阅读说明：本技术 计算定位误差的方法和高精度定位方法 (Method for calculating positioning error and high-precision positioning method ) 是由 吴冲 汤雷 杨广龙 刘阁旭 于 2019-05-09 设计创作，主要内容包括：本发明公开了一种计算定位误差的方法和高精度定位方法,计算定位误差的方法包括以下步骤,1)将至少两个定位设备固定并获取其定位信息；2)设定所述的定位设备空间位置中间的一参考基准点并获得该参考基准点的准确位置信息,3)定位设备实时获取新的定位信息并由此计算出参考基准点的实时位置信息；4)由实时位置信息和准确位置信息计算得空间向量偏移,该空间向量偏移即为定位误差。本发明通过多个定位设备替代千寻位置服务代替统计工作,重新确定位置,并根据参考基准点(初始位置)计算出两个参考基准点的空间偏移。(The invention discloses a method for calculating positioning errors and a high-precision positioning method, wherein the method for calculating the positioning errors comprises the following steps of 1) fixing at least two positioning devices and acquiring positioning information of the positioning devices; 2) setting a reference datum point in the middle of the space position of the positioning equipment and obtaining accurate position information of the reference datum point, and 3) acquiring new positioning information by the positioning equipment in real time and calculating real-time position information of the reference datum point; 4) and calculating the space vector offset according to the real-time position information and the accurate position information, wherein the space vector offset is the positioning error. The invention replaces the statistical work with the multi-positioning device to replace the thousand searching position service, re-determines the position, and calculates the space offset of two reference points according to the reference points (initial positions).)

1. A method of calculating a positioning error, characterized by: comprises the following steps of (a) carrying out,

1) fixing at least two positioning devices and acquiring positioning information of the positioning devices;

2) setting a reference datum point in the middle of the space position of the positioning equipment and obtaining accurate position information of the reference datum point,

3) the positioning equipment acquires new positioning information in real time and calculates real-time position information of the reference datum point;

4) and calculating the space vector offset according to the real-time position information and the accurate position information, wherein the space vector offset is the positioning error.

2. A method of calculating a positioning error according to claim 1, characterized by: the positioning equipment is GPS equipment, Beidou equipment or Galileo satellite navigation positioning equipment.

3. A method of calculating a positioning error according to claim 1, characterized by: the number of the positioning devices is 2-4, and the reference datum point is a spatial central point.

4. A method of calculating a positioning error according to claim 1, characterized by: the accurate position information of the reference datum point is obtained by static observation, and the real-time position information is obtained by statistical calculation of positioning information in a period of time.

5. A high-precision positioning method is characterized by comprising the following steps,

1) fixing at least two positioning devices and acquiring positioning information of the positioning devices;

2) acquiring a reference datum point in the middle of the space position of the positioning equipment and acquiring accurate position information of the reference datum point,

3) the positioning equipment acquires new positioning information in real time and calculates real-time position information of the reference datum point;

4) calculating a space vector offset according to the real-time position information and the accurate position information, wherein the space vector offset is a positioning error;

5) and superposing the directly acquired positioning information of the equipment to be positioned with the spatial vector offset to serve as the execution positioning information.

6. A high-precision positioning method as claimed in claim 5, characterized in that the device to be positioned is an unmanned aerial vehicle or a ship.

7. The high-precision positioning method according to claim 5, characterized in that: the positioning equipment is GPS equipment, Beidou equipment or Galileo satellite navigation positioning equipment.

8. The high-precision positioning method according to claim 5, characterized in that: the number of the positioning devices is 2-4, and the reference datum point is a spatial central point.

9. The high-precision positioning method according to claim 5, characterized in that: the accurate position information of the reference datum point is obtained by static observation.

Technical Field

The invention belongs to the technical field of positioning control, and particularly relates to a method for calculating a positioning error and a high-precision positioning method.

Background

The GPS system mainly comprises a space part, a ground control part and a user part. The signals played by the satellite comprise L1, C \ A code, P code, L2 and P code. For a single frequency receiver user, the only signals available are the L1 and the C \ a code. The GPS positioning modes mainly include non-differential and differential modes. The non-differential mode is divided into pseudo-range point positioning and phase precision point positioning; the differential mode is divided into single difference, double difference and triple difference modes.

The pseudo-range single-point positioning is to use a pseudo-range code and a broadcast ephemeris and solve a three-dimensional coordinate of a point where a receiver antenna is located by adopting a distance intersection method. The pseudo-range single-point positioning has simple data acquisition and data processing and high positioning speed, and a user can obtain the three-dimensional coordinates of the measuring point in the WGS-84 coordinate system at any moment by only using one GPS receiver. However, the accuracy of the single-point positioning can only reach a ten-meter level, and the requirements of some low-accuracy navigation positioning fields can only be met.

The GPS navigation positioning technology has been developed through several decades of changes, and many positioning methods for obtaining centimeter-level accuracy have been proposed. The differential GPS positioning method is widely used at present, common errors such as receiver clock error, satellite clock error and the like are eliminated by forming double-difference observation values, the influence of errors with strong correlation such as troposphere delay, ionosphere delay and the like is weakened, and the purpose of improving the precision is achieved. The differential GPS does not need to consider a complex error model, has simple calculation model, less parameters to be estimated and high positioning precision, and simultaneously utilizes the integer characteristic of double-difference ambiguity, thereby being widely used.

The disadvantages are that:

1) at least two GPS receivers are used for synchronous observation, one reference station and one mobile station; strong spatial correlation must exist between the mobile station and the reference station, and differential positioning needs to adopt a differential board card, so that the cost is high;

2) the coordinate error of the reference station can be directly transmitted to the mobile station coordinate, and the positioning result can be inconsistent when a user converts among the reference stations with different precisions.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a method for calculating a positioning error, which is simple to implement and high in error calculation accuracy.

The invention is realized by the following technical scheme:

a method of calculating a positioning error, comprising the steps of,

1) fixing at least two positioning devices and acquiring positioning information of the positioning devices;

2) setting a reference datum point in the middle of the space position of the positioning equipment and obtaining accurate position information of the reference datum point,

3) the positioning equipment acquires new positioning information in real time and calculates real-time position information of the reference datum point;

4) and calculating the space vector offset according to the real-time position information and the accurate position information, wherein the space vector offset is the positioning error.

In the above technical solution, the positioning device is a GPS device, a beidou device or a galileo satellite navigation positioning device.

In the technical scheme, the number of the positioning devices is 2-4, and the reference datum point is a spatial central point.

In the above technical solution, the accurate position information of the reference point is obtained by static observation, and the real-time position information is obtained by statistical calculation of positioning information within a period of time.

A high-precision positioning method comprises the following steps,

1) fixing at least two positioning devices and acquiring positioning information of the positioning devices;

2) acquiring a reference datum point in the middle of the space position of the positioning equipment and acquiring accurate position information of the reference datum point,

3) the positioning equipment acquires new positioning information in real time and calculates real-time position information of the reference datum point;

4) calculating a space vector offset according to the real-time position information and the accurate position information, wherein the space vector offset is a positioning error;

5) and superposing the directly acquired positioning information of the equipment to be positioned with the spatial vector offset to serve as the execution positioning information.

In the technical scheme, the equipment to be positioned is an unmanned aerial vehicle or a ship.

In the above technical solution, the positioning device is a GPS device, a beidou device or a galileo satellite navigation positioning device.

In the technical scheme, the number of the positioning devices is 2-4, and the reference datum point is a spatial central point.

In the above technical solution, the accurate position information of the reference point is obtained by static observation.

The invention has the advantages and beneficial effects that:

the invention replaces the statistical work with the multi-positioning device to replace the thousand searching position service, re-determines the position, and calculates the space offset of two reference points according to the reference points (initial positions). The spatial offset obtained by the method and the thousand-searching position service is the same in trend through the spatial offset of a plurality of groups of data recording statistical methods and the spatial offset obtained by calculation after the thousand-searching position service is adopted, and the positioning precision is improved by 30% compared with the traditional positioning mode.

Drawings

FIG. 1 is a schematic diagram of a method of calculating a positioning error of the present invention.

For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.

Detailed Description

In order to make the technical solution of the present invention better understood, the technical solution of the present invention is further described below with reference to specific examples.