Method for Navigation and Positioning of Receiver and Receiver

• US 20190324153A1
• Filed: 12/17/2018
• Published: 10/24/2019
• Est. Priority Date: 12/20/2017
• Status: Active Grant

• Current Assignee: ComNav Technology Ltd., "Shanghai Astronomical Observatory, Chinese Academy of Sciences "
• Original Assignee: ComNav Technology Ltd., "Shanghai Astronomical Observatory, Chinese Academy of Sciences "
• Inventors: Chen, Junping, Zhou, Jianhua, Wang, Yongquan, Zhao, He
• Granted Patent: US 11,022,700 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 19/02 Details of the space or ground control segments
• CPC Class Codes: G01S 19/073 involving a network of fixed stations
• CPC Class Codes: G01S 19/074 providing integrity data, e.g. WAAS
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

The present application provides a method for navigation and positioning of a receiver, including: receiving basic broadcast messages and correction parameters of a plurality of satellites, and establishing a pseudorange observation equation and a carrier-phase observation equation corresponding to each of satellites respectively; correcting the pseudorange observation equation and the carrier-phase observation equation using the received correction parameters to obtain the corrected pseudorange observation equation and the corrected carrier-phase observation equation; constructing a first observation according to the corrected pseudorange observation equation and the corrected carrier-phase observation equation; constructing a second observation according to the corrected pseudorange observation equation and the corrected carrier-phase observation equation; and jointly solving the obtained first observations and second observations of the plurality of satellites to obtain anoperation result of user positioning.

Claims

1. A method for navigation and positioning of a receiver, the method comprising:

receiving basic broadcast messages and correction parameters of a plurality of satellites, and establishing a pseudorange observation equation and a phase observation equation corresponding to each of satellites respectively based on the received basic broadcast messages;

correcting the pseudorange observation equation and the phase observation equation using the received correction parameters corresponding to each of satellites to obtain the corrected pseudorange observation equation and the corrected phase observation equation;

constructing an ionosphere-free combined observation of each of satellites as a first observation according to the corrected pseudorange observation equation and the corrected phase observation equation;

constructing a second observation corresponding to each of satellites according to the corrected pseudorange observation equation and the corrected phase observation equation; and

jointly solving the obtained first observations and second observations of the plurality of satellites to obtain an operation result of user positioning,

wherein the correction parameters is selected from the following combinations;

a partition comprehensive correction number x₄; and

a combination of the partition comprehensive correction number x₄ and at least one of anorbit correction number x₁, a clock difference correction number x₂ and an ionosphere correction number x₃.

2. A receiver, comprising:

an antenna for receiving basic broadcast messages and correction parameters;

at least one storage apparatus for storing the basic broadcast messages and the correction parameters received;

a processing module for processing the basic broadcast messages and correction parameters in the storage apparatus to obtain an operation result of user positioning; and

a user interaction module for indicating the result of the user positioning,

wherein the processing module is used to perform the following operations;

receiving basic broadcast messages and correction parameters of a plurality of satellites, and establishing a pseudorange observation equation and a phase observation equation corresponding to each of satellites respectively based on the received basic broadcast messages;

correcting the pseudorange observation equation and the phase observation equation using the received correction parameters corresponding to each of satellites to obtain the corrected pseudorange observation equation and the corrected phase observation equation;

constructing an ionosphere-free combined observation of each of satellites as a first observation according to the corrected pseudorange observation equation and the corrected phase observation equation;

constructing a second observation corresponding to each of satellites according to the corrected pseudorange observation equation and the corrected phase observation equation; and

jointly solving the obtained first observations and second observations of the plurality of satellites to obtain the operation result of the user positioning,

wherein the correction parameters is selected from the following combinations;

a partition comprehensive correction number x₄; and

a combination of the partition comprehensive correction number x₄ and at least one of anorbit correction number x₁, a clock difference correction number x₂ and an ionosphere correction number x₃.

3. The receiver according to claim 2, comprising a single-frequency, dual-frequency and tri-frequency receivers.

4. The receiver according to claim 3, wherein for a single-frequency receiver, the ionosphere-free combined observation is (P₁+L₁)/2, where P₁ is the pseudorange observation equation and L₁ is the phase observation equation.

5. The receiver according to claim 4, wherein for the single-frequency receiver, the first observation is (P₁(x)+L₁(x))/2, where P₁(x) is the pseudorange observation equation corrected by the correction parameters and L₁(x) is the phase observation equation corrected by the correction parameters.

6. The receiver according to claim 4, wherein for the single-frequency receiver, the second observation is P₁(x).

7. The receiver according to claim 3, wherein for a dual-frequency receiver, the first observation is the ionosphere-free combined observation:

(f₁²L₁(x)β

f₂²L₂(x))/(f₁²−

f₂²), where L₁(x) and L₂(x) are the phase observation equations corrected by the correction parameters, and f₁ is a first frequency while f₂ is a second frequency, the first frequency being different from the second frequency.

8. The receiver according to claim 7, wherein for the dual-frequency receiver, the second observation is (f₁²P₁(x)−

₂²P₂(x))/(f₁²−

f₂²) where P₁(x) and P₂(x) are the pseudorange observation equations corrected by the correction parameters, and f₁ is a first frequency while f₂ is a second frequency, the first frequency being different from the second frequency.

9. The receiver according to claim 3, wherein for a tri-frequency receiver, any two of three frequencies f₁, f₂ and f₃ are selected, the first observation (f₁²L₁(x)−

f₂²L₂(x))/(f₁²−

f₂²) and the second observation (f₁²P₁(x)−

f₂²P₂(x))/(f₁²−

f₂²) are established, where L₁(x) and L₂(x) are the phase observation equations corrected by the correction parameters and P₁(x) and P₂(x) are the pseudorange observation equations corrected by the correction parameters, and f₁ and f₂ represent any two frequencies of a first frequency, a second frequency and a third frequency, the first frequency, the second frequency and the third frequency being different from each other.

10. The receiver according to claim 9, wherein for the tri-frequency receiver, the three frequencies f₁, f₂ and f₃ to construct the first observation as (α

L₁(x)+β

L₂(x)+γ

L₃(x))/F(α

, β

, γ

) and to construct the second observation as (α

P₁(x)+β

P₂(x)+γ

P₃(x))/F(α

, β

, γ

), where L₁(x), L₂(x) and L₃(x) are the phase observation equations corrected by the correction parameters and P₁(x), P₂(x) and P₃(x) are the pseudorange observation equations corrected by the correction parameters, and f₁ is a first frequency, f₂ is a second frequency and f₃ is a third frequency, and α

, β

, γ

are the corresponding coefficients of observations of the three frequencies respectively and F(α

, β

, γ

) is a combination of the coefficients, and the first frequency, the second frequency and the third frequency are different from each other.

11. The receiver according to claim 2, wherein the number of the plurality of satellites is greater than the number of correction numbers used.

12. The receiver according to claim 2, wherein the partition comprehensive correction number is at least one or both of a GPS partition comprehensive correction number and a Beidou partition comprehensive correction number.

13. The receiver according to claim 4, wherein the positioning of a user is solved jointly based on the first observations and the second observation obtained by the plurality of satallites, and wherein the amplitude range of the weighting ratio of the first observations and the second observations is from 1:

0.01 to 1;

0.05.

14. The receiver according to claim 4, wherein the positioning of a user is solved jointly based on the first observations and the second observation obtained by the plurality of satallites, and wherein the weighting ratio of the first observations and the second observations is 1:

0.05.

15. The receiver according to claim 7, wherein the positioning of a user is solved jointly based on the first observations and the second observation obtained by the plurality of satallites, and wherein the weighting ratio of the first observations and the second observations is 1:

0.01.

16. The receiver according to claim 7, wherein the positioning of a user is solved jointly based on the first observations and the second observation obtained by the plurality of satallites, and wherein the amplitude range of the weighting ratio of the first observations and the second observations is from 1:

0.01 to 1;

0.05.

17. The receiver according to claim 9, wherein the positioning of a user is solved jointly based on the first observations and the second observation obtained by the plurality of satallites, and wherein the amplitude range of the weighting ratio of the first observations and the second observations is from 1:

0.01 to 1;

0.05.

18. The receiver according to claim 9, wherein the positioning of a user is solved jointly based on the first observations and the second observation obtained by the plurality of satallites, and wherein the weighting ratio of the first observations and the second observations is 1:

0.01.

19. The receiver according to claim 10, wherein the positioning of a user is solved jointly based on the first observations and the second observation obtained by the plurality of satallites, and wherein the weighting ratio of the first observations and the second observations is 1:

0.01.

20. A non-transitory computer readable medium comprising instructions which, when executed by at least one processing module, cause the at least one processing module to perform a method for navigational and positioning, the method comprising:

receiving basic broadcast messages and correction parameters of a plurality of satellites, and establishing a pseudorange observation equation and a phase observation equation corresponding to each of satellites respectively based on the received basic broadcast messages;

correcting the pseudorange observation equation and the phase observation equation using the received correction parameters corresponding to each of satellites to obtain the corrected pseudorange observation equation and the corrected phase observation equation;

constructing an ionosphere-free combined observation of each of satellites as a first observation according to the corrected pseudorange observation equation and the corrected phase observation equation;

constructing a second observation corresponding to each of satellites according to the corrected pseudorange observation equation and the corrected phase observation equation; and

jointly solving the obtained first observations and second observations of the plurality of satellites to obtain the operation result of the user positioning,

wherein the correction parameters is selected from the following combinations;

a partition comprehensive correction number x₄; and

a combination of the partition comprehensive correction number x₄ and at least one of anorbit correction number x₁, a clock difference correction number x₂ and an ionosphere correction number x₃.