阅读说明：本技术 Gnss卫星定位方法及系统、定位终端 (GNSS satellite positioning method and system and positioning terminal ) 是由 汪登辉 冯绍军 田凌侠 于 2018-08-14 设计创作，主要内容包括：本发明适用于卫星定位技术领域,提供了一种GNSS卫星定位方法及系统、定位终端,所述定位方法包括：获取接收机的数据,所述数据包括偏差数据及原始观测数据；基于差分数据及所述原始观测数据获取站间单差观测值；基于所述站间单差观测值及所述偏差数据,建立站间单差滤波观测方程并进行差分定位,获得差分定位结果。本发明中,建立站间单差滤波观测方程,利用偏差数据约束来进行差分定位解算,可减少信号频段偏差对定位结果的影响,进而提高定位的精确度。(The invention is suitable for the technical field of satellite positioning, and provides a GNSS satellite positioning method, a GNSS satellite positioning system and a positioning terminal, wherein the positioning method comprises the following steps: acquiring data of a receiver, wherein the data comprises deviation data and original observation data; acquiring an inter-station single-difference observation value based on the difference data and the original observation data; and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result. In the invention, an interstation single-difference filtering observation equation is established, and differential positioning calculation is carried out by utilizing deviation data constraint, so that the influence of signal frequency band deviation on a positioning result can be reduced, and the positioning accuracy is further improved.)

1. A GNSS satellite positioning method, comprising:

acquiring data of a receiver, wherein the data comprises deviation data and original observation data;

acquiring an inter-station single-difference observation value based on the difference data and the original observation data;

and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.

2. The method of claim 1, wherein the obtaining inter-station single-difference observations based on the difference data and the raw observation data comprises:

performing time synchronization based on the differential data and the original observation data to obtain synchronous data;

establishing an inter-station single-difference observation model based on the synchronous data;

and acquiring an inter-station single-difference observation value based on the inter-station single-difference observation model.

3. The positioning method according to claim 2, wherein the establishing of the inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning comprise:

establishing an interstation single-difference filtering observation equation based on the interstation single-difference observation model and the deviation data;

and carrying out differential positioning based on the interstation single difference filtering observation equation to obtain a differential positioning result.

4. The method of claim 3, wherein the establishing inter-station single-difference filtering observation equations based on the inter-station single-difference observation models and the deviation data comprises:

estimating positions, interstation single-difference ambiguity, intersystem deviation and frequency deviation based on the interstation single-difference observation model;

and utilizing the received deviation data as a known value for constraint, and establishing an inter-station single difference filtering observation equation.

5. The positioning method according to claim 4, wherein the differential positioning based on the inter-station single difference filtering observation equation to obtain a differential positioning result comprises:

fixing the single-difference ambiguity between stations based on the single-difference filtering observation equation between stations;

and restoring the positions and the inter-station single-difference ambiguities corresponding to the fixed results, and the results of the inter-system deviation and the inter-frequency deviation based on the fixed single-difference ambiguities.

6. The positioning method according to claim 1, wherein the acquiring of the data of the receiver is specifically:

and receiving deviation data and original observation data sent by the reference station.

7. A GNSS satellite positioning system, comprising:

the first acquisition unit is used for acquiring data of a receiver, wherein the data comprises deviation data and original observation data;

the second acquisition unit is used for acquiring an inter-station single-difference observation value based on the differential data and the original observation data;

and the differential positioning unit is used for establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain a differential positioning result.

8. A positioning terminal, characterized in that the positioning terminal comprises a positioning unit and a GNSS satellite positioning system according to claim 7.

9. A memory storing a computer program, the computer program being executable by a processor to perform the steps of:

acquiring data of a receiver, wherein the data comprises deviation data and original observation data;

acquiring an inter-station single-difference observation value based on the difference data and the original observation data;

and establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.

10. A service terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the GNSS satellite positioning method according to any of claims 1 to 6.

Technical Field

The invention belongs to the technical field of satellite positioning, and particularly relates to a GNSS satellite positioning method and system and a positioning terminal.

Background

The GNSS is called Global Navigation Satellite System (Global Navigation Satellite System), which refers to all Satellite Navigation systems in general, including Global, regional, and enhanced systems, such as GPS in the united states, Glonass in russia, Galileo in europe, and beidou Satellite Navigation System in china, and related enhanced systems, such as WAAS (wide area augmentation System) in the united states, EGNOS in europe (european geostationary Navigation overlay System), MSAS in japan (multi-functional transportation Satellite augmentation System), and the like, and also covers other Satellite Navigation systems to be built and later built.

The communication process between the satellite and the receiver is roughly as follows: the pseudo range and the carrier signal are transmitted to the satellite antenna through the hardware channel, are transmitted through the satellite antenna, are received by the antenna at the receiver end, are matched with the satellite signal of the receiver through the hardware channel, and the receiver obtains the corresponding carrier and pseudo range observed values. Because the initial phases of signals with different mechanisms and different frequencies are inconsistent, for different receivers and satellites, carrier deviation and pseudo-range deviation of corresponding signal observation values will have certain difference.

Disclosure of Invention

The embodiment of the invention provides a GNSS satellite positioning method, a GNSS satellite positioning system and a GNSS satellite positioning terminal, and aims to solve the problem that in the prior art, the positioning accuracy is influenced because data in an observation process cannot be fully utilized.

A GNSS satellite positioning method comprising:

acquiring data of a receiver, wherein the data comprises deviation data and original observation data;

acquiring an inter-station single-difference observation value based on the difference data and the original observation data;

and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.

Preferably, the obtaining inter-station single-difference observation values based on the differential data and the original observation data includes:

performing time synchronization based on the differential data and the original observation data to obtain synchronous data;

establishing an inter-station single-difference observation model based on the synchronous data;

and acquiring an inter-station single-difference observation value based on the inter-station single-difference observation model.

Preferably, the establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain differential positioning data includes:

establishing an interstation single-difference filtering observation equation based on the interstation single-difference observation model and the deviation data;

and carrying out differential positioning based on the interstation single difference filtering observation equation to obtain a differential positioning result.

Preferably, the inter-station single-difference observation model and the deviation data establishing an inter-station single-difference filtering observation equation comprise:

estimating positions, interstation single-difference ambiguity, intersystem deviation and frequency deviation based on the interstation single-difference observation model;

and utilizing the received deviation data as a known value for constraint, and establishing an inter-station single difference filtering observation equation.

Preferably, the differential positioning based on the inter-station single difference filtering observation equation, and obtaining a differential positioning result includes:

fixing the single-difference ambiguity between stations based on the single-difference filtering observation equation between stations;

and restoring the positions and the inter-station single-difference ambiguities corresponding to the fixed results, and the results of the inter-system deviation and the inter-frequency deviation based on the fixed single-difference ambiguities.

Preferably, the data of the acquisition receiver is specifically:

and receiving deviation data and original observation data sent by the reference station.

The invention also provides a GNSS satellite positioning system, comprising:

the first acquisition unit is used for acquiring data of a receiver, wherein the data comprises deviation data and original observation data;

the second acquisition unit is used for acquiring an inter-station single-difference observation value based on the differential data and the original observation data;

and the differential positioning unit is used for establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain a differential positioning result.

The invention also provides a positioning terminal, which comprises a GNSS satellite positioning system, wherein the satellite positioning system comprises:

the first acquisition unit is used for acquiring data of a receiver, wherein the data comprises deviation data and original observation data;

the second acquisition unit is used for acquiring an inter-station single-difference observation value based on the differential data and the original observation data;

and the differential positioning unit is used for establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data and performing differential positioning to obtain a differential positioning result.

The present invention also provides a memory storing a computer program, wherein the computer program is executed by a processor to perform the steps of:

acquiring data of a receiver, wherein the data comprises deviation data and original observation data;

acquiring an inter-station single-difference observation value based on the difference data and the original observation data;

and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.

The invention also provides a service terminal, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the following steps:

acquiring data of a receiver, wherein the data comprises deviation data and original observation data;

acquiring an inter-station single-difference observation value based on the difference data and the original observation data;

and establishing an inter-station single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.

In the embodiment of the invention, an inter-station single-difference filtering observation equation is established, and differential positioning calculation is carried out by utilizing deviation data constraint, so that the influence of signal frequency band deviation on a positioning result can be reduced, and the positioning accuracy is further improved.

Drawings

FIG. 1 is a flowchart illustrating a GNSS satellite positioning method according to a first embodiment of the present invention;

FIG. 2 is a flowchart illustrating a step S2 of a GNSS satellite positioning method according to a first embodiment of the present invention;

FIG. 3 is a flowchart illustrating a step S3 of a GNSS satellite positioning method according to a first embodiment of the present invention;

FIG. 4 is a flowchart illustrating a step S32 of a GNSS satellite positioning method according to a first embodiment of the present invention;

FIG. 5 is a block diagram of a GNSS satellite positioning system according to a second embodiment of the present invention;

fig. 6 is a structural diagram of a service terminal according to a third embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In an embodiment of the present invention, a GNSS satellite positioning method includes: acquiring data of a receiver, wherein the data comprises deviation data and original observation data; acquiring an inter-station single-difference observation value based on the difference data and the original observation data; and establishing a single-difference filtering observation equation based on the inter-station single-difference observation value and the deviation data, and performing differential positioning to obtain a differential positioning result.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.