Positioning method and device for satellite positioning receiver and receiver thereof

Abstract

The embodiment of the invention provides a positioning method and device for a satellite positioning receiver and the receiver, and relates to the technical field of satellite positioning. The method comprises the following steps: resolving a first observation signal, and constructing a first precise point positioning model according to a first satellite position and a first satellite clock difference obtained by resolving; the first observation signal is an observation value signal with a PPP-B2b correction number; resolving the second observation signal to obtain a second satellite position and a second satellite clock difference, resolving the precise ephemeris to obtain a third satellite position and a third satellite clock difference, and determining a first satellite signal space ranging error item according to the second satellite position, the second satellite clock difference, the third satellite position and the third satellite clock difference; constructing a second precision single point positioning model according to the second satellite position, the second satellite clock error and the first satellite signal space ranging error item; and resolving the model through a Kalman filtering algorithm to obtain the azimuth of the receiver. According to the method, the number of available satellites can be increased, and high-precision positioning is realized.

Description

Technical Field

[0001] This application relates to the field of satellite positioning technology, specifically to a positioning method, apparatus, and receiver for a satellite positioning receiver. Background Technology

[0002] Currently, the B2b band positioning service provided by the BeiDou system is broadcast by three BeiDou-3 geostationary orbit (GEO) satellites in my country and surrounding areas. It offers users publicly available, free, high-precision services, and marks the first time the BeiDou system has released a high-precision service signal to the public. The signal's carrier frequency is 1207.14MHz, and it includes I-branch and Q-branch components. The first three BeiDou-3 GEO satellites only broadcast the I-branch component. Currently, this signal is broadcast in real-time by the BeiDou-3 GEO satellites at an information rate of 500bps, achieving enhanced accuracy for the BeiDou system. Users can obtain real-time decimeter-level positioning accuracy, which will further accelerate the application of BeiDou in traditional high-precision fields such as land surveying and marine development, and effectively support the popularization of high-precision services, making it of great significance.

[0003] However, PPP-B2b currently only broadcasts correction data for BeiDou-3 and GPS satellites. For a single BeiDou user, only BeiDou-3 satellites with correction data are available. Even in open, static scenarios, users only have 6-9 satellites available. In complex, dynamic urban scenarios, strong electromagnetic interference and frequent cycle slips in the measurement environment often result in positioning errors of tens of meters, which clearly cannot meet the application requirements of high-precision dynamic fields. Summary of the Invention

[0004] The purpose of this application is to provide a positioning method, apparatus, and receiver for a satellite positioning receiver.

[0005] To achieve the above objectives, the first aspect of this application provides a positioning method for a satellite positioning receiver, comprising: Acquire a first observation signal, a second observation signal, and a precise ephemeris, wherein the first observation signal is an observation signal with PPP-B2b correction; The first observation signal is solved, and the first precise point positioning model is constructed based on the solved first satellite position and the first satellite clock error; The second satellite position and the second satellite clock error are obtained by solving the second observation signal, and the third satellite position and the third satellite clock error are obtained by solving the precise ephemeris, so as to determine the spatial ranging error term of the first satellite signal based on the second satellite position, the second satellite clock error, the third satellite position and the third satellite clock error; A second precise point positioning model is constructed based on the position of the second satellite, the clock error of the second satellite, and the spatial ranging error term of the first satellite signal. The receiver's azimuth is obtained by solving the first and second precise point positioning models using the Kalman filter algorithm.

[0006] In this embodiment, constructing a second precise point positioning model based on the second satellite position, the second satellite clock error, and the spatial ranging error term of the first satellite signal includes: determining the third pseudorange observation value, the third carrier phase observation value, the fourth pseudorange observation value, the fourth carrier phase observation value, and the inter-frequency group delay of the second observation signal; correcting the third pseudorange observation value and the fourth pseudorange observation value based on the inter-frequency group delay to obtain the corrected ionization-free pseudorange observation value; and constructing the second precise point positioning model based on the second satellite position, the second satellite clock error, the spatial ranging error term of the first satellite signal, the corrected ionization-free pseudorange observation value, the third carrier phase observation value, and the fourth carrier phase observation value.

[0007] In this embodiment of the application, obtaining the corrected non-ionizing combination pseudorange observation value based on the inter-frequency group delay corrected third pseudorange observation value and fourth pseudorange observation value includes: obtaining the corrected third pseudorange observation value and the corrected fourth pseudorange observation value based on the inter-frequency group delay corrected third pseudorange observation value and fourth pseudorange observation value; and determining the non-ionizing combination pseudorange observation value based on the corrected third pseudorange observation value and the corrected fourth pseudorange observation value.

[0008] In this embodiment, constructing a second precise point positioning model based on the second satellite position, the second satellite clock error, the first satellite signal spatial ranging error term, the corrected ionization-free pseudorange observation, the third carrier phase observation, and the fourth carrier phase observation includes: determining the ionization-free carrier phase observation based on the third carrier phase observation and the fourth carrier phase observation; and constructing the second precise point positioning model based on the corrected ionization-free pseudorange observation, the ionization-free carrier phase observation, the second satellite position, the second satellite clock error, and the first satellite signal spatial ranging error term.

[0009] In this embodiment of the application, the second precise single-point positioning model is: ; in, This indicates the corrected pseudorange observations without ionization combinations. Indicates satellite The second satellite position, Indicates receiver The receiver's location, Represents the speed of light. Indicates receiver Receiver clock bias, Indicates the second satellite clock bias. Indicates tilted tropospheric delay, Indicates satellite The first satellite signal spatial ranging error term, Indicates receiver No ionization hardware delay, Indicates the satellite that transmitted the second observation signal No ionization hardware delay, This represents the pseudorange observation noise of the second observation signal. This represents the non-ionizing carrier phase observation value of the second observation signal. Indicates the wavelength of the combination without ionosphere. Indicates the ambiguity of the non-ionospheric combination. Indicates receiver Ionosphere-free combined phase hardware delay, Indicates the satellite that transmitted the second observation signal Ionosphere-free combined phase hardware delay, This represents the carrier phase measurement noise of the second observation signal.

[0010] In this embodiment of the application, determining the first satellite signal spatial ranging error term based on the second satellite position, the second satellite clock error, the third satellite position, and the third satellite clock error includes: determining the satellite position error of the second and third satellite positions; determining the satellite clock error of the second and third satellite clock errors; and determining the first satellite signal spatial ranging error term based on the satellite position error and the satellite clock error.

[0011] In this embodiment, the second satellite position includes: second satellite radial value, second satellite tangential value, and second satellite normal value; the third satellite position includes: third satellite radial value, third satellite tangential value, and third satellite normal value; the satellite position error for determining the second and third satellite positions includes: satellite radial error for determining the second and third satellite radial values; satellite tangential error for determining the second and third satellite tangential values; satellite normal error for determining the second and third satellite normal values; determining the first satellite signal spatial ranging error term based on the satellite position error and satellite clock error includes: determining the first satellite signal spatial ranging error term based on the satellite radial error, satellite tangential error, satellite normal error, and satellite clock error.

[0012] In this embodiment, the first satellite signal spatial ranging error term is determined based on the formula: ; in, This represents the spatial ranging error term of the first satellite signal. Indicates the radial error of the satellite. Indicates satellite tangential error. Indicates the satellite normal error. Indicates satellite clock error. Indicates the satellite radial error scaling factor. This represents the scaling factor for satellite tangential error and satellite normal error.

[0013] In this embodiment of the application, the process of solving the first observation signal and constructing a first precise point positioning model based on the calculated first satellite position and the first satellite clock error includes: solving the first observation signal to obtain satellite orbit correction, satellite clock error correction, first satellite position and first satellite clock error; correcting the first satellite position based on the satellite orbit correction to obtain the corrected first satellite position, and correcting the first satellite clock error based on the satellite clock error correction to obtain the corrected first satellite clock error; and constructing a first precise point positioning model based on the corrected first satellite position and the corrected first satellite clock error.

[0014] In this embodiment, the first observation signal is a CNAV1 broadcast ephemeris signal; correcting the first satellite position based on satellite orbit corrections to obtain the corrected first satellite position, and correcting the first satellite clock error based on satellite clock error corrections to obtain the corrected first satellite clock error includes: when the satellite orbit corrections and satellite clock error corrections match and are within their validity period, correcting the first satellite position based on the satellite orbit corrections to obtain the corrected first satellite position, and correcting the first satellite clock error based on the satellite clock error corrections to obtain the corrected first satellite clock error; constructing a first precise point positioning model based on the corrected first satellite position and the corrected first satellite clock error; when the satellite orbit corrections and satellite clock error corrections do not match, or when any correction is outside its validity period, calculating the precise ephemeris to obtain a fourth satellite position and a fourth satellite clock error, and determining a second satellite signal spatial ranging error term based on the first satellite position, the first satellite clock error, the fourth satellite position, and the fourth satellite clock error; and constructing a first precise point positioning model based on the first satellite position, the first satellite clock error, and the second satellite signal spatial ranging error term.

[0015] A second aspect of this application provides a positioning device for a satellite positioning receiver, comprising: a processor configured to execute a positioning method for a satellite positioning receiver according to a first aspect of this application.

[0016] A third aspect of this application provides a receiver, comprising: a positioning device for a satellite positioning receiver as provided in the second aspect of this application; and a receiving antenna for acquiring a first observation signal and a second observation signal.

[0017] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the positioning method for a satellite positioning receiver provided in the first aspect of this application.

[0018] Through the above technical solution, the positioning orientation of the satellite positioning receiver provided in this application compensates for the deficiency of the second observation signal, which lacks satellite orbit correction and satellite clock error correction, and thus cannot be used for high-precision positioning, by setting a spatial ranging error term. This allows the second observation signal and the first observation signal to be used together, thereby increasing the number of available satellites and not being limited by the number of B2b band satellites provided by the Beidou system, thus enabling high-precision positioning.

[0019] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a schematic flowchart of a positioning method for a satellite positioning receiver according to an embodiment of this application; Figure 2 The illustration shows a flowchart of another positioning method for a satellite positioning receiver according to an embodiment of this application; Figure 3 The illustration shows a flowchart of a method for determining a first precise single-point positioning model according to an embodiment of this application; Figure 4 The diagram illustrates a broken line showing the change in the number of available satellites for existing positioning methods over time. Figure 5 The diagram illustrates a broken line showing the number of available satellites changing over time in a positioning method for a satellite positioning receiver according to an embodiment of this application. Figure 6 The diagram illustrates a broken line showing the change of receiver azimuth error over time in an existing positioning method. Figure 7 The diagram illustrates a broken line showing the number of available satellites changing over time in a positioning method for a satellite positioning receiver according to an embodiment of this application. Figure 8 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0024] The acquisition, transmission, storage, use, and processing of data in this application comply with relevant laws and regulations. Furthermore, it should be noted that certain software, components, models, and other existing industry solutions may be mentioned in the embodiments of this application. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0025] In fields such as vehicle navigation and positioning, and autonomous drone operation, the measurement accuracy for high-precision dynamic positioning is generally required to be at the decimeter level. For users who only use the B2b band provided by the BeiDou system for positioning, only 6-9 BeiDou-3 navigation system satellites can be used, which is far from sufficient. In complex urban environments, due to strong electromagnetic interference and frequent cycle slips in observations, the positioning results often need to be reinitialized when the number of satellites is small, resulting in positioning errors of tens of meters. This leads to significant errors in the positioning results, which is unacceptable for high-precision dynamic positioning.

[0026] To improve positioning accuracy and reduce positioning errors, the number of satellites used for positioning needs to be increased. However, the increase in the number of satellites is limited by the actual number of B2b band satellites provided by the BeiDou system. Therefore, there is a technical bottleneck in improving positioning accuracy.

[0027] Based on the above analysis, this application provides a positioning method for a satellite positioning receiver. This method combines a first observation signal and a second observation signal to construct a precise point positioning model for determining the receiver's azimuth. The first observation signal is an observation signal with PPP-B2b correction, while the second observation signal is based on a spatial ranging error term obtained from precise ephemeris data, which is used to construct the precise point positioning model for determining the receiver's azimuth.

[0028] Figure 1 A schematic flowchart illustrating a positioning method for a satellite positioning receiver according to an embodiment of this application is shown. Figure 1 As shown, in one embodiment of this application, a positioning method for a satellite positioning receiver is provided. This embodiment mainly applies this method to a satellite positioning receiver, which can be a smartphone, personal computer, vehicle positioning system, or other device that achieves positioning based on satellite signals. The positioning method for a satellite positioning receiver provided in this embodiment includes the following steps: S102. Acquire the first observation signal, the second observation signal, and the precise ephemeris, wherein the first observation signal is an observation signal with PPP-B2b correction.

[0029] Understandably, the first and second observation signals can be acquired by a satellite positioning receiver via an antenna, and the satellite positioning receiver can obtain precise ephemeris data from the Internet via wired or wireless communication.

[0030] S104. Solve the first observation signal and construct the first precise point positioning model based on the first satellite position and the first satellite clock difference obtained from the solution; S106. Solve the second observation signal to obtain the position of the second satellite and the clock difference of the second satellite, and solve the precise ephemeris to obtain the position of the third satellite and the clock difference of the third satellite, so as to determine the spatial ranging error term of the first satellite signal based on the position of the second satellite, the clock difference of the second satellite, the position of the third satellite and the clock difference of the third satellite. S108. Construct a second precise point positioning model based on the position of the second satellite, the clock error of the second satellite, and the spatial ranging error term of the first satellite signal. S110. Solve the first and second precise point positioning models using the Kalman filter algorithm to obtain the receiver's azimuth.

[0031] The first observation signal, as an observation signal with PPP-B2b correction, can be used to obtain a high-precision first satellite position, first satellite clock error, and first precise point positioning model based on the satellite orbit correction and satellite clock error correction broadcast in the B2b band during the calculation of the first observation signal. Since the second observation signal may not have the satellite orbit correction and satellite clock error correction broadcast in the B2b band, the positioning azimuth provided in this application for a satellite positioning receiver is designed to obtain a high-precision receiver azimuth. Therefore, a second precise point positioning model is constructed by combining the second observation signal, the satellite signal spatial ranging error determined by precise ephemeris, the second satellite position, and the second satellite clock error. The first and second precise point positioning models can then be solved using the Kalman filter algorithm to obtain a high-precision receiver azimuth. The positioning azimuth provided in this application for a satellite positioning receiver compensates for the deficiency of the second observation signal in that it lacks satellite orbit correction and satellite clock error correction, thus making it unsuitable for high-precision positioning. This allows the second and first observation signals to be used together, thereby increasing the number of available satellites and not being limited by the number of B2b band satellites provided by the BeiDou system, thereby achieving high-precision positioning.

[0032] See Figure 2 In some embodiments of this application, step S108, which involves constructing a second precise point positioning model based on the second satellite position, the second satellite clock error, and the first satellite signal spatial ranging error term, may include: S202. Determine the third pseudorange observation value, the third carrier phase observation value, the fourth pseudorange observation value, the fourth carrier phase observation value, and the inter-frequency group delay of the second observation signal; S204. Based on the inter-frequency group delay, correct the third and fourth pseudorange observations to obtain the corrected ionization-free combination pseudorange observations. S206. Construct a second precise point positioning model based on the second satellite position, the second satellite clock error, the first satellite signal spatial ranging error term, the corrected ionization-free pseudorange observation, the third carrier phase observation, and the fourth carrier phase observation.

[0033] In the above embodiments, the second observation signal is a dual-frequency signal. One frequency point of the second observation signal corresponds to a third pseudorange observation value and a third carrier phase observation value, and the other frequency point of the second observation signal corresponds to a fourth pseudorange observation value and a fourth carrier phase observation value. In this embodiment, when constructing the second precise point positioning model using the spatial ranging error term to compensate for the satellite orbit correction and the satellite clock error correction, satellite inter-symbol bias correction is also required. Generally, the satellite inter-symbol bias of the receiver can be absorbed by the receiver clock bias, but the satellite inter-symbol bias must be compensated in precise positioning. For the satellite corresponding to the second observation signal, its satellite inter-symbol bias is corrected using the inter-frequency group delay of the second observation signal. The above embodiments obtain ionization-free combined pseudorange observation values ​​by correcting the third and fourth pseudorange observation values ​​through inter-frequency group delay, thereby realizing the replacement of satellite inter-symbol bias with inter-frequency group delay correction to obtain the second precise point positioning model.

[0034] In some embodiments of this application, obtaining the corrected non-ionizing combination pseudorange observation value based on the inter-frequency group delay corrected third pseudorange observation value and fourth pseudorange observation value may include: obtaining the corrected third pseudorange observation value and the corrected fourth pseudorange observation value based on the inter-frequency group delay corrected third pseudorange observation value and fourth pseudorange observation value; and determining the non-ionizing combination pseudorange observation value based on the corrected third pseudorange observation value and the corrected fourth pseudorange observation value.

[0035] In other embodiments of this application, obtaining corrected non-ionized combination pseudorange observations by correcting the third and fourth pseudorange observations based on inter-frequency group delay may include: determining the non-ionized combination pseudorange observations to be corrected based on the third and fourth pseudorange observations; and correcting the non-ionized combination pseudorange observations to be corrected based on inter-frequency group delay to obtain the non-ionized combination pseudorange observations.

[0036] In some embodiments of this application, step S206 may include: determining the non-ionizing carrier phase observation value based on the third carrier phase observation value and the fourth carrier phase observation value; and constructing a second precise point positioning model based on the corrected non-ionizing combined pseudorange observation value, the non-ionizing carrier phase observation value, the second satellite position, the second satellite clock error, and the first satellite signal spatial ranging error term.

[0037] Based on the above steps, a second precise point positioning model can be obtained, which can be used together with the first precise point positioning model to solve the problem using the Kalman filter algorithm. This increases the number of satellites available for receiver positioning, breaks away from the limitation on the number of satellites in the B2b band provided by the BeiDou system, and achieves high-precision receiver positioning.

[0038] Specifically, the second precise single-point positioning model is as follows: ; in, This indicates the corrected pseudorange observations without ionization combinations. Indicates satellite The second satellite position, Indicates receiver The receiver's location, Represents the speed of light. Indicates receiver Receiver clock bias, Indicates the second satellite clock bias. Indicates tilted tropospheric delay, Indicates satellite The first satellite signal spatial ranging error term, Indicates receiver No ionization hardware delay, Indicates the satellite that transmitted the second observation signal No ionization hardware delay, This represents the pseudorange observation noise of the second observation signal. This represents the non-ionizing carrier phase observation value of the second observation signal. Indicates the wavelength of the combination without ionosphere. Indicates the ambiguity of the non-ionospheric combination. Indicates receiver Ionosphere-free combined phase hardware delay, Indicates the satellite that transmitted the second observation signal Ionosphere-free combined phase hardware delay, This represents the carrier phase measurement noise of the second observed signal. In the second precise point positioning model, the superscript... Used to distinguish different satellites, superscript Used to represent the second observation signal.

[0039] In some embodiments of this application, step S106, determining the first satellite signal spatial ranging error term based on the second satellite position, the second satellite clock error, the third satellite position, and the third satellite clock error, may include: determining the satellite position errors of the second and third satellite positions; determining the satellite clock error of the second and third satellite clock errors; and determining the first satellite signal spatial ranging error term based on the satellite position error and the satellite clock error. Based on the above steps, the first satellite signal spatial ranging error term can be determined through the satellite position error and the satellite clock error.

[0040] In some embodiments of this application, the second satellite position includes: a second satellite radial value, a second satellite tangential value, and a second satellite normal value; the third satellite position includes: a third satellite radial value, a third satellite tangential value, and a third satellite normal value. The satellite position errors for determining the second and third satellite positions include: the satellite radial error for determining the second and third satellite radial values; the satellite tangential error for determining the second and third satellite tangential values; and the satellite normal error for determining the second and third satellite normal values. Determining the first satellite signal spatial ranging error term based on the satellite position error and satellite clock error includes: determining the first satellite signal spatial ranging error term based on the satellite radial error, satellite tangential error, satellite normal error, and satellite clock error.

[0041] Specifically, the spatial ranging error term of the first satellite signal is determined based on the formula: ; in, This represents the spatial ranging error term of the first satellite signal. Indicates the radial error of the satellite. Indicates satellite tangential error. Indicates the satellite normal error. Indicates satellite clock error. Indicates the satellite radial error scaling factor. This represents the scaling factors for satellite tangential and normal errors. As an example, the scaling factor for satellite radial error can be 0.982, and the scaling factors for satellite tangential and normal errors can be 0.132.

[0042] As an example, the broadcast ephemeris signal of the BeiDou satellite has pseudo-random noise codes. Pseudo-random noise code A value less than 19 indicates a BeiDou-2 satellite, using a pseudo-random noise code. A value greater than or equal to 19 indicates a BeiDou-3 satellite. In a calculation example, the initial value and variance of the spatial ranging error term for the first satellite signal are shown below:

[0043]

[0044] in, Represents pseudo-random noise code The initial value of the corresponding first satellite signal spatial ranging error term. Represents pseudo-random noise code The variance of the corresponding first satellite signal spatial ranging error term.

[0045] In some embodiments of this application, step S104 may include: calculating the first observation signal to obtain satellite orbit correction, satellite clock error correction, first satellite position and first satellite clock error; correcting the first satellite position according to the satellite orbit correction to obtain the corrected first satellite position, and correcting the first satellite clock error according to the satellite clock error correction to obtain the corrected first satellite clock error; and constructing a first precise point positioning model according to the corrected first satellite position and the corrected first satellite clock error.

[0046] In some embodiments of this application, the first observation signal is a CNAV1 broadcast ephemeris signal. See also Figure 3 The corrected first satellite position is obtained by correcting the first satellite position based on satellite orbit corrections, and the corrected first satellite clock error is obtained by correcting the first satellite clock error based on satellite clock error corrections. This may include: S302. When the satellite orbit correction and the satellite clock error correction match and are within their validity period, the first satellite position is corrected according to the satellite orbit correction to obtain the corrected first satellite position, and the first satellite clock error is corrected according to the satellite clock error correction to obtain the corrected first satellite clock error. S304. Construct a first precise point positioning model based on the corrected position of the first satellite and the corrected clock error of the first satellite; S306. In the case that the satellite orbit correction and the satellite clock error correction do not match, or that any correction is out of validity, calculate the precise ephemeris to obtain the position of the fourth satellite and the fourth satellite clock error, and determine the second satellite signal spatial ranging error term based on the position of the first satellite, the first satellite clock error, the position of the fourth satellite and the fourth satellite clock error. S308. Construct a first precise single-point positioning model based on the first satellite position, the first satellite clock error, and the second satellite signal spatial ranging error term.

[0047] Based on the above steps, the satellite orbit corrections and satellite clock bias corrections are first verified. Only when the satellite orbit corrections and satellite clock bias corrections match and are within their validity period are they used to correct the first satellite position and the first satellite clock bias, resulting in the corrected first satellite position and the corrected first satellite clock bias to construct the first precise point positioning model. If the satellite orbit corrections and satellite clock bias corrections do not match, or if either correction is outside its validity period, it indicates that the satellite orbit corrections and satellite clock bias corrections should not be used to correct the first satellite position and the first satellite clock bias. In this case, to ensure positioning accuracy and guarantee the number of available satellites, the fourth satellite position and the fourth satellite clock bias obtained by calculating the precise ephemeris are combined with the first satellite position and the first satellite clock bias to determine the second satellite signal spatial ranging error term. Based on the first satellite position, the first satellite clock bias, and the second satellite signal spatial ranging error term, the first precise point positioning model is constructed.

[0048] Understandably, a precise ephemeris may include a first precise ephemeris and a second precise ephemeris. The first precise ephemeris is used to calculate the position of the third satellite and the clock bias of the third satellite, and the second precise ephemeris is used to calculate the position of the fourth satellite and the clock bias of the fourth satellite.

[0049] Specifically, in step S304, a first precise point positioning model can be directly constructed based on the corrected first satellite position and the corrected first satellite clock error. In this case, the first precise point positioning model can be:

[0050] in, This represents the non-ionized combined pseudorange observation value of the first observation signal. Indicates satellite The corrected position of the first satellite Indicates receiver The receiver's location, Represents the speed of light. Indicates receiver Receiver clock bias, This indicates the corrected clock bias of the first satellite. Indicates tilted tropospheric delay, Indicates receiver No ionization hardware delay, Indicates satellite No ionization hardware delay, Indicates the satellite that transmitted the first observation signal No ionization hardware delay, This represents the pseudorange observation noise of the first observation signal. This represents the non-ionized carrier phase observation value of the first observation signal. Indicates the wavelength of the combination without ionosphere. Indicates the ambiguity of the non-ionospheric combination. Indicates receiver Ionosphere-free combined phase hardware delay, Indicates the satellite that transmitted the second observation signal Ionosphere-free combined phase hardware delay, This represents the carrier phase measurement noise of the second observation signal. Specifically, the first observation signal can also be, for example, a dual-frequency signal, and the ionization-free combined pseudorange observation can be determined based on the pseudorange observations of the dual-frequency signal and the carrier phase observations. and ionized carrier phase observations Specifically, in step S308, the construction of the first precise single-point positioning model can be referred to the construction process of the second precise single-point positioning model described above.

[0051] In some embodiments of this application, during step S110, when solving the first and second precise point positioning models using the Kalman filter algorithm, the spatial ranging error term can be used as an iterative term in the Kalman filter algorithm, or it can remain unchanged as a constant in the model. The first observation signal may, for example, come from a first satellite, and the second observation signal may, for example, come from a second satellite. During the Kalman filter algorithm's solution of the first and second precise point positioning models, the satellite signal receiver receives the first observation signal newly transmitted by the first satellite and the second observation signal newly transmitted by the second satellite, and then iterates the first and second precise point positioning models based on the newly transmitted first and second observation signals to finally obtain the receiver's azimuth.

[0052] Specifically, the first observation signal can be, for example, a CNAV1 broadcast ephemeris signal, and the second observation signal can be, for example, a CNAV1 / D1 broadcast ephemeris signal. The first observation signal can provide inter-frequency group delays (B1C and B2a), and the second observation signal can provide inter-frequency group delays (B1I and B2I). During the construction of the first precise point positioning model, the two pseudorange observations of the first observation signal at the two frequency points (B1C and B2a) can be corrected using the inter-frequency group delays (B1C and B2a).

[0053] In the process of constructing the second precise single-point positioning model, the third and fourth pseudorange observation values ​​of the second observation signal can also be corrected by the B1I inter-frequency group delay and the B2I inter-frequency group delay. The two frequency points of the second observation signal are the B1I frequency point and the B2I frequency point.

[0054] See Figures 4 to 7 Experiments using a set of dual-frequency single-BeiDou complex environment dynamic data demonstrate that the positioning method for satellite positioning receivers provided in this application can significantly increase the number of available satellites and reduce positioning errors. Figure 4 The diagram shows the change in the number of available satellites for existing positioning methods over time, indicating that the number of available satellites for existing positioning methods ranges from 4 to 9. Figure 5 This shows that the number of available satellites for the positioning method for a satellite positioning receiver provided in the embodiments of this application is between 11 and 21. Figure 6 The diagram shows the time-varying east-west (EW), north-south (NS), and altitude (UD) errors of the receiver's azimuth determined by existing positioning methods. Figure 7 The illustration shows the changes over time in the east-west, north-south, and altitude errors of the receiver's orientation determined by the positioning method for a satellite positioning receiver provided in this embodiment. It is evident that the errors in the receiver's orientation determined by the positioning method provided in this embodiment are significantly lower than those determined by existing positioning methods. The root mean square values ​​of the east-west, north-south, and altitude errors are reduced from 2.2m, 6.4m, and 7.2m to 0.7m, 1.1m, and 3.4m, respectively.

[0055] In summary, when the positioning method for satellite positioning receivers provided in this application is applied to the BeiDou system, it can use BeiDou-2 and BeiDou-3 satellites in combination, increasing the number of available satellites to more than 20, and obtaining high-precision positioning results at the current moment, which can improve the accuracy and reliability of positioning results in complex urban environments.

[0056] This application provides a positioning device for a satellite positioning receiver, comprising: a processor configured to execute a positioning method for a satellite positioning receiver according to the above embodiments.

[0057] This application provides a receiver comprising: the positioning device described above for a satellite positioning receiver, and a receiving antenna. The receiving antenna is used to acquire a first observation signal and a second observation signal.

[0058] This application also provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform a positioning method for a satellite positioning receiver according to the above embodiments.

[0059] It should be understood that while the steps in the flowchart of this application embodiment are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0060] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a positioning method for a satellite positioning receiver. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0061] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0062] In one embodiment, the positioning device for a satellite positioning receiver provided in this application can be implemented as a computer program, which can be implemented in various ways, such as... Figure 8The computer device shown operates on this device. The computer device's memory can store various program modules that make up the positioning apparatus for the satellite positioning receiver. The computer program, composed of the various program modules, causes the processor to execute the steps in the positioning methods for the satellite positioning receiver described in the various embodiments of this application.

[0063] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0064] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0065] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0066] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0067] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0068] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0069] Computer-readable media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0070] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0071] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A positioning method for a satellite positioning receiver, characterized in that, include: Acquire a first observation signal, a second observation signal, and a precise ephemeris, wherein the first observation signal is an observation signal with PPP-B2b correction; Solve the first observation signal, and construct a first precise point positioning model based on the solved first satellite position and the first satellite clock error; The second satellite position and the second satellite clock error are obtained by solving the second observation signal, and the third satellite position and the third satellite clock error are obtained by solving the precise ephemeris, so as to determine the first satellite signal spatial ranging error term based on the second satellite position, the second satellite clock error, the third satellite position and the third satellite clock error; A second precise point positioning model is constructed based on the position of the second satellite, the clock error of the second satellite, and the spatial ranging error term of the first satellite signal. The receiver's orientation is obtained by solving the first and second precise point positioning models using the Kalman filter algorithm.

2. The positioning method according to claim 1, characterized in that, The step of constructing the second precise point positioning model based on the second satellite position, the second satellite clock error, and the spatial ranging error term of the first satellite signal includes: Determine the third pseudorange observation value, the third carrier phase observation value, the fourth pseudorange observation value, the fourth carrier phase observation value, and the inter-frequency group delay of the second observation signal; Based on the inter-frequency group delay, the third pseudorange observation value and the fourth pseudorange observation value are corrected to obtain the corrected ionization-free combination pseudorange observation value; A second precise point positioning model is constructed based on the second satellite position, the second satellite clock error, the first satellite signal spatial ranging error term, the corrected ionization-free pseudorange observation, the third carrier phase observation, and the fourth carrier phase observation.

3. The positioning method according to claim 2, characterized in that, The step of correcting the third and fourth pseudorange observations based on the inter-frequency group delay to obtain the corrected ionization-free pseudorange observations includes: Based on the inter-frequency group delay, the third pseudorange observation value and the fourth pseudorange observation value are corrected to obtain the corrected third pseudorange observation value and the corrected fourth pseudorange observation value; The ionization-free pseudorange observation value is determined based on the corrected third pseudorange observation value and the corrected fourth pseudorange observation value.

4. The positioning method according to claim 2, characterized in that, The construction of the second precise point positioning model based on the second satellite position, the second satellite clock error, the first satellite signal spatial ranging error term, the corrected ionization-free pseudorange observation, the third carrier phase observation, and the fourth carrier phase observation includes: The non-ionizing carrier phase observation value is determined based on the third carrier phase observation value and the fourth carrier phase observation value; The second precise point positioning model is constructed based on the corrected ionization-free pseudorange observation, the ionization-free carrier phase observation, the second satellite position, the second satellite clock error, and the first satellite signal spatial ranging error term.

5. The positioning method according to claim 4, characterized in that, The second precise single-point positioning model is as follows: ； in, This indicates the corrected pseudorange observation without ionization. Indicates satellite The second satellite position, Indicates receiver The receiver's orientation, Represents the speed of light. Indicates receiver Receiver clock bias, This indicates the clock bias of the second satellite. Indicates tilted tropospheric delay, Indicates satellite The first satellite signal spatial ranging error term, Indicates receiver No ionization hardware delay, Indicates the satellite that transmitted the second observation signal No ionization hardware delay, This represents the pseudorange observation noise of the second observation signal. This represents the non-ionized carrier phase observation value of the second observation signal. Indicates the wavelength of the combination without ionosphere. Indicates the ambiguity of the non-ionospheric combination. Indicates receiver Ionosphere-free combined phase hardware delay, Indicates the satellite that transmitted the second observation signal Ionosphere-free combined phase hardware delay, This represents the carrier phase measurement noise of the second observed signal.

6. The positioning method according to claim 1, characterized in that, The step of determining the spatial ranging error term of the first satellite signal based on the second satellite position, the second satellite clock bias, the third satellite position, and the third satellite clock bias includes: Determine the satellite position error between the second satellite position and the third satellite position; Determine the satellite clock error of the second satellite clock error and the third satellite clock error; The first satellite signal spatial ranging error term is determined based on the satellite position error and the satellite clock error.

7. The positioning method according to claim 6, characterized in that, The second satellite position includes: the radial value of the second satellite, the tangential value of the second satellite, and the normal value of the second satellite; the third satellite position includes: the radial value of the third satellite, the tangential value of the third satellite, and the normal value of the third satellite. The satellite position errors used to determine the positions of the second and third satellites include: Determine the satellite radial error between the second satellite radial value and the third satellite radial value; Determine the satellite tangential error between the second satellite tangential value and the third satellite tangential value; Determine the satellite normal error between the second satellite normal value and the third satellite normal value; The step of determining the first satellite signal spatial ranging error term based on the satellite position error and the satellite clock error includes: The satellite radial error, satellite tangential error, satellite normal error, and satellite clock error are similar to the first satellite signal spatial ranging error term.

8. The positioning method according to claim 7, characterized in that, The first satellite signal spatial ranging error term is determined based on the formula: ； in, This represents the spatial ranging error term of the first satellite signal. This indicates the radial error of the satellite. This indicates the satellite's tangential error. This indicates the satellite normal error. This indicates the satellite clock error. Indicates the satellite radial error scaling factor. This represents the scaling factor for satellite tangential error and satellite normal error.

9. The positioning method according to claim 1, characterized in that, The step of solving the first observed signal and constructing a first precise point positioning model based on the solved first satellite position and the first satellite clock error includes: Solve the first observation signal to obtain the satellite orbit correction, satellite clock error correction, first satellite position, and first satellite clock error; The first satellite position is corrected according to the satellite orbit correction to obtain the corrected first satellite position, and the first satellite clock error is corrected according to the satellite clock error correction to obtain the corrected first satellite clock error; A first precise point positioning model is constructed based on the corrected position of the first satellite and the corrected clock error of the first satellite.

10. The positioning method according to claim 9, characterized in that, The first observation signal is a CNAV1 broadcast ephemeris signal; the step of correcting the first satellite position according to the satellite orbit correction to obtain the corrected first satellite position, and correcting the first satellite clock error according to the satellite clock error correction to obtain the corrected first satellite clock error includes: If the satellite orbit correction and the satellite clock error correction match and are within their validity period, the first satellite position is corrected according to the satellite orbit correction to obtain the corrected first satellite position, and the first satellite clock error is corrected according to the satellite clock error correction to obtain the corrected first satellite clock error. A first precise point positioning model is constructed based on the corrected position of the first satellite and the corrected clock error of the first satellite; If the satellite orbit correction and the satellite clock error correction do not match, or if any of the corrections are outside their validity period, the precise ephemeris is calculated to obtain the fourth satellite position and the fourth satellite clock error, and the second satellite signal spatial ranging error term is determined based on the first satellite position, the first satellite clock error, the fourth satellite position, and the fourth satellite clock error. The first precise single-point positioning model is constructed based on the first satellite position, the first satellite clock error, and the second satellite signal spatial ranging error term.

11. A positioning device for a satellite positioning receiver, characterized in that, include: The processor is configured to execute the positioning method for a satellite positioning receiver according to any one of claims 1 to 10.

12. A receiver, characterized in that, include: Positioning device for a satellite positioning receiver as described in claim 11; A receiving antenna is used to acquire the first observation signal and the second observation signal.

13. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions that, when executed by a processor, cause the processor to perform a positioning method for a satellite positioning receiver according to any one of claims 1 to 10.

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