Independent double-baseline calculation verification method based on Beidou dynamic positioning
阅读说明：本技术 一种基于北斗动动定位的独立双基线解算验证方法 (Independent double-baseline calculation verification method based on Beidou dynamic positioning ) 是由 周洪峰 孙红星 李石平 于 2019-12-11 设计创作，主要内容包括：本发明提供一种基于北斗动动定位的独立双基线解算验证方法,包括：步骤S1,节点A和节点B作为匹配点构成基线同时接收卫星信号,提取原始观测量；步骤S2,节点A利用伪距单点定位方式进行实时定位,获取卫星原始观测信息；步骤S3,节点A将伪距单点定位结果和卫星原始观测信息实时发送给移动站；步骤S4,节点B提取自身和基准站共同观测到的卫星载波相位观测信息进行单历元载波相位整周模糊度求解,实时计算第一相对基线矢量；步骤S5,节点B实时输出节点B的绝对位置和基线信息；步骤S6,节点B与节点A交换角色,重复步骤S2至步骤S5的操作,计算得到第二相对基线矢量。本发明能够有效提高基线解算验证的可靠性。(The invention provides an independent double-baseline calculation verification method based on Beidou dynamic positioning, which comprises the following steps of: step S1, taking the node A and the node B as matching points to form a base line and simultaneously receive satellite signals, and extracting an original observed quantity; step S2, the node A carries out real-time positioning by utilizing a pseudo-range single-point positioning mode to obtain the original observation information of the satellite; step S3, the node A sends the pseudo-range single-point positioning result and the original observation information of the satellite to the mobile station in real time; step S4, the node B extracts satellite carrier phase observation information observed by the node B and a reference station together to carry out single-epoch carrier phase integer ambiguity resolution, and calculates a first relative baseline vector in real time; step S5, the node B outputs the absolute position and baseline information of the node B in real time; and step S6, the node B exchanges roles with the node A, the operations from the step S2 to the step S5 are repeated, and a second relative baseline vector is calculated. The method can effectively improve the reliability of baseline calculation verification.)
1. An independent double-baseline calculation verification method based on Beidou dynamic positioning is characterized by comprising the following steps:
step S1, using the node A and the node B as matching points to simultaneously receive satellite signals and extract original observed quantities, wherein the original observed quantities comprise satellite pseudo-ranges and dual-frequency carrier phase observed quantities;
step S2, the node A carries out real-time positioning by utilizing a pseudo-range single-point positioning mode to obtain original satellite observation information, wherein the original satellite observation information comprises a carrier signal, a ranging code and a navigation message;
step S3, the node A sends the pseudo-range single-point positioning result and the original observation information of the currently observed satellite to the mobile station in real time;
step S4, the node B extracts satellite carrier phase observation information observed by the node B and a reference station together to carry out single-epoch carrier phase integer ambiguity resolution, and calculates a first relative baseline vector in real time;
step S5, the node B outputs the absolute position and the baseline information of the node B in real time according to the pseudo-range point positioning result sent by the node A and the first relative baseline vector calculated in the step S4;
and step S6, the node B and the node A exchange roles, the operations from the step S2 to the step S5 are repeated, a second relative baseline vector is obtained through calculation, and double baseline calculation verification is achieved.
2. The independent double baseline solution verification method based on Beidou satellite dynamic positioning according to claim 1, wherein in the step S1, satellite pseudorange p is extracted through a formula p = C t, wherein C is the speed of light, and t is the time difference between the satellite signal arriving at node A and node B.
3. Independent double-baseline calculation and verification method based on Beidou dynamic positioning according to claim 1Method, characterized in that in step S1, the method is based on the formula
4. The independent double-baseline solution verification method based on Beidou mobile positioning according to any one of claims 1 to 3, wherein in the step S4, the node B extracts satellite carrier phase observation information observed by the node B and a reference station together to perform single-epoch carrier phase integer ambiguity solution, and the implementation process of calculating the first relative baseline vector L in real time is as follows: firstly, a satellite receiver carried by a node B receives signals, then the three-dimensional coordinate vector of the satellite receiver is solved, a reference station simultaneously receives the satellite signals, and the three-dimensional coordinate vector of the reference station is calculated; then, the three-dimensional coordinate vector of the node B is corrected by making a difference between the three-dimensional coordinate vector of the node B and the three-dimensional coordinate vector of the reference station; and finally, subtracting the three-dimensional coordinate vectors of the two matched nodes to obtain a first relative baseline vector.
5. The independent double-baseline solution verification method based on Beidou satellite mobile positioning according to claim 4, wherein in the step S5, the process of outputting the absolute position and baseline information of the node B is as follows: firstly, the node B solves the three-dimensional coordinate vector of the pseudo-range single-point positioning result sent by the node a, adds the three-dimensional coordinate vector and the first relative baseline vector calculated in the step S4 to output the absolute position of the node B, and outputs the baseline information of the first relative baseline vector.
6. The Beidou autonomous mobile positioning-based double baseline solution verification method according to any one of claims 1 to 3, wherein in the step S1, the node A is receiver A or reference station A, and the node B is receiver B or mobile station B.
7. The independent double-baseline solution verification method based on Beidou satellite mobile positioning according to any one of claims 1 to 3, wherein in the step S2, the node A carries out real-time positioning by using a pseudo-range single-point positioning mode, and the process of obtaining the original observation information of the satellite is as follows: and observing more than 4 GPS satellites by using a GPS receiver, and further determining the position of the point to be detected in the ground-fixed coordinate system.
8. The Beidou-dynamic positioning-based independent double-baseline solution verification method according to any one of claims 1 to 3, wherein the step S6 comprises the following sub-steps:
step S601, a node B carries out real-time positioning by utilizing a pseudo-range single-point positioning mode to obtain original satellite observation information, wherein the original satellite observation information comprises a carrier signal, a ranging code and a navigation message;
step S602, the node B sends the pseudo-range point positioning result and the original observation information of the currently observed satellite to the mobile station in real time;
step S603, the node a extracts satellite carrier phase observation information observed by itself and the reference station together to perform single epoch carrier phase integer ambiguity resolution, and calculates a second relative baseline vector L' in real time.
9. The independent double-baseline solution verification method based on Beidou mobile positioning according to claim 8, further comprising a step S604, wherein the node A outputs the absolute position and baseline information of the mobile station in real time according to the pseudo-range single-point positioning result sent by the node B and the second relative baseline vector L' calculated in the step S603.
10. The independent double-baseline calculation and verification method based on Beidou mobile positioning according to claim 9, wherein the node A and the node B broadcast single-point positioning results and baseline calculation information, and the node A and the node B respectively broadcast single-point positioning results and baseline calculation information after receiving information of the other party through a formula | L + L'<A result verification is performed in which, among other things,
Technical Field
The invention relates to the technical field of linkage target ad hoc network navigation and positioning, in particular to an independent double-baseline calculation and verification method based on Beidou mobile positioning.
Background
With the deeper combination of the Beidou satellite navigation system (BDS) positioning technology and various industries in China, the technical application of the navigation system has relatively high requirements, and the conventional static and dynamic real-time kinematic (RTK) technology cannot completely meet the application requirements. Therefore, dynamic relative dynamic (dynamic) positioning technology that both the mobile station and the reference station move has been developed, and in the linkage target dynamic positioning, a plurality of moving objects in a system keep a relative motion state at the same time, i.e. multi-target dynamic positioning is more widely applied. The Beidou dynamic positioning refers to a dynamic relative dynamic (dynamic) positioning technology based on the movement of a Beidou mobile station and a reference station.
In the technical background, different applications are popularized in various fields by the technology. Especially in the application of aircraft, vehicles, ship formation operation and the like, the system has the advantages of multiple targets, small intervals, high speed and accurate and credible position service requirement. But the research on dynamic positioning, especially multi-target dynamic positioning, in China is very little. How to carry out double-baseline calculation through communication between the receivers in the formation of unmanned aerial vehicles to verify the result, improve whole system operating efficiency and reduce monitoring center work load, all have very big promotion to whole network reliability and matching receiver node reliability. In the traditional single-baseline solution, the solution result cannot be effectively verified, a limited data source contains a large number of errors, and the lack of redundant information brings great loss to the reliability of the solution result.
In the process of formation and advancing of the moving targets, not only mutual collision is avoided, but also cooperative operation is required, and each moving target needs to sense the relative position relation between other surrounding moving targets and the moving targets accurately and reliably in real time. The method takes a single node (single receiver) as a center, and establishes an autonomous baseline with peripheral nodes (receivers), thereby reducing the whole data processing load of the system and the realization cost of equipment. For other targets far away from the moving target, only the approximate position relation of the targets needs to be monitored and the change trend among the position relations needs to be analyzed, so that a processing mode of single baseline calculation or single point positioning between the targets to be determined is adopted, and the data processing frequency is dynamically set according to the target attributes, the mutual distance and the change trend of the targets. The positioning accuracy and the reliability are not obviously reduced, and meanwhile, the data processing burden of the whole system is reduced, so that the performance requirements on related equipment in the equipment implementation process are reduced, and the equipment cost is controlled. However, in the process of constructing the autonomous baseline, how to guarantee the quality of the baseline solution result, how to define the reliability of the baseline solution result, how to verify the result, and particularly how to effectively verify the result under the condition that various errors such as clock error of a receiver are mixed, become problems to be solved urgently.
If only the single baseline calculation result is used blindly, if the result has great deviation, not only errors are caused to the calculation of adjacent baselines, but also serious problems are caused to the reliability of the network construction and the safety of the mobile formation. In the current positioning service era based on a single target, the positioning service era is gradually replaced by multi-source heterogeneous multi-nodes, and how to process the independent baseline solution verification technology is more urgent to be solved. The result verification of the independent base line is different from that of multiple base lines, multiple base lines can be corrected to a certain extent through technologies such as a closed ring, and the reliability of the single base line is verified through the solution of the single base line. Therefore, the prior art brings obstacles to the current overall operation of various mobile formation and the development of ad hoc network technology, and the problem that how to improve the reliability of the independent baseline solution in the Beidou mobile positioning ad hoc network for verification is never provided.
Disclosure of Invention
The invention aims to solve the technical problem of providing an independent double-baseline solution verification method based on Beidou dynamic positioning, which can improve the reliability of baseline solution verification.
In contrast, the invention provides an independent double-baseline calculation and verification method based on Beidou dynamic positioning, which comprises the following steps:
step S1, using the node A and the node B as matching points to simultaneously receive satellite signals and extract original observed quantities, wherein the original observed quantities comprise satellite pseudo-ranges and dual-frequency carrier phase observed quantities;
step S2, the node A carries out real-time positioning by utilizing a pseudo-range single-point positioning mode to obtain original satellite observation information, wherein the original satellite observation information comprises a carrier signal, a ranging code and a navigation message;
step S3, the node A sends the pseudo-range single-point positioning result and the original observation information of the currently observed satellite to the mobile station in real time;
step S4, the node B extracts satellite carrier phase observation information observed by the node B and a reference station together to carry out single-epoch carrier phase integer ambiguity resolution, and calculates a first relative baseline vector in real time;
step S5, the node B outputs the absolute position and the baseline information of the node B in real time according to the pseudo-range point positioning result sent by the node A and the first relative baseline vector calculated in the step S4;
and step S6, the node B and the node A exchange roles, the operations from the step S2 to the step S5 are repeated, a second relative baseline vector is obtained through calculation, and double baseline calculation verification is achieved.
In a further improvement of the present invention, in step S1, the satellite pseudorange ρ is extracted by the formula ρ = C × t, where C is the speed of light and t is the time difference between the satellite signal arriving at node a and node B.
In a further improvement of the present invention, in the step S1, the formula is used
In step S4, the node B extracts satellite carrier phase observation information observed by itself and the reference station together to perform single epoch carrier phase integer ambiguity resolution, and the implementation process of calculating the first relative baseline vector L in real time is as follows: firstly, a satellite receiver carried by a node B receives signals, then the three-dimensional coordinate vector of the satellite receiver is solved, a reference station simultaneously receives the satellite signals, and the three-dimensional coordinate vector of the reference station is calculated; then, the three-dimensional coordinate vector of the node B is corrected by making a difference between the three-dimensional coordinate vector of the node B and the three-dimensional coordinate vector of the reference station; and finally, subtracting the three-dimensional coordinate vectors of the two matched nodes to obtain a first relative baseline vector.
A further improvement of the present invention is that in step S5, the procedure of outputting the absolute position of the node B and the baseline information is as follows: firstly, the node B solves the three-dimensional coordinate vector of the pseudo-range single-point positioning result sent by the node a, adds the three-dimensional coordinate vector and the first relative baseline vector calculated in the step S4 to output the absolute position of the node B, and outputs the baseline information of the first relative baseline vector.
In a further improvement of the present invention, in step S1, node a is receiver a or reference station a, and node B is receiver B or mobile station B.
In step S2, the node a performs real-time positioning by using a pseudo-range single-point positioning method, and the process of obtaining the original observation information of the satellite is as follows: and observing more than 4 GPS satellites on the specific undetermined point by using a GPS receiver, and further determining the position of the undetermined point in a ground-fixed coordinate system.
A further refinement of the invention is that said step S6 comprises the following sub-steps:
step S601, a node B carries out real-time positioning by utilizing a pseudo-range single-point positioning mode to obtain original satellite observation information, wherein the original satellite observation information comprises a carrier signal, a ranging code and a navigation message;
step S602, the node B sends the pseudo-range point positioning result and the original observation information of the currently observed satellite to the mobile station in real time;
step S603, the node a extracts satellite carrier phase observation information observed by itself and the reference station together to perform single epoch carrier phase integer ambiguity resolution, and calculates a second relative baseline vector L' in real time.
The further improvement of the present invention is that the present invention further includes step S604, and the node a outputs the absolute position and the baseline information of the mobile station in real time according to the pseudorange single-point positioning result sent by the node B and the second relative baseline vector L' calculated in step S603.
The invention has the further improvement that the node A and the node B carry out single-point positioning result and baseline calculation information dissemination, and the node A and the node B respectively transmit information of the opposite party through a formula | L + L'<
Compared with the prior art, the invention has the beneficial effects that: in the baseline solution of the Beidou mobile positioning, the node A and the node B can respectively play the roles of a reference station and a mobile station, so that bidirectional baseline solution information from the node A to the node B and from the node B to the node A is obtained; through the communication network broadcasting function, the node A can receive the node B single-point positioning result and the baseline resolving information, so that the consistency of the node B single-point positioning result and the baseline resolving information is judged, namely the error between the node A and the baseline resolving information is judged to be reliable within the threshold allowable range; if the two calculation results are not consistent, a base line with a better calculation result can be selected by constructing a network. Similarly, the node B can also perform reliability determination, thereby effectively improving the reliability of baseline solution verification and verifying the conformity and accuracy thereof. On the basis, when one party fails, the two parties cannot complete the reliability verification of the bidirectional resolving information, the alarm can be realized, and the user can conveniently monitor and troubleshoot the failure according to the address information.
Drawings
FIG. 1 is a schematic workflow diagram of one embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the present example provides an independent dual baseline solution verification method based on Beidou satellite positioning, which includes:
step S1, using the node A and the node B as matching points to simultaneously receive satellite signals and extract original observed quantities, wherein the original observed quantities comprise satellite pseudo-ranges and dual-frequency carrier phase observed quantities;
step S2, the node A carries out real-time positioning by utilizing a pseudo-range single-point positioning mode to obtain original satellite observation information, wherein the original satellite observation information comprises a carrier signal, a ranging code and a navigation message;
step S3, the node A sends the pseudo-range point positioning result and the original observation information of the currently observed satellite to a mobile station in real time, and the mobile station comprises a node B;
step S4, the node B extracts satellite carrier phase observation information observed by the node B and a reference station together to carry out single-epoch carrier phase integer ambiguity resolution, and calculates a first relative baseline vector in real time;
step S5, the node B outputs the absolute position and the baseline information of the node B in real time according to the pseudo-range point positioning result sent by the node A and the first relative baseline vector calculated in the step S4;
and step S6, the node B and the node A exchange roles, the operations from the step S2 to the step S5 are repeated, a second relative baseline vector is obtained through calculation, and double baseline calculation verification is achieved.
In this example, in step S1, node a is receiver a or reference station a, and node B is receiver B or mobile station B; when the node a is used as a master node and calculates the coordinate and baseline information of the node a, the node a is a mobile station, and the node B is used as a base station, and conversely, when the coordinate and baseline information of the node B need to be calculated in step S6, the node B is used as a master node and a mobile station, and the node a is used as a base station; the satellite pseudorange is a measured distance obtained by multiplying the propagation time of a ranging code signal transmitted by a satellite to a receiver by the speed of light, so that the satellite pseudorange ρ can be calculated by the formula ρ = C × t, where C is the speed of light and t is the time difference between the satellite signal and the two receivers.
Step S1 in this example is actually the step of the satellite receiver or the information obtained via the receiver antenna. The principle of step S2 is that the coordinate result obtained from the single-point positioning and the original information can be linked through the data link between different receivers and sent to other nodes. In step S4, node B receives the above information from node a, and all nodes can receive the information due to broadcasting; because the carrier phase observation information of the node A is obtained, the baseline information of the node B relative to the node A is obtained by subtracting the two, because the vector is provided, and the direction is defined as the node A minus the node B. In step S5, the vector difference between node a and node B is added to the coordinates of node a to obtain the coordinates of node B. Similarly, in step S6, after the exchange, the coordinates of node a can be obtained from the coordinates of node B and the vector difference between node B and node a, so as to implement redundant information, it is worth mentioning that the baseline vector AB (the first relative baseline vector) between node a and node B and the baseline vector BA (the second relative baseline vector) between node B and node a are not consistent, and therefore, the reliability of the dual baseline solution verification in this example is high.
The dual-frequency carrier phase observed quantity is the phase difference between a satellite carrier signal received by the receiver and a local oscillation reference signal of the receiver. The carrier phase measurement is a function of the position of the receiver (antenna) and the satellite, and the position of the receiver (or satellite) can only be solved from the observations if a functional relationship between them is obtained. At standard time of satellitet a(time of the clock of the satellite)t a) Satellite sjThe phase of the transmitted carrier signal is
Therefore, in step S1 in this example, the satellite pseudorange ρ is preferably extracted by the formula ρ = C × t, where C is the speed of light and t is the time difference between the satellite signal arriving at node a and node B. Preferably by means of the formula
In step S2, the process of obtaining the original observation information of the satellite by the node a performing real-time positioning in the pseudo-range single-point positioning manner is as follows: and observing more than 4 GPS satellites on the specific undetermined point by using a GPS receiver, further determining the position of the undetermined point in a ground-fixed coordinate system, and further acquiring original observation information of the satellite.
In step S4 in this example, the node B extracts satellite carrier phase observation information observed by itself and the reference station together to perform single epoch carrier phase integer ambiguity resolution, and the implementation process of calculating the first relative baseline vector L in real time is as follows: firstly, a satellite receiver carried by a node B receives signals, then the three-dimensional coordinate vector of the satellite receiver is solved, a reference station simultaneously receives the satellite signals, and the three-dimensional coordinate vector of the reference station is calculated; then, the three-dimensional coordinate vector of the node B is corrected by making a difference between the three-dimensional coordinate vector of the node B and the three-dimensional coordinate vector of the reference station; and finally, subtracting the three-dimensional coordinate vectors of the two matched nodes to obtain a first relative baseline vector.
In this example, the first relative baseline vector L is a baseline solution result from the node a to the node B, and is implemented by baseline vector solution (baseline vector solution), which is a process of solving a baseline vector coordinate difference between two stations that are synchronously observed by using a carrier phase observation value or a difference observation value thereof in satellite positioning. Before that, data preprocessing is carried out, gross errors in the observed values are removed, and then cycle slip detection and repair are carried out. Because the approximate coordinates of the undetermined survey station are low in precision relative to the base station, calculation of the satellite distance and the propagation time is influenced, the precision of the approximate coordinates of the survey station needs to be continuously improved through successive iteration so as to correct the satellite signal transmission time and the corresponding ephemeris coordinates, and the undetermined value of the whole circle approaches to an integer so as to obtain a good baseline vector result; the method can be realized by two methods of single baseline calculation and double-difference observation values of all non-baselines in the measurement section relative to the baseline combined calculation, namely, the coordinate values of two nodes are subtracted to obtain a baseline vector result.
In step S5, the procedure for outputting the absolute position and baseline information of the node B is as follows: firstly, the node B solves the three-dimensional coordinate vector of the pseudo-range single-point positioning result sent by the node a, adds the three-dimensional coordinate vector and the first relative baseline vector calculated in the step S4 to output the absolute position of the node B, and outputs the baseline information of the first relative baseline vector.
In short, the node B outputs the absolute position and the baseline information of the mobile station (e.g. the node B) in real time according to the satellite pseudorange single-point positioning result of the node a and the calculated first relative baseline vector L, that is, the coordinate difference between the node a and the node B is calculated, and the coordinate position of the node B can be solved if the coordinate of the node a is known.
In this example, the steps S2 to S5 are used to obtain the baseline solution information from the node a to the node B, and in the step S6, the node B and the node a exchange roles, and the baseline solution information from the node B to the node a is obtained in the same manner, so that bidirectional baseline solution verification can be realized. Specifically, the step S6 includes the following sub-steps:
step S601, a node B carries out real-time positioning by utilizing a pseudo-range single-point positioning mode to obtain original satellite observation information, wherein the original satellite observation information comprises a carrier signal, a ranging code and a navigation message; that is, at this time, the operations of step S2 through step S5 are repeated with node B as the reference station and node a as the mobile station;
step S602, the node B sends the pseudo-range point positioning result and the original observation information of the currently observed satellite to the mobile station in real time;
step S603, the node a extracts satellite carrier phase observation information observed by itself and the reference station together to perform single epoch carrier phase integer ambiguity resolution, and calculates a second relative baseline vector L' in real time.
The present embodiment preferably further includes step S604, where the node a outputs the absolute position and baseline information of the mobile station in real time according to the pseudorange single-point positioning result sent by the node B and the second relative baseline vector L' calculated in step S603.
In this example, the node a and the node B broadcast the unicast positioning result and the baseline solution information, and after receiving the information of the other party, the node a and the node B respectively transmit the information through the formula | L + L<
This example preferably presents itself via the formula | L + L'<
In summary, in the baseline solution of the compass mobile positioning, the node a and the node B may respectively play the roles of the reference station and the mobile station, so as to obtain bidirectional baseline solution information from the node a to the node B and from the node B to the node a; through the communication network broadcasting function, the node A can receive the node B single-point positioning result and the baseline resolving information, so that the consistency of the node B single-point positioning result and the baseline resolving information is judged, namely the error between the node A and the baseline resolving information is judged to be reliable within the threshold allowable range; if the two calculation results are not consistent, a base line with a better calculation result can be selected by constructing a network. Similarly, the node B can also judge the reliability, so that the reliability of baseline resolution verification can be effectively improved, the conformity and the precision of the baseline resolution verification are verified, and the method is suitable for verifying the independent baseline resolution result in Beidou mobile positioning and particularly suitable for the self-networking of the linkage target.
On the basis, when one party fails, the two parties cannot complete the reliability verification of the bidirectional resolving information, the alarm can be realized, and the user can conveniently monitor and troubleshoot the failure according to the address information.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.