS positioning result is used as a criterion for error adjustment. GNSS Adjust according to the three directions: North, East, and Sky, as shown in the following formula:

[0131]

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

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

[0134] The STD value based on the judgment conditions and GNSS positioning results. GNSS Adjustments are made in the three directions: North, East, and Sky, including the following steps:

[0135] Obtain the absolute value of the difference transformation vector dNEU between the GNSS position and the integrated navigation position, as well as the difference error STD. GNSS_INS ;

[0136] 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, then the STD value of the current GNSS positioning result is calculated. GNSS Divide by 2 to adjust the output, that is, adjust it to half of the STD value of the current GNSS positioning result;

[0137] Determine whether the absolute value of the difference transformation vector dNEU between the current GNSS position and the integrated navigation position is greater than twice the difference error STD. GNSS_INS If so, adjust the output to show the current GNSS positioning status and the maximum value of the GNSS positioning error in the current positioning scenario; STD GNSS_i_MAX This represents the maximum value of the GNSS positioning error under the current GNSS positioning status and scenario.

[0138] Determine whether the absolute value of the difference transformation 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 the difference error STD is less than or equal to more than 2 times. GNSS_INS Between; if yes, output the STD value of the GNSS positioning result. GNSS It remains unchanged.

[0139] Example 2

[0140] On the other hand, this second embodiment, based on the INS / ODO-assisted GNSS quality control method provided in the first embodiment, also provides a computer storage medium (hereinafter referred to as the storage medium), which includes:

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

[0142] In summary, the GNSS quality control method and storage medium based on INS / ODO assistance proposed in this invention dynamically adjusts the error estimation of GNSS positioning results based on parameters such as RMS values ​​and extreme values ​​obtained from a large amount of experimental data. By fusing the position difference between GNSS and integrated navigation and calculating its error propagation, intelligent correction of the error threshold (such as segmented adjustment of the STD value) is achieved, improving the adaptability of quality control. Through multi-dimensional parameter matching (number of satellites, elevation angle, signal-to-noise ratio, etc.) for different scenarios and positioning states, combined with high-precision POS benchmark verification, this technical solution achieves a comprehensive improvement in the accuracy, robustness, and adaptability of the positioning system in complex vehicle environments through environmental 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 not to limit them; those skilled in the art can modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features; and these modifications or substitutions 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 based on INS / ODO assistance, characterized in that, The following steps are included: Obtain the first parameter information and the second parameter information; The first parameter information is GNSS-related attribute parameter information, which includes GNSS positioning accuracy parameters under different positioning scenarios, the theoretical number of visible satellites under different positioning scenarios, the actual number of observed satellites, satellite elevation angle, azimuth angle, and signal-to-noise ratio; The second parameter information is attribute parameter information related to the INS / ODO, including the integrated navigation position error parameter corresponding to the time of loss of lock and the integrated navigation position error parameter corresponding to the distance of loss of lock; Obtain GNSS positioning information; The GNSS positioning information includes positioning time and positioning results, as well 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; The GNSS positioning scene evaluation is performed. In specific operations, the theoretically visible number of satellites, the actual observed number of satellites, the satellite elevation angle, the azimuth angle, and the signal-to-noise ratio are used to perform evaluation processing on the positioning scene where the GNSS receiver is located, and output the evaluation score of the positioning scene for multiple indicators. The evaluation scores of each positioning scenario are sorted, and the positioning scenario with the highest evaluation score is recorded as the target positioning scenario of the GNSS receiver in the current epoch. Obtain the positioning status of the target positioning scene in the current epoch of GNSS; based on the target positioning scene and positioning status of the target positioning scene in the current epoch of GNSS, extract the RMS value from the GNSS positioning accuracy parameter information of different positioning scenes and different positioning statuses, and use it as the STD value of the GNSS positioning result in the current epoch; perform processing operations such as estimating accuracy, calculating error, and dynamically adjusting the STD value of the GNSS positioning result in the current epoch. When collecting data on the second parameter information, plan the test route for the sports car and select an open scene; A GNSS receiver equipped with a high-precision POS system and INS / ODO assistance; The sports car was tested along the planned route, turning at intervals. Multiple road test data were processed. For each set of road test data, after initialization for 600 seconds, a lock-out simulation was performed, with a lock-out interval of 120 seconds and a recovery period of 120 seconds. During the lock-out period, the positioning results output by the high-precision POS system were used as a reference. The N-E-Tian error of the integrated navigation positioning was recorded according to the lock-out time and lock-out distance. After summarizing, the N-E-Tian RMS value and maximum value of the integrated navigation positioning error corresponding to the lock-out time and lock-out distance were calculated. Plot the RMS value and maximum value of the NE-T error according to the lock-out time and lock-out distance respectively. Following the trend of the curve, sample key data points to form the integrated navigation position error parameters corresponding to the lock-out time and the integrated navigation position error parameters corresponding to the lock-out distance in the second parameter information. The errors of the lock-out time and lock-out distance of non-sampled key points are obtained by linear interpolation.

2. The GNSS quality control method based on INS / ODO assistance according to claim 1, characterized in that, 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: The score is matched based on the actual number of observed satellites and the ratio of the actual number of observed satellites to the theoretical number of visible satellites, according to the RMS value, maximum value and minimum value under different positioning scenarios. Calculate the difference between the actual number of satellites and the ideal number of satellites within the high, medium and low elevation angle ranges, and match the score 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 within the high, medium and low elevation angle ranges under different positioning scenarios; Calculate the difference between the actual number of satellites and the ideal number of satellites in the four cardinal directions. Match the score 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 four cardinal directions under different positioning scenarios. Calculate the RMS value of the signal-to-noise ratio of all visible satellites in the current epoch, and assign 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; The scores of each positioning scenario are sorted, and the scenario with the highest score is recorded 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, characterized in that, Before obtaining the first parameter information and the second parameter information, data acquisition and data processing operations are performed on the first parameter information and the second parameter information.

4. The GNSS quality control method based on INS / ODO assistance according to claim 3, characterized in that, When collecting data on the first parameter information, a test route for the sports car is planned, which includes various positioning scenarios; the sports car is tested according to the planned route, and the start and end times of each positioning scenario are recorded. A GNSS receiver equipped with a high-precision POS system and INS / ODO assistance; Data from multiple road tests were compiled, using the positioning results output by the high-precision POS system as a reference. The following statistics were collected for different scenarios and positioning states: RMS value of positioning results, maximum value of positioning result error, RMS value of actual observed satellites, maximum and minimum values, RMS value of the ratio of actual observed satellites to visible satellites, maximum and minimum values, RMS value of the difference between actual and ideal satellites in high, medium and low elevation angle ranges, maximum and minimum values, RMS value of the difference between actual and ideal satellites in the east, west, south and north ranges, maximum and minimum values, and RMS value of visible satellite signal-to-noise ratio.

5. The GNSS quality control method based on INS / ODO assistance according to claim 1, characterized in that, The processing operations for estimating accuracy, calculating errors, and dynamically adjusting the STD value of the current epoch GNSS positioning result specifically include: Input the positioning status and GNSS positioning information of the target positioning scene in the current epoch; Based on the current GNSS positioning scenario and positioning status, the RMS value is extracted from the GNSS positioning accuracy parameter information of different positioning scenarios and positioning statuses, and used as the STD value of the current GNSS positioning result. The STD value of the GNSS positioning result at the current epoch. The vector consists of three elements: North, East, and Sky. Starting sequentially from the last epoch of each positioning state up to the current GNSS time Duration of unlock Distance from the period of unlocking Based on the integrated navigation position error parameters and the integrated navigation positioning accuracy at the starting time, the current integrated navigation positioning accuracy based on the time of loss of lock is estimated. Combined navigation and positioning accuracy based on the current moment's loss of lock distance ; Calculate the difference between GNSS position and integrated navigation position. And convert it into vectors in the three directions of northeast, sky, and north. ; Based on the GNSS position, obtain the rotation matrix for vector transformation from ECEF coordinate system to NEU coordinate system. : ； Represented as: ;in, These are the geodetic coordinates of the receiver's location given by GNSS: It is latitude; It is longitude; Based on the STD value of the current epoch GNSS positioning result and the estimation accuracy of the integrated navigation positioning result, the difference error between the GNSS position and the integrated navigation position is calculated using the error propagation law. ; This is the difference error; ； in, Let it be a vector with three elements representing North, East, and Sky; The standard deviation of the position error of the integrated navigation (INS / GNSS) system at the current moment; The difference between the GNSS position and the integrated navigation position is converted into a vector. The difference between the absolute value and the estimated error As a criterion for error adjustment, the STD value of the GNSS positioning result is used as the basis for the criterion. Adjustments were made separately for the three directions: North, East, and Sky.

6. The GNSS quality control method based on INS / ODO assistance according to claim 5, characterized in that, The STD value based on the judgment conditions and GNSS positioning results Adjustments are made in the three directions: North, East, and Sky, including the following steps: Obtain the difference transformation vector between the GNSS position and the integrated navigation position. The absolute value and the difference error ; Determine the difference vector between the current GNSS position and the integrated navigation position. Is the absolute value less than the difference error? If yes, then the STD value of the current GNSS positioning result. Divide by 2 to adjust the output, that is, adjust it to half of the STD value of the current GNSS positioning result; Determine the difference vector between the current GNSS position and the integrated navigation position. Is the absolute value greater than twice the difference error? If so, adjust the output to show the current GNSS positioning status and the maximum value of the GNSS positioning error in the current positioning scenario; This represents the maximum value of the GNSS positioning error under the current GNSS positioning status and scenario. Determine the difference vector between the current GNSS position and the integrated navigation position. Is the absolute value greater than or equal to the difference error? And less than or equal to 2 times the aforementioned difference error Between; if yes, output the STD value of the GNSS positioning result. It remains unchanged.

7. A GNSS quality control method based on INS / ODO assistance according to claim 6, characterized in that, The Given the current GNSS positioning status and scenario, the maximum value of the GNSS positioning error is a vector.

8. 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 1-7.

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