Method for Navigation and Positioning of Receiver and Receiver

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First Claim
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 ionospherefree 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 x_{4}; and
a combination of the partition comprehensive correction number x_{4 }and at least one of anorbit correction number x_{1}, a clock difference correction number x_{2 }and an ionosphere correction number x_{3}.
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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 carrierphase observation equation corresponding to each of satellites respectively; correcting the pseudorange observation equation and the carrierphase observation equation using the received correction parameters to obtain the corrected pseudorange observation equation and the corrected carrierphase observation equation; constructing a first observation according to the corrected pseudorange observation equation and the corrected carrierphase observation equation; constructing a second observation according to the corrected pseudorange observation equation and the corrected carrierphase observation equation; and jointly solving the obtained first observations and second observations of the plurality of satellites to obtain anoperation result of user positioning.
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20 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 ionospherefree 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 x_{4}; and a combination of the partition comprehensive correction number x_{4 }and at least one of anorbit correction number x_{1}, a clock difference correction number x_{2 }and an ionosphere correction number x_{3}.
 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 ionospherefree 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 x_{4}; and a combination of the partition comprehensive correction number x_{4 }and at least one of anorbit correction number x_{1}, a clock difference correction number x_{2 }and an ionosphere correction number x_{3}.  View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
 20. A nontransitory 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 ionospherefree 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 x_{4}; and a combination of the partition comprehensive correction number x_{4 }and at least one of anorbit correction number x_{1}, a clock difference correction number x_{2 }and an ionosphere correction number x_{3}.
1 Specification
The present application relates to the field of navigation and positioning, and in particular to a method for navigation and positioning of a receiver, a receiver and a computer readable medium.
At present, the Global Navigation Satellite System (GNSS) is becoming more and more popular, the application of GNSS systems and the use of GNSS receivers are becoming more and more widespread. In an actual practice, there is at least a problem that the accuracy of positioning of a GNSS receiver is not high enough and that the convergence thereof is slow.
In view of this, the technical schemes proposed by the present application are described in detail below.
In one aspect, the present application provides 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 carriercarrierphase observation equation corresponding to each of satellites respectively based on the received basic broadcast messages; correcting the pseudorange observation equation and the carrierphase observation equation using the received correction parameters corresponding to each of satellites to obtain the corrected pseudorange observation equation and the corrected carrierphase observation equation; constructing an ionospherefree combined observation of each of satellites as a first observation according to the corrected pseudorange observation equation and the corrected carrierphase observation equation; constructing a second observation corresponding to each of satellites according to the corrected pseudorange observation equation and the corrected carrierphase 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 correctionx_{4}; and a combination of the partition comprehensive correctionx_{4 }and at least one of an orbit correctionx_{1}, a clock difference correctionx_{2 }and an ionosphere correctionx_{3}.
In some embodiments, the method can be applied to a singlefrequency, dualfrequency or trifrequency receiver.
In another aspect, the present application provides 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 carrierphase observation equation corresponding to each of satellites respectively based on the received basic broadcast messages; correcting the pseudorange observation equation and the carrierphase observation equation using the received correction parameters corresponding to each of satellites to obtain the corrected pseudorange observation equation and the corrected carrierphase observation equation; constructing an ionospherefree combined observation of each of satellites as a first observation according to the corrected pseudorange observation equation and the corrected carrierphase observation equation; constructing a second observation corresponding to each of satellites according to the corrected pseudorange observation equation and the corrected carrierphase 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 x_{4}; and a combination of the partition comprehensive correction x_{4 }and at least one of anorbit correction x_{1}, a clock difference correction x_{2 }and an ionosphere correction x_{3}.
In a further aspect of the present application, the present application provides a nontransitory 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 carrierphase observation equation corresponding to each of satellites respectively based on the received basic broadcast messages; correcting the pseudorange observation equation and the carrierphase observation equation using the received correction parameters corresponding to each of satellites to obtain the corrected pseudorange observation equation and the corrected carrierphase observation equation; constructing an ionospherefree combined observation of each of satellites as a first observation according to the corrected pseudorange observation equation and the corrected carrierphase observation equation; constructing a second observation corresponding to each of satellites according to the corrected pseudorange observation equation and the corrected carrierphase 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 x_{4}; and a combination of the partition comprehensive correction x_{4 }and at least one of anorbit correction x_{1}, a clock difference correction x_{2 }and an ionosphere correction x_{3}.
Embodiments of the present invention have at least one of the following beneficial effects.
The embodiments of the present invention, by receiving and using the correction parameters, refine the error correction in the positioning and improve the accuracy of positioning of the receiver (achieve at least the decimeterlevel accuracy of positioning), thereby meeting the requirements of highaccuracy positioning of different industries including, but not limited to, measurement, mechanical control, precision agriculture, intelligent transportation, logistics and asset tracking, engineering management, engineering construction, blind navigation, early warning monitoring, emergency rescue, etc. Furthermore, the embodiments of the invention further improve the convergence speed, are able to converge quickly and shorten the initialization time of the receiver, so that the receiver is quickly brought into a substantial highaccuracy positioning working state.
Other aspects and embodiments of the present application will become apparent from the following detailed description, and the principles of the present application are explained by way of example in conjunction with the drawings.
In order to more clearly explain the technical schemes of the embodiments of the present invention, the attached drawings of the embodiments will be briefly introduced below. Obviously, the attached drawings in the following description merely relate to some embodiments of the present invention, they do not limit the present invention.
In the following specification, a drawing that is split across multiple sheets is denoted with “1”, “2”, and so on. For example,
In order to make the objectives, technical schemes and advantages of embodiments of the present invention clearer, the technical schemes of the embodiments of the present invention will be described clearly and completely in conjunction with the attached drawings of the embodiments of the present invention in the following. Obviously, the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by those ordinary skills in the art based on the described embodiments of the present invention without creative efforts are within the scope of protection of the present invention.
Unless otherwise defined, technical terms or scientific terms used herein should be of general meanings as understood by those ordinary skills in the art to which the present invention belongs. The terms “first”, “second” and the like, as used in the specification and claims of the present invention patent application, do not denote any order, quantity or importance, but rather are used to distinguish between different components. Similarly, “a” or “an” or the like does not mean a quantitative limitation but means that at least one exists.
A navigation satellite usually broadcasts only basic navigation message to meet the user'"'"'s requirement for 10meterlevel basic navigation and positioning. In order to improve the accuracy of positioning, the correction parameters are usually supplied to the user terminal (receiver) via a communication satellite or through a network. That is to say, the user terminal (receiver) employs the received basic navigation message and correction parameters to determine its own position, so that the accuracy of positioning can be improved. However, the accuracy of positioning in the prior art can only reach meterlevel, still cannot meet the requirements for accuracy of positioning of certain industries, for example, industries such as precision agriculture, highaccuracy measurement and the like, which require achieving decimeterlevel accuracy of positioning to meet the needs of daily work.
The aforementioned correction parameters can also be broadcast through an independent satellite navigation enhancement system. For example, the current navigation enhancement systems mainly include the WAAS (Wide Area Augmentation System) system in the United States, the EGNOS (European Geostationary Navigation Overlay Service) system in Europe, the MSAS (Multifunctional Satellite Augmentation System) in Japan, and the SDCM (Differential Corrections and Monitoring) system in Russia, etc. These systems are operational control systems independent of GPS or GLONASS.
Correction parameters is for the purpose of improving the accuracy of the system'"'"'s realtime service, the basic idea is to distinguish between the main error sources such as satellite orbit error, satellite clock difference and ionosphere delay, establish a model of each error source, and generate corrections for correcting the errors of these parameters (clock difference, orbit, etc.) in the basic navigation. The calculated corrections are referred to as correction parameters (or enhanced parameters, enhanced corrections, enhancement information), the correction parameters are broadcast to the user terminal (user end, receiver) via a satellite communication link or through a network.
In view of this, according to a satellite positioning method and a satellite positioning system of an embodiment of the present invention, by designing a highaccuracy widearea differential parameter model, correction parameters are broadcast in a satellite navigation message, and a method of protocol superimposition is employed to achieve the integrated design of the basic navigation message plus correction parameters, for example, the correction parameters are broadcast on the basis of the basic navigation message, the correction parameters include the orbit correction, the satellite clock difference correction, the ionosphere correction and the partition comprehensive correction, etc. and the superimposed fusion matching of the correction parameters can be realized, then the correction parameters are directly broadcast uniformly by the navigation satellite of the satellite navigation system. Through the widearea difference model, an integrated service based on the basic navigation, navigation enhancement and precision positioning of the satellite navigation system itself can be realized, and widearea navigation and positioning of the decimeterlevel accuracy can be realized without adding other communication channels.
In addition, existing navigation systems, such as GPS, have a basic navigation message structure employing a fixed frame structure, and the scalability thereof is poor; and the basic navigation information and correction parameters are not uniformly broadcast, but are broadcast separately by two systems, a satellite navigation system and a satellite navigation enhancement system (e.g., GPS and WAAS), resource consumption is large, the link resource occupation is large, not the combination of fast and slow, and the flexibility is low.
According to the satellite positioning method and the satellite positioning system of the embodiment of the present invention, it is also possible to realize the message arrangement and the message broadcasting for various error corrections (for example, clock difference correction, orbit correction, partition comprehensive correction, etc.) in the satellite navigation system. For example, in accordance with the byte sizes and the update frequencies of respective parameters involved in the error correction that needs to be broadcast, their respective insertion positions (page positions of a subframe) in the reserved space in the original navigation message frame structure model (including the basic navigation information) is determined to perform the message arrangement, and a ground station uploads the arranged message via an uplink injection link to a satellite for broadcasting.
According to the satellite positioning method and the satellite positioning system of the embodiment of the present invention, it is further possible to provide a method for navigation and positioning of a receiver, a receiver and a computer readable medium. According to the type of parameters received by the receiver and the specific conditions of the receiver, the receiver can provide matching strategies of different algorithms to properly process the received parameters to correct the obtained observation values of pseudoranges and carrierphases, thereby realizing the positioning calculation which improves accuracy.
The observation station includes a monitoring terminal and a correction parameters information generating apparatus. The monitoring terminal receives the observation data transmitted from the navigation satellites, and the correction parameters information generating apparatus generates correction parameters based on the received observation data, then these correction parameters are transmitted by the monitoring terminal to the base station. For example, the correction parameters information generating apparatus first performs preprocessing, precise orbit determination and time synchronization processing on the satellite observation data, then calculates one or more of the following parameters: the ionosphere correction, the realtime clock difference correction, the realtime orbit correction, the partition comprehensive correction, etc. according to specific requirements.
The correction parameters generated by the correction parameters information generating apparatus at the observation station are transmitted by the observation station monitoring terminal to the base station.
A switch and an apparatus for superimposing, encoding, and broadcasting of message parameters are provided at the base station. The switch receives the basic navigation message from the satellites, the apparatus for superimposing, encoding and broadcasting of message parameters encodes the correction parameters for enhancement into the basic navigation message through protocol superimposition to realize the integration of the message, and set the broadcasting. For example, the apparatus for superimposing, encoding and broadcasting of message parameters may also set the broadcast frequencies of the correction parameters, select the link for the message broadcasting, set the broadcast format and the broadcast strategy of the message, verify the message broadcast performance, and transmit the data message to be injected to the satellite in the uplink to the switch. The switch of the satellite base station transmits the integratedcoded message to the satellite via the uplink injection link, with the satellite being a satellite (i.e., a navigation satellite) for providing navigation and positioning which may belong to different satellite navigation systems, for example, may be a GPS satellite, a Beidou satellite, or the like.
The navigation satellite broadcasts the integrated satellite navigation message, that it receives from the base station, in which the correction parameters is added, and it can be received by the receiver. The receiver includes a receivingend message processing apparatus which decodes the integrated satellite navigation message received by the receiver, decodes correction parameters for enhancement therefrom, and constructs observations, performs parameter correction (embodiments of the present invention have no limitation on the order of constructing observations and performing parameter correction), the positioning solution, etc., to obtain the positioning information based on the correction parameters, and may also perform the accuracy evaluation.
Next, the abovedescribed signal and data processing procedures performed at the observation station, the base station and the receiver are separately described.
As described above, there is provided at the observation station a correction parameters information generating apparatus which may generate correction parameters such as an ionosphere correction, a realtime clock difference correction, a realtime orbit correction, and a partition comprehensive correction, to enhance the satellite navigation (positioning) accuracy, then multiple parameters therein are superimposed at the base station.
In order to achieve the superimposition of the correction parameters, a model of a correction parameters is first established and a correction parameters is generated based on the model.
According to the satellite positioning method and the satellite positioning system of the embodiment of the present invention, not only the correction parameters can be realized through being broadcast only by a navigation satellite, but the correction parameters may also be broadcast through a groundbased network.
The satellite orbit in the basic navigation message generally needs to be forecasted for 1˜2 hours, and its forecast error will increase over time. The satellite orbit correction parameters is to make use of the observation data of the ground observation station network and resolve the error of the satellite orbit forecast in real time so as to correct the satellite orbit in the basic navigation message in real time, it may include satellite identifiers, satellite orbit corrections and the equivalent distance error status identifiers of the satellite orbit corrections.
For example, for orbit corrections, a model may be established as follows:
Orbit corrections of n Beidou satellites and m GPS satellites at time t0 may be expressed as:
In the above equation, dx, dy, dz d{dot over (x)}, d{dot over (y)}, dż each represents the corrections and the rates of change of the threedimensional vector value XYZ of the satellite orbit correction, and the superscript indicates whether the satellite is a GPS or BDS satellite, the subscript is a satellite number.
From time t0 to time ti, within the effective time of the satellite orbit correction, the satellite orbit corrections dx, dy, dz may be calculated by the following equation:
Through the abovementioned orbit correction model, the satellite orbit correction may be calculated by using different methods. By accurately correcting spatial signals, satellite orbit corrections represent an orbit normal error correction, an orbit radial error correction and an orbit tangential error correction in different viewing directions. For example, the satellite orbit correction (correction value) may be comprehensively resolved by using a pseudorange observation value and a carrierphase observation value.
As mentioned before, the satellite clock difference in the basic navigation message generally needs to be forecasted for 1˜2 hours, its forecast error will increase over time. The satellite clock difference correction is to make use of the observation data of the ground observation station network and resolve the error of the satellite clock difference forecast in real time so as to correct the satellite clock difference parameters in the basic navigation message in real time, it may include satellite identifiers, satellite clock difference corrections, the satellite clock difference correction truncation errors and the satellite differential equivalent distance error status identifiers.
For example, for a clock difference correction, a model may be established as follows:
Clock difference corrections of n Beidou satellites and m GPS satellites at time t0 may be expressed as:
dt_{t}_{0}=dt_{1}^{BDS}dt_{2}^{BDS }⋅ ⋅ ⋅ dt_{n}^{BDS}dt_{1}^{GPS}dt_{2}^{GPS }⋅ ⋅ ⋅ dt_{2}^{GPS}]_{t}_{0 }
From time t0 to time ti, within the effective time of the satellite clock difference correction, the satellite clock difference correction dt may be calculated by the following equation:
dt
_{ti}
=dt
_{t0 }
The satellite clock difference correction dt_{ti }indicates the comprehensive influence of the satellite ephemeris error and the satellite star clock error on the user distance error for the ith satellite, and is used to correct the comprehensive error of the satellite ephemeris and the satellite clock difference in the navigation message. In addition, the satellite clock difference correction residue dt_{resi }may be further calculated and used. The satellite clock difference correction residue represents the part of the ith satellite star clock difference correction that below 0.1 m, and is used to correct the error of the satellite clock difference correction below 0.1 m, thereby the performance of the parameters is further improved and spatial signals are accurately corrected.
The basic navigation message provides model parameters for ionosphere delay correction, but it is a function that fits the measured results into 8 or 14 parameters, resulting in the loss of accuracy, and generally its update frequency is low and the forecast time is long. The ionosphere correction is suitable for the correction of the realtime ionosphere delay.
For example, for an ionosphere correction, a model dI may be established as follows:
wherein, I_{ln}^{bn }is the vertical ionosphere delay on the pierce grid and is divided into [l, ln] intervals in the longitude direction and [l, bn] intervals in the latitude direction according to the defined area. From time t0 to time ti, within the effective time of the ionosphere correction, the ionosphere correction is a function of the ionosphere delay with the latitude and the longitude of the pierce point being b and l respectively. Further, the ionosphere delay function with the latitude and the longitude of the pierce point being (b, l) can be regarded as the bilinear difference of ionosphere delays off our adjacent grid points.
The environment segment area comprehensive correction is mainly used to correct the orbit clock difference residual error and the common residual error of the space environment segment error in the area.
The partition comprehensive correction parameters according to the embodiment of the present invention is further improved on the basis of the environment segment area comprehensive correction parameters (including troposphere and space segment compensation). Due to the highaccuracy orbit correction, clock difference correction and ionosphere correction, and correction of the troposphere empirical model, the rest of the error is relatively stable. Therefore, the partition setting is added, that is, partition is performed according to the observation areas, one correction is designed per area (region) and per satellite, so as to form a partition comprehensive correction parameters model to further improve the effect of the error improvement.
For example, the design of the partition comprehensive correction is based on the assumption that within a certain distance, the errors of the user (receiver) on the satellite side and the propagation path are relevant. Therefore, the observation area may be divided into multiple partitions (regions), the partition comprehensive correction is obtained by integrating the first result calculated in real time using the observation data from observation stations in each partition with the first result from observation stations in one partition, and is broadcast to the user in real time, thus realizing realtime highaccuracy positioning of the navigation user. The first result may include a carrierphase observation residual.
For example, for a partition comprehensive correction, a model dΦ may be established as follows:
wherein, each row represents a partition, and different columns represent partition comprehensive corrections of GPS satellites and BDS satellites in each partition. From time t0 to time t1, within the effective time of the partition comprehensive correction, the partition comprehensive correction of each satellite may be calculated by the following equation:
dΦ
_{ti}
=dΦ
_{t0 }
The above correction parameters generated by the correction parameters information generating apparatus at the observation station side are transported to the apparatus for superimposing, encoding and broadcasting of message parameters at the base station side. The apparatus for superimposing, encoding and broadcasting of message parameters superimposes one or more of these correction parameters with the basic navigation message as needed by way of protocol superimposition.
The orbit correction generation unit 101, the clock difference correction generation unit 102, the ionosphere correction generation unit 103 and the partition comprehensive correction generation unit 104 respectively generate an orbit correction, a clock difference correction, an ionosphere correction and a partition comprehensive correction as needed, the generated correction parameters are input to the correction parameters output unit 105, and the correction parameters output unit 105 outputs these correction parameters to the base station as needed for performing subsequent processes such as protocol superimposition, encoding, broadcasting and the like.
The protocol superimposition can be a combination of multiple superimpositions of different correction parameters, for example:
(1) The clock difference correction, the partition comprehensive correction (or the partition correction, the comprehensive correction) are superimposed on the basis of the basic navigation message. For example, the clock difference correction and the partition comprehensive correction may be solved accordingly by way of iteration. The specific steps of the protocol superimposition include:
S11 of generating a clock difference correction x_{2}: superimposing the clock difference correction on the basis of the basic navigation message, its observation equation is abbreviated as follows:
f(x_{2})=ρ+c·δt−c˜(δt^{s}−x_{2})+T (a)
wherein ρ is the theoretical satelliteearth distance, and δt,δt^{s }are the clock difference of the observation station and the satellite clock difference in the basic navigation message respectively, T is the troposphere delay, x_{2 }is the satellite clock difference correction, and c is the speed of light. In equation (a), the satellite clock difference correction x_{2 }can be obtained by way of iterative calculation;
S12 of generating a partition comprehensive correction x_{4}: on the basis of step S11, superimposing the partition comprehensive correction, the observation equation is abbreviated as follows:
f(x_{4}x_{2})=μ+c·δt−c·(δt^{s}−x_{2})+T+x_{4} (b)
wherein x_{4 }is the partition comprehensive correction, x_{4}x_{2 }represents that the partition comprehensive correction x_{4 }is solved on the basis of x_{2 }(that is, on the basis of the satellite clock difference correction x_{2 }having been obtained). In equation (b), the partition comprehensive correction x_{4 }can be obtained by way of iterative calculation.
(2) The orbit correction, the clock difference correction and the partition comprehensive correction are superimposed on the basis of the basic navigation message, the orbit correction (or satellite orbit correction), the clock difference correction and the partition comprehensive correction are solved accordingly by way of iteration. The specific steps of the protocol superimposition include:
S21 of generating an orbit correction x_{1}: superimposing the orbit correction on the basis of the basic navigation message, its observation equation is abbreviated as follows:
f(x_{1})=ρ+Δρ(x_{1})+c·δt−c·δt^{s}+T (c)
wherein Δρ(x_{1}) is the correction for the theoretical satelliteearth distance and is a function of the satellite orbit correction x_{1}. The meanings of other variables are the same as above, and will no longer be described here. In equation (c), the satellite orbit correction x_{1 }can be obtained by way of iterative calculation;
S22 of generating a clock difference correction x_{2}: on the basis of step S21, superimposing the clock difference correction x_{2}, the observation equation is abbreviated as follows:
f(x_{2}x_{1})=ρ+Δρ(x_{1})+c·δt−c·(δt^{s}−x_{2})+T (d)
wherein x_{2}x_{1 }represents that clock difference correction x_{2 }is solved on the basis of x_{1 }(that is, on the basis of the satellite orbit correction x_{1 }having been obtained). The meanings of other variables are the same as above, and will no longer be described here. In equation (d), the clock difference correction x_{2 }can be obtained by way of iterative calculation;
S23 of generating a partition comprehensive correction x_{4}: on the basis of step S22, further superimposing the partition comprehensive correction, the observation equation is abbreviated as follows:
f(x_{4}x_{1,2})=ρ+Δρ(x_{1})+c·δt−c·(δt^{s}−x_{2})+T+x_{4} (e)
wherein x_{4 }represents the partition comprehensive correction, x_{4}x_{1,2 }represents the partition comprehensive correction x_{4 }is solved on the basis of x_{1 }and x_{2 }(that is, on the basis of the satellite orbit correction x_{1 }and the satellite clock difference correction x_{2 }having been obtained). The meanings of other variables are the same as above, and will no longer be described here. In equation (e), the partition comprehensive correction x_{4 }can be obtained by way of iterative calculation.
(3) The orbit correction and the partition comprehensive correction are superimposed on the basis of the basic navigation message, and the orbit correction and the partition comprehensive correction are solved accordingly by way of iteration. The specific steps of the protocol superimposition include:
S31 of generating an orbit correction x_{1}: it is the same as step S21, and therefore will no longer be described here;
S32 of generating a partition comprehensive correction x_{4}: on the basis of step S31, superimposing the partition comprehensive correction, the observation equation is abbreviated as follows:
f(x_{4}x_{1})=ρ+Δρ(x_{1})+c·δt−c·δt^{s}+T+x_{4} (g)
wherein x_{4}x_{1 }represents the partition comprehensive correction x_{4 }is solved on the basis of x_{1 }(that is, on the basis of the satellite orbit correction x_{1 }having been obtained). The meanings of other variables are the same as above, and will no longer be described here. In equation (g), the partition comprehensive correction x_{4 }can be obtained by way of iterative calculation.
(4) The ionosphere correction and the partition comprehensive correction are superimposed on the basis of the basic navigation message, and the ionosphere correction and the partition comprehensive correction are solved accordingly. The specific steps of the protocol superimposition include:
S41 of generating an ionosphere correction x_{3}: superimposing the ionosphere correction on the basis of the basic navigation message, the observation equation is abbreviated as follows:
f(x_{3})=ρ+c·δt−c·δt^{s}+T+x_{3}(b,l) (h)
wherein x_{3}(b,l) represents that the ionosphere correction x_{3 }is a function of latitude and longitude (b, l), and the meanings of other variables are the same as above and will no longer be described here. Multiple observation stations obtain the ionosphere delay amount by using pseudorange observation values (the pseudorange observation value may be the original pseudorange observation value P, or may be the pseudorange observation value P(x) corrected by the correction parameters, which is not limited by the embodiment of the present invention) of multiple frequency points within a certain period of time, and generates an ionosphere grid model or an 8parameter model or a 14parameter model by modeling to obtain an ionosphere correction x_{3 }(b,l), so as to generate an ionosphere correction x_{3};
S42 of generating a partition comprehensive correction x_{4}: on the basis of step S41, further superimposing the partition comprehensive correction, the observation equation is abbreviated as follows:
f(x_{4}x_{3})=ρ+c·δt−c·δt^{s}+T+x_{3}(b,l)+x_{4} (e)
wherein x_{4}x_{3 }represents that the partition comprehensive correction x_{4 }is solved on the basis of x_{3 }(that is, on the basis of the ionosphere correction x_{3 }having been obtained). The meanings of other variables are the same as above, and will no longer be described here. In equation (e), the partition comprehensive correction x_{4 }can be obtained by way of iterative calculation;
(5) The orbit correction, the ionosphere correction and the partition comprehensive correction are superimposed on the basis of the basic navigation message, and the orbit correction, the ionosphere correction and the partition comprehensive correction are solved accordingly. The specific steps of the protocol superimposition include:
S51 of generating an orbit correction x_{1}: it is the same as step S21, and therefore will no longer be described here;
S52 of generating an ionosphere correction x_{3}: on the basis of step S51, superimposing the ionosphere correction, the observation equation is abbreviated as follows:
f(x_{3}x_{1})=ρ+Δρ(x_{1})+c·δt−c·δt^{s}+T+x_{3}(b,l) (i)
wherein x_{3}x_{1 }represents that the ionosphere correction x_{3 }is solved on the basis of x_{1 }(that is, on the basis of the orbit correction x_{1 }having been obtained) and the meanings of other variables are the same as above and will no longer be described here;
S53 of generating a partition comprehensive correction x_{4}: on the basis of step S52, further superimposing the partition comprehensive correction, the observation equation is abbreviated as follows:
f(x_{4}x_{1,3})=ρ+Δρ(x_{1})+c·δt−c·δt^{s}+T+x_{3}(b,l)+x_{4} (b)
wherein x_{4}x_{1,3 }represents that the partition comprehensive correction x_{4 }is solved on the basis of x_{1 }and x_{3 }(that is, on the basis of the satellite orbit correction x_{1 }and the ionosphere correction x_{3 }having been obtained). The meanings of other variables are the same as above, and will no longer be described here. In equation (j), the partition comprehensive correction x_{4 }can be obtained by way of iterative calculation.
(6) The clock difference correction, the ionosphere correction and the partition comprehensive correction are superimposed on the basis of the basic navigation message, and the clock difference correction, the ionosphere correction and the partition comprehensive correction are solved accordingly. The specific steps of the protocol superimposition include:
S61 of generating a clock difference correction x_{2}: it is the same as step S11, and therefore will no longer be described here;
S62 of generating an ionosphere correction x_{3}: on the basis of step S61, superimposing the ionosphere correction, the observation equation is abbreviated as follows:
f(x_{3}x_{2})=ρ+c·δt−c·(δt^{s}−x_{2})+T+x_{3}(b,l) (k)
wherein x_{3}x_{2 }represents that the ionosphere correction x_{3 }is solved on the basis of x_{2 }(that is, on the basis of the clock difference correction x_{2 }having been obtained) and the meanings of other variables are the same as above and will no longer be described here;
S63 of generating a partition comprehensive correction x_{4}: on the basis of step S62, further superimposing the partition comprehensive correction, the observation equation is abbreviated as follows:
f(x_{4}x_{2,3})=ρ+c·δt−c·(δt^{s}−x_{2})+T+x_{3}(b,l)+x_{4} (m)
wherein x_{4}x_{2,3 }represents that the partition comprehensive correction x_{4 }is solved on the basis of x_{2 }and x_{3 }(that is, on the basis of the clock difference correction x_{2 }and the ionosphere correction x_{3 }having been obtained). The meanings of other variables are the same as above, and will no longer be described here. In equation (m), the partition comprehensive correction x_{4 }can be obtained by way of iterative calculation.
(7) The orbit correction, the clock difference correction, the ionosphere correction and the partition comprehensive correction are superimposed on the basis of the basic navigation message, and the orbit correction, the clock difference correction, the ionosphere correction and the partition comprehensive correction are solved accordingly. The specific steps of the protocol superimposition include:
S71 of generating an orbit correction x_{1}: it is the same as step S21, and therefore will no longer be described here;
S72 of generating a clock difference correction x_{2}: it is the same as step S22, and therefore will no longer be described here;
S73 of generating an ionosphere correction x_{3}: on the basis of step S72, further superimposing the ionosphere correction, the observation equation is abbreviated as follows:
f(x_{3}x_{1,2})=ρ+Δρ(x_{1})+c·δt−c·(δt^{s}−x_{2})+T+x_{3}(b,l) (n)
wherein x_{3}x_{1,2 }represents that the ionosphere correction x_{3 }is solved on the basis of x_{1 }and x_{2 }(that is, on the basis of the satellite orbit correction x_{1 }and the clock difference correction x_{2 }having been obtained), and the meanings of other variables are the same as above and will no longer be described here;
S74 of generating a partition comprehensive correction x_{4}: on the basis of step S73, further superimposing the partition comprehensive correction, the observation equation is abbreviated as follows:
f(x_{4}x_{1,2,3})=ρ+Δρ(x_{1})+c·δt−c·(δt^{s}−x_{2})+T+x_{3}(b,l)+x_{4} (y)
wherein x_{4}x_{1,2,3 }represents that the partition comprehensive correction x_{4 }is solved on the basis of x_{1}, x_{2 }and x_{3 }(that is, on the basis of the satellite orbit correction x_{1}, the clock difference correction x_{2 }and the ionosphere correction x_{3 }having been obtained). The meanings of other variables are the same as above, and will no longer be described here. In equation (y), the partition comprehensive correction x_{4 }can be obtained by way of iterative calculation.
It should be noted that the above examples (1)(7) can all be applied to a singlefrequency receiver and a multifrequency receiver (such as a dualfrequency receiver and a trifrequency receiver), which is not limited by the embodiment of the present invention. It should be further noted that: 1. the partition comprehensive correction x_{4 }includes, but is not limited to, at least one of a Beidou partition comprehensive correction or a GPS partition comprehensive correction; the ionospheric correction x_{3 }uses models including, but being not limited to, a grid ionosphere model, an 8parameter model or a 14parameter model, etc., preferably uses the grid ionosphere model; 2. the orbit correction is also called the satellite orbit correction, and the clock difference correction is also called the satellite clock difference correction, which will no longer be described throughout the description; 3. the way of iteration or the way of iterative calculation mentioned in the embodiment of the present invention is only an example and not a limitation, and in other embodiments, a numerical calculation method such as recursion may be used, and a calculation method such as integration may further be used, on which the embodiment of the present invention does not impose any limitation, and in actual practice, those skilled in the art can reasonably make a choice as needed.
According to an embodiment of the present invention, in order to improve the accuracy of positioning, correction parameters (for example, including an orbit correction, a clock difference correction, an ionosphere correction, or a partition comprehensive correction (including a troposphere correction, a space segment correction and an environment segment correction)) are defined and modeled, and correction parameters can provide multiple types of user error correction modes such as DGNSS1 (clock difference correction), DGNSS2 (orbit correction, clock difference correction), DGNSS3 (orbit correction, clock difference correction, ionosphere correction), D+PPGNSS1 (clock difference correction, comprehensive correction or partition comprehensive correction), D+PPGNSS2 (orbit correction, clock difference correction, comprehensive correction or partition comprehensive correction), D+PPGNSS3 (orbit correction, clock difference correction, ionosphere correction, comprehensive correction or partition comprehensive correction), D+PPGNSS3 (clock difference correction, comprehensive correction or partition comprehensive correction), including singlefrequency, dualfrequency, trifrequency receiver positioning, and including, but not limited to, GNSS single Beidou, single GPS and BeidouGPS combined positioning. By superimposing the partition comprehensive correction, the decimeterlevel positioning can be realized.
After determining the correction parameters such as the orbit correction, the clock difference correction, the ionosphere correction and the partition comprehensive correction, the apparatus for superimposing, encoding and broadcasting of message parameters further set the broadcast frequencies and the broadcast strategies of respective parameters based on, on one hand, the consideration of the resource limitation of the message and the resource limitation of the satellite communication link Additionally, on the other hand, the consideration of the accuracy attenuations in respective update periods of respective correction parameters.
By employing the aforementioned correction parameters, the improved accuracy of positioning can be achieved in a wide range. The corresponding representation symbols of respective parameters (including correction parameters) in the message and the specific design typical values of respective parameters can be seen in the following table. The specific design values can also be adjusted suitably in conjunction with the communication capability.
The GPS partition comprehensive correction (ΔTGij) is the same as the partition comprehensive correction (ΔTij) in terms of definition and usage. The partition comprehensive correction ΔTGij of each satellite in each area indicates the comprehensive correction value of the jth GPS satellite in the ith area at an epoch time. The area identifier (AREAI) indicates the area where the broadcast partition comprehensive correction is located. The number of area identifiers broadcast by the system corresponds to the defined integer number of partitions. When the corresponding information bit is “1”, it indicates that the corresponding partition comprehensive correction parameters is broadcast; when it is “0”, it indicates that broadcasting is not performed. Each satellite broadcasts partition comprehensive corrections of a certain number of partitions. The correspondence between the specific satellite code and the broadcast partition code can use the typical broadcast strategy shown in the following table. The execution of superimposition of correction parameters is not limited thereto, and the user perform identification according to identification bits.
Typical example of broadcast strategy for partition comprehensive corrections
The satellite identifier (BDIDI) indicates the satellite corresponding to the broadcast satellite orbit correction and partition comprehensive correction. The system broadcasts a total of 63 bits of satellite identifiers, corresponding to 63 Beidou satellites. When the corresponding information bit is “1”, it indicates that the correction parameters of the corresponding satellite is broadcast; when it is “0”, it indicates that broadcasting is not performed.
The user may decide to perform the positioning resolution using the correction parameters of a certain satellite in a certain area based on the abovementioned auxiliary information such as area identifiers, satellite identifiers and the like.
The GPS area identifier (AREAGI) indicates the area where the broadcast GPS partition comprehensive correction is located. The definition of area identifiers broadcast by the system corresponds to the defined integer number of partitions. When the corresponding information bit is “1”, it indicates that the corresponding partition comprehensive correction parameters is broadcast; when it is “0”, it indicates that broadcasting is not performed.
The GPS satellite identifier (GPSI) indicates the satellite corresponding to the broadcast GPS partition comprehensive correction. The system broadcasts a total of 36 bits of satellite identifiers, corresponding to 36 GPS satellites. When the corresponding information bit is “1”, it indicates that the correction parameters of the corresponding satellite is broadcast; when it is “0”, it indicates that broadcasting is not performed.
According to the scheme of the embodiment of the present invention, the broadcast quantity of correction parameters can be controlled to be less than 100 bps on average, so that broadcasting of correction parameters can be implemented in the 250500 bps navigation message. Higher or lower broadcast frequencies of parameters may also be used, thus reducing the initialization time, or controlling the acceptable initial usage time extension.
In addition, considering the broadcast capabilities of the system and the communication link, the broadcast frequencies thereof cannot be too high. However, the broadcast frequency being low will cause the loss of accuracy of corrections. On the basis of the accurate calculation of corrections, the accuracy of user positioning and the broadcast efficiency of the system are compared under different broadcast frequencies, thereby determining the appropriate broadcast frequency of the correction parameters, and the smooth control is performed in combination with the different fast or slow broadcast frequencies of the correction parameters. Thus, fast speed, fast frequency and high accuracy can all be achieved.
Based on the above correction parameters model, the broadcast frequencies of the parameters can be designed as: the orbit correction parameters being 3˜6 minutes; the clock difference correction parameters being 18 seconds˜2 minutes; the ionosphere correction parameters being 3˜6 minutes; the comprehensive correction parameters or the partition comprehensive correction parameters being 30˜180 seconds.
For example, the specific broadcast frequencies selected according to the performance requirements may be as follows: the orbit correction is of the frequency of 6 minutes; the error of the clock difference correction within the frequency of 2 minutes can be controlled at 0.2 meters; and the error of the partition correction of the frequency of 3 minutes can be controlled at about 0.06 meters, as the meanings of the numbers in the above table.
The broadcast strategy only has to ensure that a predetermined accuracy can obtain within this range when it is broadcast to the user for reception and use. The accuracies of respective correction parameters are reduced within their respective update periods: therefore, if the frequency of the clock difference correction is within 2 minutes and the frequency of the partition correction is within 3 minutes, the performance can be guaranteed. Generally, the higher the broadcast frequency, the better the performance. Typical values are like that the orbit correction is of frequency of 6 minutes, the clock difference correction is of frequency of 18 seconds, and the partition correction is of frequency of 36 seconds. In this way, while the quantity of broadcast is small, the performance can be guaranteed (meeting the accuracy requirement), and the initialization time for the user to enter the substantially highaccuracy working state will not be made too long, and the user receives the measurement with high accuracy, the processing time is basically matched, and the user'"'"'s use area is large, so as to achieve widearea differential performance improvement.
The update of the correction parameters can be combined with the aforementioned protocol superimposition (protocol superimposition is the superimposition of correction parameters, for example, example (1)example (7) are also various superimposition combinations of different correction parameters). Details are as follows.
For example,
For example, at the time t0+b1, superimposing the orbit correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (3) comprises: 1. based on the basic navigation message generated at the previous broadcast ephemeris update time t, solving the orbit correction at the time m′ through the above equation (c); 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at time m′ obtained by solution, solving the partition comprehensive correction through the above equation (g).
As in another example, at the time t0+b2, superimposing the orbit correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (3) comprises: 1. based on the basic navigation message generated at the current broadcast ephemeris update time t0, solving the orbit correction at the time m′+m through the above equation (c); 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+m obtained by solution, solving the partition comprehensive correction through the above equation (g).
It should be noted as follows:
1. The time t0+b1, the time m′, the time t0+b2 and the time m′+m mentioned in the embodiment of the present invention are merely examples and not limitation. In the actual practice, it is sufficient to meet the following requirements: within the period of time between the current broadcast ephemeris update time t0 and the next broadcast ephemeris update time t1, for the time t0+d, superimposing the orbit correction and the partition comprehensive correction on the basis of the basic navigation message comprises: 1) if t0+d<m′+m, at first, based on the basic navigation message generated at the previous broadcast ephemeris update time t, solving the orbit correction at the time m′ through the above equation (c); then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ obtained by solution, solving the partition comprehensive correction through the above equation (g); 2) if m′+(n)*m≤t0+d<m′+(n+1)*m, at first, based on the basic navigation message generated at the current broadcast ephemeris update time t0, solving the orbit correction at the time m′+n*m through the above equation (c); then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+n*m obtained by solution, solving the partition comprehensive correction through the above equation (g);
wherein d is a positive number and n is a positive integer.
2. The times such as time t0+b1, the time m′, the time t0+b2 and the time m′+m for the identification shown in
For example,
For example, at the time t0+b1, superimposing the orbit correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (1) comprises: 1. based on the basic navigation message generated at the previous broadcast ephemeris update time t, solving the clock difference correction at time a′ through the above equation (a); 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at the time a′ obtained by solution, solving the partition comprehensive correction through the above equation (b).
As in another example, at the time t0+b2, superimposing the clock difference correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (1) comprises: 1. based on the basic navigation message generated at the current broadcast ephemeris update time t0, solving the clock difference correction at the time a′+a through the above equation (a); 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at the time a′+a obtained by solution, solving the partition comprehensive correction through the above equation (b).
It should be noted as follows:
1. The time identifiers such as the time t0+b1, the time a′, the time t0+b2 and the time a′+a mentioned in the embodiment of the present invention are only examples and not limitation. In the actual practice, it is sufficient to meet the following requirements: within the period of time between the current broadcast ephemeris update time t0 and the next broadcast ephemeris update time t1, for the time t0+d, superimposing the clock difference correction and the partition comprehensive correction on the basis of the basic navigation message comprises: 1) if t0+d<a′+a, at first, based on the basic navigation message generated at the previous broadcast ephemeris update time t, solving the clock difference correction at the time a′ through the above equation (a); then, based on the basic navigation message generated at the current broadcast ephemeris time t0 and the clock difference correction at the time a′ obtained by solution, solving the partition comprehensive correction through the above equation (b); 2) if a′+(n)*a≤t0+d<a′+(n+1)*a, at first, based on the basic navigation message generated at the current broadcast ephemeris update time t0, solving the clock difference correction at the time a′+(n)*a through the above equation (a); then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at the time a′+(n)*a obtained by solution, solving the partition comprehensive correction through the above equation (b), wherein d is a positive number and n is a positive integer.
2. The time identifiers such as the time t0+b1, the time a′, the time t0+b2 and the time a′+a for the identification shown in
3. The update period of the clock difference correction can be, for example, 18 seconds. For the Beidou system, the satellite clock difference corrections of the frequency points B1 and B2 are different, and each frequency point only broadcasts the satellite clock difference correction corresponding to the frequency point.
For example, in another implementation, the update frequency of the partition comprehensive correction may be slower than the update frequency of the clock difference correction:
At the time t0+d, superimposing the clock difference correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (1) comprises: at first, based on the basic navigation message generated at the current broadcast ephemeris update time t0, solving the clock difference correction at time a′+(n)*a through the above equation (a); then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at the time a′+(n)*a obtained by solution, solving the partition comprehensive correction through the above equation (b).
It should be noted that the time identifiers such as the time t0+b1 and the time a′+a for the identification shown in
For example, in one embodiment, the update frequency of the partition comprehensive correction is faster than the update frequency of the clock difference correction, and the update frequency of the clock difference correction is faster than the update frequency of the orbit correction, as shown in
For example, at the time t0+b1, superimposing the orbit correction, the clock difference correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (2) comprises: 1. based on the basic navigation message generated at the previous broadcast ephemeris update time t, solving the orbit correction at the time m′ is through the above equation (c); 2. based on the basic navigation message generated the previous broadcast ephemeris update time t and the orbit correction at the time m′ obtained by solution, solving the clock difference correction at the time a′ through the above equation (d); 3. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ obtained by solution, solving the partition comprehensive correction through the above equation (e);
For example, at the time t0+b2, superimposing the orbit correction, the clock difference correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (2) comprises: 1. based on the basic navigation message generated at the previous broadcast ephemeris update time t, solving the orbit correction at the time m′ through the above equation (c); 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ obtained by solution, solving the clock difference correction at the time a′+(h)*a through the above equation (d); 3. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ and the clock difference correction at the time a′+(h)*a obtained by solution, solving the partition comprehensive correction through the above equation (e);
For example, at the time t0+b3, superimposing the orbit correction, the clock difference correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (2) comprises: 1. based on the basic navigation message generated at the current broadcast ephemeris update time t0, solving the orbit correction at the time m′+(e)*m through the above equation (c); 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+(e)*m obtained by solution, solving the clock difference correction at the time a′+(f)*a through the above equation (d); 3. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+(e)*m and the clock difference correction at the time a′+(f)*a obtained by solution, solving the partition comprehensive correction through the above equation (e);
For example, in one embodiment, the update frequency of the clock difference correction is faster than the update frequency of the partition comprehensive correction, and the update frequency of the partition comprehensive correction is faster than the update frequency of the orbit correction.
For example, at the time t0+b1, superimposing the orbit correction, the clock difference correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (2) comprises: at first, based on the basic navigation message generated at the previous broadcast ephemeris update time t, solving the orbit correction at the time m′ through the above equation (c); then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ obtained by solution, solving the clock difference correction at time a′+h*a through the above equation (d), and finally, based on basic navigation message generated at the current navigation ephemeris update time t0 and the orbit correction at the time m′ and the clock difference correction at the time a′+h*a obtained by solution, solving the partition comprehensive correction through the above equation (e);
For example, at the time t0+b2, superimposing the orbit correction, the clock difference correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (2) comprises: at first, based on the basic navigation message generated at the current broadcast ephemeris update time t0, solving the orbit correction at the time m′+(e)*m through the above equation (c); then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+(e)*m obtained by solution, solving the clock difference correction at the time a′+(f)*a through the above equation (d), and finally, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at time m′+(e)*m and the clock correction at time a′+(f)*a obtained by solution, solving the partition comprehensive correction through the above equation (e).
For the ionosphere correction, the update period can be, for example, 3˜6 minutes. The ionosphere correction is the correction for the propagation segment (or environment segment) error. As mentioned before, multiple observation stations obtain the ionosphere delay amount by using pseudorange observation values (the pseudorange observation value may be the original pseudorange observation value P, or may be the pseudorange observation value P(x) corrected by the correction parameters, which is not limited by the embodiment of the present invention) of multiple frequency points within a certain period of time, and generates an ionosphere grid model or an 8parameter model or a 14parameter model by modeling to obtain an ionosphere correction x_{3 }(b,l). Therefore, there is no need to perform the timing matching for the ionosphere correction.
Therefore, for the example (5), the same parts between its timing matching procedure and the timing matching procedure of the example (3) will no longer be described, the difference thereof is as follows:
For example, at the time t0+b1, superimposing the orbit correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (5) comprises: 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ obtained by solution, solving the ionosphere correction through the above equation (i); 3. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ obtained by solution and the ionosphere correction, solving the partition comprehensive correction through the above equation (j).
As another example, at the time t0+b2, superimposing the orbit correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (5) comprises: 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+m obtained by solution, solving the ionosphere correction through the above equation (i); 3. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+m obtained by solution and the ionosphere correction, solving the partition comprehensive correction through the above equation (j).
For the example (6), the same parts between its timing matching procedure and the timing matching procedure of the example (1) will no longer be described:
1) When the update frequency of the partition comprehensive correction is faster than the update frequency of the clock difference correction, the difference thereof is as follows:
For example, at the time t0+b1, superimposing the orbit correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (6) comprises: 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at the time a′ obtained by solution, solving the ionosphere correction through the above equation (k); 3. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at the time a′ obtained by solution and the ionosphere correction, solving the partition comprehensive correction through the above equation (m);
For example, at the time t0+b1, superimposing the orbit correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (6) comprises: 2. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at time a′+a obtained by solution, solving the ionosphere correction through the above equation (k); 3. based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at time a′+a obtained by solution and the ionosphere correction, solving the partition comprehensive correction through the above equation (m).
2) When the update frequency of the partition comprehensive correction is slower than the update frequency of the clock difference correction, the difference thereof is as follows:
At the time t0+d, superimposing the clock difference correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (6) comprises: further based on basic navigation generated at the current broadcast ephemeris update time t0 and the clock difference correction at the time a′+(n)*a obtained by solution, solving the ionosphere correction through the above equation (k); finally, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the clock difference correction at the time a′+(n)*a obtained by solution and the ionosphere correction, solving the partition comprehensive correction through the above equation (b).
For the example (7), the same parts between its timing matching procedure and the timing matching procedure of the example (3) will no longer be described:
1) When the update frequency of the partition comprehensive correction is faster than the update frequency of the clock difference correction and the update frequency of the clock difference correction is faster than the update frequency of the orbit correction, the difference thereof is as follows:
For example, at the time t0+b1, superimposing the orbit correction, the clock difference correction, the ionosphere correction and the partition comprehensive correction based on the basic navigation message corresponding to the above example (7) comprises: 3. then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ and the clock difference correction time at the time a′ obtained by solution, solving the ionosphere correction through the above equation (n); 4. finally, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ and the clock difference correction at the time a′ obtained by solution and the ionosphere correction, solving the partition comprehensive correction through the above equation (y);
For example, at the time t0+b2, superimposing the orbit correction, the clock difference correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (7) comprises: 3. then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ and the clock difference correction at the time a′+h*a obtained by solution, solving the ionosphere correction through the above equation (n); 4. finally, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ and the clock difference correction at the time a′+h*a obtained by solution and the ionosphere correction, solving the partition comprehensive correction through the above equation (y).
For example, at the time t0+b3, superimposing the orbit correction, the clock difference correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (7) comprises: 3. then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+(e)*m and the clock difference correction at the time a′+(f)*a obtained by solution, solving the ionosphere correction through the above equation (n); 4. finally, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+(e)*m and the clock difference correction at the time a′+(f)*a and the ionosphere correction, solving the partition comprehensive correction through the above equation (y).
2) When the update frequency of the clock difference correction is faster than the update frequency of the partition comprehensive correction and the update frequency of the partition comprehensive correction is faster than the update frequency of the orbit correction, the difference thereof is as follows:
For example, at the time t0+b1, superimposing the orbit correction, the clock difference correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (7) comprises: then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ and the clock difference correction at the time a′+h*a, solving the ionosphere correction through the above equation (n); and finally, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′ and the clock difference correction at the time a′+h*a and the ionosphere correction, solving the partition comprehensive correction through the above equation (y);
For example, at the time t0+b2, superimposing the orbit correction, the clock difference correction, the ionosphere correction and the partition comprehensive correction on the basis of the basic navigation message corresponding to the above example (7) comprises: then, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+(e)*m and the clock difference correction at the time a′+(f)*a obtained by solution, solving the ionosphere correction by the above equation (n); and finally, based on the basic navigation message generated at the current broadcast ephemeris update time t0 and the orbit correction at the time m′+(e)*m and the clock difference correction at the time a′+(f)*a and the ionosphere correction, solving the partition comprehensive correction through the above equation (y).
It should be noted that when receiving and/or using the correction parameters, the user end (receiver) needs to perform matching with the received correction parameters (including, but not limited to, matching in time and matching on the type of correction parameters).
The partition comprehensive correction is the comprehensive correction of a satellite currently observed in each partition. Limited by the satelliteearth interface resources, and considering the impact of the update frequency of the partition comprehensive correction on the performance, when the update time is less than 2 minutes, there is no significant difference in the accuracy of user positioning; after the update time exceeds 2 minutes, the accuracy of positioning drops significantly.
In order to meet the requirements of the broadcasting, the embodiments of the present invention describe a procedure and a method of correction parameters superimposition, and a matching procedure between them.
The use of multiple superimposition combinations of different correction parameters (i.e., multiple protocol superimpositions) may enable the user to achieve positioning requirements of different levels of accuracy under different hardware and software environments. For example, after the protocol superimposes the partition comprehensive correction, the positioning requirement of decimeteraccuracy can be realized.
When the protocol superimposition is applied to a satellite positioning system, it is required to broadcast the correction parameters to the user in the form of a navigation message through a navigation satellite. Therefore, the satellite navigation system proposed by the present invention must consider the method and strategy of parameter arrangement. The message arrangement of the correction parameters needs to consider the following factors:
(1) the design of the message frame structure of the navigation message in a compatible satellite navigation system;
(2) the use of unused fields (reserved bits) of the message resources to perform the arrangement;
(3) the loss of the message expression accuracy of the correction parameters is less.
In view of the above factors, the present invention also provides a message arrangement and broadcast method for an enhanced parameter in a satellite navigation system, which can fully utilize the remaining resources in the navigation message of the satellite navigation system, Additionally, in accordance with the repetition periods of respective pages, superframes, main frames and subframes of the remaining resources, arrange the different correction parameters according to their respective characteristics to be integrated with the navigation message and broadcast to the user. The message arrangement and broadcast method can be implemented by the above apparatus for superimposing, encoding and broadcasting of message parameters set at the base station, where the enhanced parameter is the correction parameters, and will no longer be described throughout the description.
For example, the message broadcast apparatus 40 shown in
As shown in
In the message broadcast apparatus 40, the navigation message frame structure model is defined by a superframe, a main frame and a subframe, with each of superframes containing 120 main frames, each of main frames containing 5 subframes, each of subframes containing 10 words and each of words containing 30 bits and lasting 0.06 second. Additionally, among the 5 subframes, subframe 1 is used to broadcast the present satellite'"'"'s basic navigation information of the satellite navigation system, and information in a group of subframes 1 is transmitted by 10 pages in a time division manner, that is, one transmission of the present satellite'"'"'s basic navigation information is accomplished by 10 pages composed of 10 subframes 1 (that is, a group of subframes 1 constitutes a group of pages); subframe 2 to subframe 4 are used to broadcast the integrity and differential information of the satellite navigation system, and information in respective groups of subframes 2˜4 is transmitted by 6 pages respectively in a time division manner, that is, the transmission of the integrity and differential information of the satellite navigation system at one time is accomplished respectively by 6 pages composed of 6 subframes 2˜4 (that is, a group of subframes 2˜4 constitutes a group of pages respectively); and subframe 5 is used to broadcast all the satellite almanacs, ionosphere information and time synchronization information with other systems of the satellite navigation system, and information in a group of subframes 5 is transmitted by 120 pages in a time division manner, that is, one transmission of all the satellite almanacs, ionosphere information and time synchronization information with other systems of the satellite navigation system is accomplished by 120 pages composed of 120 subframes 5.
As described above, a satellitebased enhanced parameter is for improving the accuracy of the system'"'"'s realtime service, and it differentiates the main error sources such as satellite orbit error, satellite clock difference and ionosphere delay, and establishes a model for each type of error source for correcting errors of these parameters in the basic navigation. For example, taking the Beidou system as an example, the satellitebased enhanced parameter may include satellite clock difference correction parameters, satellite orbit correction parameters, ionosphere correction parameters and partition comprehensive correction parameters, which will be described in detail hereinafter. It should be understood that the abovedescribed satellitebased enhanced parameter is merely one example of an enhanced parameter for ease of explanation, rather than limiting the present invention thereto. The invention can also be applied to groundbased enhanced parameters.
In order to facilitate the understanding of the navigation message frame structure model as described above, the description will be made in conjunction with
To illustrate the message arrangement in the navigation message frame structure model, refer to
Since the broadcast frequencies (or update periods) of these navigation information are different, different broadcast frequencies can be achieved by making the subframes broadcasting them respectively constitute separate pages. As shown in
A page reflects the sequential changes of each subframe in the time domain. In order for easier understanding of the concept of a page, refer to
In
In the navigation message frame structure model as described above, in addition to information bits for broadcasting the present satellite'"'"'s basic navigation information, all the satellite almanacs, the time synchronization information with other systems, the integrity and differential information of the Beidou system and the ionosphere information, unused information bits are usually reserved. Specifically, in the navigation message frame structure model shown in
Considering the page setting of each subframe shown in
After the processor 401 completes the message arrangement of the enhanced parameter, the transmitter 402 may upload the arranged message to a broadcast satellite (e.g., the Ibranch of the GEO satellite) for broadcasting the message. Thereby, a user terminal can receive the broadcast message, thus obtain the enhanced parameter so as to correct the error in the basic navigation information to improve the navigation accuracy.
It should be noted that although the navigation message frame structure model given in
In the message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system according to the embodiment of the present invention, by making the basic navigation information and enhanced information be uniformly broadcast, the scalability of the navigation message is improved, the satelliteandearthintegrated flexible broadcast of the navigation message is realized, the flexibility of message broadcasting is improved, the user performance is improved, and the utilization of channel link resources is improved.
Optionally, in the above message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system, the processor 401 may determine the byte size and the broadcast frequency of the enhanced parameter according to a quantization range and a quantization accuracy of the enhanced parameter respectively.
Specifically, the accuracy of basic navigation satellite broadcast ephemeris is usually better than 10 meters. The URE (User Range Error) increases when orbit maneuvers. When the URE is greater than a certain numerical value, this satellite may be regarded as being unavailable in the short term, and the orbital radial error is classified as a clock difference. For this reason, the range of an orbit correction may be set as a range of 3 times, that is, ±30 meters can meet the requirements. Taking into account further abnormal cases, this range can be appropriately enlarged, for example, the typical value is set to ±64 meters. Taking into account the need for decimeterlevel widearea differential accuracy, the quantization accuracy of this parameter can be designed on the centime terslevel.
The existing clock difference can represent ±409 meters with a quantization error of 0.1 meters. In order to improve the accuracy of the clock difference correction, the clock difference correction residue is increased, and the range of the residue is ±0.0625 meters. Taking into account the need for decimeterlevel widearea differential accuracy, the quantization accuracy can be designed on the centime terslevel.
The partition correction is made on the basis of the correction of the clock difference. The calculation of the highest accuracy of positioning needs using such correction. The accuracy of the resolving and the parameter fitting of the clock difference is usually better than 1 nanosecond, and the accuracy of the orbit correction is also better than 2 nanoseconds. Therefore, the range of the partition correction is set at ±5 nanoseconds so as to satisfy the representation requirement of the parameter. This range can be set as ±8 nanoseconds in consideration of further abnormal cases. Other cases beyond the representation range will be uniformly classified into the clock difference parameter. Taking into account the requirement of high accuracy, the quantization unit of this parameter can be 0.0625 nanoseconds, and the truncation error at this time is 1 cm.
Ionosphere correction parameters use models including, but being not limited to, grid ionosphere models, 8parameter models, or 14parameter models, and preferably use grid ionosphere models. The accuracy of the resolving of the grid ionosphere is about 0.5 meters and the quantization accuracy of too high is a waste for resources. The design for the quantization accuracy of 0.1 meter can meet the requirement. The maximum delay is generally no more than 50 meters, and larger delays can be marked as unavailable. Therefore, the value of this parameter can be designed in the range of tens of meters, with a typical value being 63 meters.
According to the above design considerations for the quantization range and the quantization accuracy of each enhanced parameter, the byte size and the update period of each enhanced parameter may be determined. For example, the update period of the satellite clock difference correction parameters is preferably 18 seconds, the update period of the satellite orbit correction parameters is preferably 6 minutes, the update period of the partition comprehensive correction parameters is preferably 36 seconds, and the update period of the ionosphere correction parameter is preferably 3 minutes. As another example, each partition comprehensive correction occupies 8 bits of information bits, and each satellite'"'"'s satellite orbit correction occupies 40 bits of information bits, and so on. As described above, the message arrangement scheme of each enhanced parameter in the navigation message frame structure model may be determined according to the byte size and update period of each enhanced parameter.
Optionally, in the above message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system, the enhanced parameter may include satellite clock difference correction parameters and partition comprehensive correction parameters, and the processor 401 may insert the satellite clock difference correction parameters into a first group of predetermined positions in the reserved space of subframe 2 and subframe 3 and transmits the satellite clock difference correction parameters by 6 pages in a time division manner (that is, one broadcast of the satellite clock difference correction parameters is completed by 6 pages), and insert the partition comprehensive correction parameters into a second group of predetermined positions in the reserved space of subframe 2 to subframe 4 and transmits the partition comprehensive correction parameters by the 12 pages in a time division manner (that is, one broadcast of the partition comprehensive correction parameters is completed by 12 pages in subframe 2 to subframe 4 respectively).
Specifically, as described above, the update period of the satellite clock difference correction is 18 seconds. As shown in
As described above, the update period of the partition comprehensive correction is 36 seconds. Although, as shown in
It should be understood that the first group of predetermined positions and the second group of predetermined positions described herein is in order for distinguishing a set of reserved information bits for broadcasting the satellite clock difference correction parameters from a set of reserved information bits for broadcasting the partition comprehensive correction parameters. However, it is possible that a part of the positions in the first group of predetermined positions coincide with a part of positions in the second group of predetermined positions, that is, the broadcasting of the satellite clock difference correction parameters and the broadcasting of the partition comprehensive correction parameters may share some reserved information bits. The message arrangements of the satellite clock difference correction parameters and the partition comprehensive correction parameters will be further described in detail by way of examples hereinafter.
As described above, subframes 2˜4 may not be fixed to be composed of 6 pages respectively, that is, the update period of the message broadcast may not be fixed at 18 seconds, but may be implemented as an update period of a multiple of 3 seconds. Therefore, by flexibly arranging pages of a subframe, the dynamic adjustment, the flexible allocation and the combination of the rapid and slow update frequencies of the message arrangement are realized, thereby saving resources.
Optionally, in the above message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system, the enhanced parameter includes partition comprehensive correction parameters, and the partition comprehensive correction parameters include partition comprehensive corrections, area identifiers and satellite identifiers. Additionally, the area identifiers are used for, for each of areas in the satellite navigation system, employing a 1bit information bit respectively to identify whether there is a partition comprehensive correction that needs to be broadcast, and the processor 401 inserts the area identifiers into a third group of predetermined positions in the reserved space of page 1 of subframe 2. Additionally, the satellite identifiers are used for, for each of satellites in the satellite navigation system, employing a 1bit information bit respectively to identify whether there is a partition comprehensive correction that needs to be broadcast, and the processor 401 inserts the satellite identifiers into a fourth group of predetermined positions in the reserved space of page 2 to page 4 of subframe 2. Additionally, the processor 401 inserts partition comprehensive corrections, which correspond to different areas and different satellites respectively and needs to be broadcast, into a fifth group of predetermined positions in the reserved space of page 1 to page 6 of subframe 3 and subframe 4 sequentially. Wherein. the broadcast period of the partition comprehensive correction parameters is 30 seconds to 3 minutes, and preferably 36 seconds. The embodiment of the present invention takes 36 seconds as an example, but is merely an example, not a limitation.
Specifically, the satellite navigation system can be divided into multiple areas, and each of areas broadcasts one partition comprehensive correction. Limited by satellite downlink navigation signal link resources, different satellites may broadcast different partition comprehensive corrections. Here, for the sake of easily understanding, the Beidou satellite navigation system is still taken as an example for illustration by way of examples. In the Beidou satellite navigation system, for example, if the system is divided into 30 areas, there are a total of 63 satellites. Therefore, for combinations of different areas and different satellites, there may be a total of 30×63=1890 partition comprehensive corrections. However, usually only a part of the areas and a part of satellites need to broadcast the corresponding partition comprehensive corrections. Therefore, if information bits are allocated for all possible partition comprehensive corrections for broadcasting them, excessive channel link resources will be occupied, resulting in a waste of resources.
In order to save resources, the present invention dynamically adjusts the information resource mode and broadcasts partition comprehensive corrections by employing a shared identification bit. In order to facilitate understanding of the specific message arrangement manner of the present invention, a detailed description will be made in conjunction with
Firstly, area identifiers are set to be used for, for each of 30 areas, employing a 1bit information bit respectively to identify whether there is a partition comprehensive correction that needs to be broadcast.
Secondly, satellite identifiers are set to be used for, for each of the 63 satellites, employing a 1bit information bit respectively to identify whether there is a partition comprehensive correction that needs to be broadcast.
Finally, partition comprehensive corrections, which correspond to different areas and different satellites respectively and needs to be broadcast, are inserted into a fifth group of predetermined positions in the reserved space of page 1 to page 6 of subframe 3 and subframe 4 sequentially. Specifically,
Similarly, as shown in
It can be understood that, here, the 257th bits to the 262th bits and the 271th bits to the 292th bits of pages 1˜6 of subframe 3 and the 48th bits to the 52th bits, the 61th bits to the 82th bits, the 91th bits to the 142th bits and the 151th bits to the 167th bits of pages 1˜6 of subframe 4 may correspond to the fifth group of predetermined positions as described above, for sequentially broadcasting the existing partition comprehensive corrections.
It should be noted that since the update period of the partition comprehensive correction parameters is 36 seconds, that is, updating is performed once every 12 pages. Specifically, in the time domain, for example, in the first period of 36 seconds, the number of partition comprehensive corrections that need to be broadcast by subframes 3 and subframes 4 in the first to twelfth main frames and which area and which satellite each of the partition comprehensive corrections corresponds to are determined according to the area identifiers and the satellite identifiers broadcast in subframes 2 in the first to sixth main frames in the time domain. Similarly, in the second period of 36 seconds, the number of partition comprehensive corrections that need to be broadcast by subframes 3 and subframes 4 in the 13th to 24th main frames and which area and which satellite each of the partition comprehensive corrections corresponds to are determined according to the updated area identifiers and the updated satellite identifiers broadcast in subframes 2 in the 13th to 18th main frames in the time domain, and so on.
It should be understood that although at most 180 partition comprehensive corrections can be broadcast as described above, if only 100 partition comprehensive corrections for example need to be broadcast in a certain period of 36 seconds, remaining information bits, after the 100 partition comprehensive corrections are sequentially broadcast, in the fifth group of predetermined positions of subframe 3 and subframe 4 may be empty or as reserved bits.
Since the area identifiers and the satellite identifiers are used to identify which areas and which satellites have partition comprehensive corrections that need to be broadcast as described above, the fifth group of predetermined positions in subframe 3 and subframe 4 can be used only for broadcasting the partition comprehensive corrections that need to be broadcast without allocating fixed information bits for partition comprehensive corrections that do not need to be broadcast, thus saving channel link resources. Moreover, after each of update periods, since the area identifiers and the satellite identifiers may change, partition comprehensive corrections that need to be broadcast will also change, so the fifth group of predetermined positions of subframe 3 and subframe 4 may broadcast the updated partition comprehensive corrections corresponding to different areas and different satellites. It can be seen that all satellites in the satellite navigation system can share identification bits and perform dynamic adjustment, thus saving resources and realizing fast uploading.
Further optionally, in the above message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system, an area index i and a satellite index j corresponding to each of the broadcast partition comprehensive corrections may be respectively defined as follows:
i=INT(n, x)+1;
j=MOD(n, x).
Wherein n denotes the number of the broadcast partition comprehensive correction, and x denotes the total number of satellites that needs to broadcast partition comprehensive corrections.
Specifically, as described above, partition comprehensive corrections that need to be broadcast are sequentially inserted into all pages of subframe 3 and subframe 4, that is, the messages of these partition comprehensive corrections are sequentially arranged. For example, the value of n corresponding to the first partition comprehensive correction (ΔT_{1}) broadcast in page 1 of subframe 3 is “1”, the value of n corresponding to the second partition comprehensive correction (ΔT_{2}) broadcast in page 1 of subframe 3 is“2” . . . . The value of n corresponding to the first partition comprehensive correction broadcast in page 1 of subframe 4 is “4”, the value of n corresponding to the second partition comprehensive correction broadcast in page 1 of subframe 4 is “5”, and so on.
As mentioned before, although there are a total of 63 satellites, not every satellite has a partition comprehensive correction that needs to be broadcast. For example, it is assumed that x=10, that is, when the total number of satellites broadcasting the partition comprehensive corrections is 10, for the first partition comprehensive correction ΔT_{76 }in page 6 of subframe 3, n=76, so its corresponding area index i=INT(76, 10)+1=8, and its corresponding satellite index j=MOD (76, 10)=6. That is to say, the partition comprehensive correction ΔT_{76 }corresponds to area 8 and satellite 6.
Through the above formula, specific area and satellite corresponding to each of the broadcast partition comprehensive corrections may be derived. Therefore, by combining area identifiers, satellite identifiers and partition comprehensive corrections, it is possible to achieve the accurate broadcast of the partition comprehensive corrections and to save resources.
Optionally, in the above message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system, the enhanced parameter includes satellite clock difference correction parameters, and the satellite clock difference correction parameters include satellite identifiers and satellite clock difference correction residues. Additionally, the satellite identifiers are used for, for each of satellites in the satellite navigation system, employing a 1bit information bit respectively to identify whether there is a satellite clock difference correction residue that needs to be broadcast, and the processor 401 inserts the satellite identifiers into a third group of predetermined positions in the reserved space of page 1 of subframe 2. Additionally, the processor 401 inserts the satellite clock difference correction residues, which correspond to different satellites respectively and need to be broadcast, into a sixth group of predetermined positions in the reserved space of page 5 and page 6 of subframe 4 sequentially. Additionally, the broadcast period of the satellite clock difference correction parameters is 18 seconds to 2 minutes, and preferably 18 seconds. The 18 seconds of the embodiment of the present invention is merely an example, not a limitation.
Specifically, for convenience of explanation, the Beidou satellite navigation system is still taken as an example. As mentioned before, the Beidou satellite navigation system has a total of 63 satellites. However, similar to the aforementioned partition comprehensive corrections, not every satellite has a satellite clock difference correction residue that needs to be broadcast. Therefore, it is also possible to set satellite identifiers for employing, for each of 63 satellites, a 1bit information bit respectively to identify whether there is a satellite clock difference correction residue that needs to be broadcast. For the satellite identifier of each satellite, when this identification bit is “1”, it indicates that there is a satellite clock difference correction residue that needs to be broadcast forth is satellite, and when this identification bit is “0”, it indicates that there is no satellite clock difference correction residue that needs to be broadcast forth is satellite.
Here, the satellite identifiers used for the satellite clock difference correction residues are different from the satellite identifiers used for the partition comprehensive corrections, but their effects are similar with each other and will no longer be described here.
Each of satellite clock difference correction residues consists of 4 bits of information bits. Usually, each GEO satellite can broadcast satellite clock difference correction residues of 18 satellites.
It should be understood that if the total number of satellites that there are satellite clock difference correction residues that need to be broadcast is less than 18, some information bits in the predetermined positions for broadcasting satellite clock difference correction residues shown in
As described above, the update period of the satellite clock difference correction residues is 18 seconds while the update period of the partition comprehensive corrections is 36 seconds. With flexible message arrangement, it is possible to realize the rapidslow combination of different broadcast frequencies between the satellite clock difference correction residues and the partition comprehensive corrections.
Further optionally, in the above message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system, the processor 401 inserts a broadcast information category identifier into a predetermined 1bit information bit in the reserved space of page 4 of subframe 2, and the satellite clock difference correction residues are broadcast in the sixth group of predetermined positions when the broadcast information category identifier is one of 1 and 0, and GPS satellite differential fast change information is broadcast in the sixth group of predetermined positions when the broadcast information category identifier is the other of 1 and 0.
Specifically, still referring to
It should be understood that, obviously, the meanings of “1” and “0” of the identification bit GPS flag are not limited to the abovedescribed exemplary case, but may be interchanged.
By setting the information category identifier, resource sharing between different satellite navigation systems can be realized, channel link resources are saved, and the message arrangement can be flexibly and dynamically adjusted.
Optionally, in the above message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system, the enhanced parameter includes GPS partition comprehensive correction parameters, and the GPS partition comprehensive correction parameters include GPS partition comprehensive corrections, GPS area identifiers and GPS satellite identifiers. Additionally, the GPS area identifiers are used for, for each of GPS areas, employing a 1bit information bit respectively to identify whether there is a GPS partition comprehensive correction that needs to be broadcast, and the processor 401 inserts the GPS area identifiers into a seventh group of predetermined positions in the reserved space of page 23 and page 83 of subframe 5. Additionally, the GPS satellite identifiers are used for, for each of GPS satellites, employing a 1bit information bit respectively to identify whether there is a GPS partition comprehensive correction that needs to be broadcast, and the processor 401 inserts the GPS satellite identifiers into an eighth group of predetermined positions in the reserved space of page 23 and page 83 of subframe 5. Additionally, the processor 401 inserts the GPS partition comprehensive corrections, which correspond to different GPS areas and different GPS satellites respectively and need to be broadcast, into a ninth group of predetermined positions in the reserved space of page 23 to page 30 and page 83 to page 90 of subframe 5 sequentially. Additionally, the broadcast period of the GPS partition comprehensive correction parameters is 30 seconds to 3 minutes, and preferably 36 seconds. The 36 seconds mentioned in the embodiment of the present invention is merely an example, not a limitation.
Specifically, although the current GPS satellite navigation system are not divided by regions like the Beidou system, in practice, regional division may be conducted on the GPS satellite navigation system and the GPS partition comprehensive corrections may be further applied.
Similarly with the aforementioned partition comprehensive corrections for the Beidou system, for example, the GPS satellite navigation system is divided into 30 GPS areas, and each of GPS areas broadcasts one GPS partition comprehensive correction. Correspondingly, the GPS area identifiers are set for employing, for each of 30 GPS areas, a 1bit information bit respectively to identify whether there is a GPS partition comprehensive correction that needs to be broadcast.
Unlike the Beidou satellite navigation system, the GPS satellite navigation system has a total of 36 GPS satellites. The GPS satellite identifiers are set for employing, for each of 36 GPS satellites, a 1bit information bit respectively to identify whether there is a GPS partition comprehensive correction that needs to be broadcast. As shown in
The GPS partition comprehensive corrections, which correspond to different GPS areas and different GPS satellites respectively and need to be broadcast, are inserted into a ninth group of predetermined positions in the reserved space of pages 23˜30, 83˜90 of subframe 5 sequentially. Specifically, similarly with the Beidou system, each GPS partition comprehensive correction is composed of 8 bits. Referring to
As described above in conjunction with
The GPS area index and the GPS satellite index corresponding to each GPS partition comprehensive correction may be determined similarly with the foregoing partition comprehensive correction for the Beidou system, and will no longer be described here.
It should be understood that although at most 151 GPS partition comprehensive corrections can be broadcast every 3minute period as described above, if only 100 GPS partition comprehensive corrections need to be broadcast in a certain 3minute period, remaining information bits, after the 100 partition comprehensive corrections are sequentially broadcast, in the ninth group of predetermined positions of subframe 5 may be empty or as reserved bits.
Since the GPS area identifiers and the GPS satellite identifiers are used to identify which GPS areas and which GPS satellites have GPS partition comprehensive corrections that need to be broadcast as described above, the ninth group of predetermined positions in subframe 5 can be used only for broadcasting the GPS partition comprehensive corrections that need to be broadcast without allocating fixed information bits for GPS partition comprehensive corrections that do not need to be broadcast, thus saving channel link resources. Moreover, after each of update periods, since the GPS area identifiers and the GPS satellite identifiers may change, GPS partition comprehensive corrections that need to be broadcast will also change, so the ninth group of predetermined positions of subframe 5 may broadcast the updated GPS partition comprehensive corrections corresponding to different GPS areas and different GPS satellites. It can be seen that all GPS satellites in the GPS satellite navigation system can share identification bits and perform dynamic adjustment, thus saving resources and realizing fast uploading. In addition, since the broadcast position of the GPS partition comprehensive correction parameters is different from the broadcast position of the partition comprehensive corrections for the Beidou system as described above, enhanced parameters of different satellite navigation systems can be simultaneously broadcast at different update frequencies in the same navigation message frame structure model, and thus the scalability of the navigation message is further improved.
Optionally, in the above message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system, the enhanced parameter includes satellite orbit correction parameters, and the satellite orbit correction parameters include satellite identifiers, satellite broadcast ephemeris corrections and equivalent distance error status identifiers of satellite ephemeris corrections. Additionally, the satellite identifiers are used for, for each of satellites in the satellite navigation system, employing a 1bit information bit respectively to identify whether there are a satellite broadcast ephemeris correction and an equivalent distance error status identifier of the satellite ephemeris correction that need to be broadcast, and the processor 401 inserts the satellite identifiers into a tenth group of predetermined positions in the reserved space of page 23 of subframe 5. Additionally, the processor 401 inserts the satellite broadcast ephemeris corrections and the equivalent distance error status identifiers of satellite ephemeris corrections, which correspond to different satellites respectively and need to be broadcast, into a eleventh group of predetermined positions in the reserved space of page 117 to page 120, page 31 and page 91 of subframe 5. Additionally, the broadcast period of the satellite orbit correction parameters is 36 minutes, and preferably 6 minutes. The embodiment of the present invention take the 6 minutes as an example, but it is merely an example, not a limitation.
Specifically, the Beidou satellite navigation system is still taken as an example for illustration by way of examples. As mentioned before, the Beidou satellite navigation system has a total of 63 satellites. However, not every satellite has a satellite broadcast ephemeris correction and an equivalent distance error status identifier of the satellite ephemeris correction that need to be broadcast. Usually, the GEO satellite broadcasts satellite broadcast ephemeris corrections and equivalent distance error status identifiers of the satellite ephemeris corrections of 18 satellites. As shown in
Based on respective satellite identifiers broadcast in page 23 of subframe 5, satellite broadcast ephemeris corrections and equivalent distance error status identifiers of the satellite ephemeris corrections that need to be broadcast are sequentially broadcast in pages 117˜120, 31, 91 of subframe 5.
As shown in
Note that since the update period of the satellite orbit correction parameters is 6 minutes, EPREI17 and EPREI18 broadcast in page 31 and page 91 of subframe 5 are the same, that is, repeated; in addition, BDID1˜BDID63 in page 83 of subframe 5 are not used for satellite broadcast ephemeris corrections and equivalent distance error status identifiers of the satellite ephemeris corrections.
In addition, it should be noted that in addition to the abovementioned specific reserved information bits for broadcasting respective enhanced parameters, other information bits that have been used for broadcasting the basic navigation information currently are shown in
The message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system according to embodiments of the present invention is described above with reference to
Note that since the ionosphere correction parameters can utilize the message arrangement of the existing ionosphere correction parameters in the navigation message frame structure model, it will no longer be described in detail here.
It should be understood that although the description is made above by taking the Beidou satellite navigation system and the GPS satellite navigation system as examples, the present invention is not limited thereto, and those skilled in the art can apply the present invention to any suitable satellite navigation system in accordance with the teachings of the present invention.
In the following, a message broadcast method 120 for an enhanced parameter in a satellite navigation system according to another embodiment of the present invention will be described with reference to
As shown in
Optionally, although not shown in
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The specific operation of various steps of the message broadcast method 120 for the enhanced parameter in the satellite navigation system has been described in detail in message broadcast apparatus 40 for the enhanced parameter in the satellite navigation system described with reference to
With the message broadcast method 120 for the enhanced parameter in the satellite navigation system, by combining a frame and a data block in a navigation message structure, the satelliteandearthintegrated flexible broadcast of the navigation message is realized, the basic navigation information and the enhanced information can be uniformly broadcast, the scalability of the navigation message is improved, the flexibility of message broadcasting is improved, the user'"'"'s use performance is improved, and the utilization of channel link resources is improved.
In the above, the message broadcast apparatus and method for the enhanced parameter in the satellite navigation system according to embodiments of the present invention is described with reference to
Referring to
The receiver 1300 receives basic broadcast messages and correction parameters broadcast by multiple satellites via the antenna 1310. In some embodiments, the correction parameters include a partition comprehensive correction x_{4}, and in other embodiments, the correction parameters include the partition comprehensive correction x_{4 }and further includes at least one parameter of an orbit correction x_{1}, a clock difference correction x_{2 }and an ionosphere correction x_{3}, wherein, the ionosphere correction x_{3 }uses modules including, but not limited to, a grid ionosphere model, an 8parameter model or a 14parameter model, and preferably uses the grid ionosphere model. The orbit correction is also called the satellite orbit correction, and the clock difference correction is also called the satellite clock difference correction, which will no longer be described below.
The storage apparatus 1320 is coupled with the antenna 1310, and stores the multiple basic broadcast messages and the above correction parameters received and transmits them to the processing module 1330.
The processing module 1330 further processes the received multiple basic broadcast messages and correction parameters to obtain a positioning position of the receiver by operation, then the receiver transmits the determined positioning position to the user interaction module 1340 so as to indicate the obtained positioning result to the user.
Specifically, the positioning operation performed by the processing module is different according to the difference of correction parameters that the receiver is able to receive and the difference of frequencies received by the receiver, wherein, the partition comprehensive correction x_{4 }is used to comprehensively correct multiple errors, the orbit correction x_{1 }is used to correct the orbit error, the clock difference correction x_{2 }is used to correct the clock difference error, and the ionosphere correction x_{3 }is used to correct the ionosphere delay error, which will no longer be described below.
The procedure of the method for performing navigation and positioning of a singlefrequency, dualfrequency and trifrequency receiver using a partition comprehensive correction or using the partition comprehensive correction in combination with other correction parameters will be described by way of example with further reference to
First, refer to
At step S1400, the processing module receives the basic broadcast messages and the correction parameters including the orbit correction x_{1}, the clock difference correction x_{2}, the ionosphere correction x_{3 }and the partition comprehensive correction x_{4 }of N satellites, and the processing module obtains a singlefrequency pseudorange observation equation P_{1 }and a carrierphase observation equation L_{1 }for each satellite based on the broadcast ephemeris:
Wherein, P_{1 }and L_{1 }are pseudorange and carrierphase observation functions respectively; ρ is a satelliteearth geometric distance (the coordinate of the observation station); c is the speed of light, δt is a clock difference of the observation station, and δt^{s }is the satellite clock difference calculated by the broadcast ephemeris; f_{1 }is a first carrier frequency; I_{1 }is an ionosphere delay at the first frequency calculated using parameters of a broadcast ephemeris ionosphere model; T is a troposphere delay correction; λ_{1}·N_{1 }is an unknown ambiguity; κ_{1 }is a carrier wavelength, W is a carrierphase winding correction in units of weeks; ε_{P}_{1}, ε_{L}_{1 }are observation noises of pseudorange and carrierphase respectively.
In addition, the definition and generation of the orbit correction x_{1}, the clock difference correction x_{2}, the ionosphere correction x_{3 }and the partition comprehensive correction x_{4 }have been described in the specification, and thus will no longer be described herein.
At step S1410, the established pseudorange observation equation and carrierphase observation equation are corrected by using all of the above quadruple correction parameters x_{1}, x_{2}, x_{3 }and x_{4}, so that the corrected pseudorange observation equation P_{1}(x) and carrierphase observation equation L_{1}(x) may be obtained:
In the above equation, Δρ(x_{1}) is the distance correction calculated based on the orbit correction x_{1}; x_{2 }is the clock difference correction; I_{1}(x_{3}) is the ionosphere delay at the first frequency calculated using the ionosphere correction x_{3}; ε_{L}_{1}′ and ε_{P1}′ are the parametercorrected observation noises after combing pseudorange and carrierphase, in which the partition comprehensive correction may use at least one or both of the GPS partition comprehensive correction and the Beidou partition comprehensive correction.
At step S1420, by combining the abovedescribed corrected pseudorange observation equation P_{1}(x) and carrierphase observation equation L_{1}(x), that is, in equations (3) and (4), it can constitute a combination that eliminates the influence of the ionosphere, that is, an ionospherefree combined observation, as a first observation (the following equation (5)):
At step S1430, the corrected pseudorange observation equation P_{1}(x), that is, the above equation (3) is taken as a second observation.
At step S1440, by jointly solving the first observation and the second observation of each satellite of the N satellites, the operation result of the user positioning is obtained. In order to solve all the parameters, the number N of satellites observed needs to be greater than 4.
Specifically, the above equations (3) and (5) constitute observation equations for singlefrequency navigation and positioning, and the corresponding observation equations are:
In the equation, [X_{0}, Y_{0}, Z_{0}] is the approximate coordinate of the observation station; [X^{1}, Y^{1}, Z^{1 }⋅ ⋅ ⋅ X^{n}, Y^{n}, Z^{n}] is the coordinate of a satellite; [dX, dY, dZ] is the coordinate correction parameters of the observation station; M_{wet }is the troposphere wet delay mapping function; dZTD_{W }is the troposphere wet zenith delay correction parameters; w is the carrierphase winding correction; B is the carrierphase ambiguity parameter in units of distance. According to the above observation equation, those skilled in the art can solve the final operation result of the user positioning.
In addition, because the accuracies of different observation equations are not uniform, it is necessary to perform weight determination on the observation equations (that is, configure the corresponding weighting ratios for the observations) and establish a stochastic model thereof. The observation equation noise is mainly composed of the errors of respective models:
σ^{2}=σ_{eph}^{2}+σ_{clk}^{2}+σ_{ion}^{2}+σ_{trop}^{2}+σ_{mp}^{2}+σ_{noise}^{2 }
In the above equation, σ is the observation equation noise, and σ_{eph}, σ_{clk}, σ_{ion}, σ_{trop}, σ_{mp}, σ_{noise }indicate the satellite orbit accuracy, the satellite clock difference accuracy, the ionosphere model accuracy, the troposphere model accuracy, the multipath model accuracy, and the observation noise accuracy respectively. Further, in order to simplify the models, the above observation equation can be divided into components (σ_{eph},σ_{clk}) that are independent of the elevation angle, and other parts are classified as components related to the elevation angle (σ^{2}(ele)), as follows:
σ^{2}=σ_{eph}+σ_{clk}^{2}+σ^{2}(ele)
In the above equation, the weight of σ^{−2}(ele) is generally determined according to the elevation angle:
Therefore, the stochastic model is as follows:
In the above equation, Q is the weight matrix of the observation, R is the covariance matrix of the observation. Through the solution of the abovementioned weight matrix of the observation, the empirical value of the weighting ratio of the observation can be obtained as: the amplitude range of the weighting ratio is from 1:0.01 to 1:0.05, and the optimal weighting ratio is preferably 1:0.05.
Next, a navigation and positioning method of a dualfrequency receiver using correction parameters including a partition comprehensive correction x_{4}, an orbit correction x_{1}, a clock difference correction x_{2 }and an ionosphere correction x_{3 }according to an embodiment of the present application is described with reference to
At step S1500, since it is a dualfrequency receiver, the processing module here, in addition to receiving parameters and establishing the pseudorange observation equation P_{1 }(i.e., equation (1)) and the carrierphase observation equation L_{1 }(i.e., equation (2)) of the first frequency f_{1 }as described above with reference to
further introduces a pseudorange observation P_{2 }(that is, equation (6)) and a carrierphase observation L_{2 }(that is, equation (7)) of a second frequency f_{2 }other than the first frequency f_{1}:
The meanings of the variables in the above equations (6) and (7) are the same as those in the equations (1) and (2), except that here it is the second frequency f_{2 }which is different from the first frequency f_{1}.
At step S1510, the established pseudorange observation equations (equation (1) and equation (6)) and carrierphase observation equations (equations (2) and (7)) are corrected by using the correction parameters (the correction parameters include the partition comprehensive correction x_{4}, the orbit correction x_{1}, the clock difference correction x_{2 }and the ionosphere correction x_{3}), so that the corrected pseudorange observation equation P_{1}(x) (i.e., equation (3)) and carrierphase observation equation L_{1}(x) (i.e., equation (4)) of the first frequency and the corrected pseudorange observation equation P_{2}(x) (i.e., equation (8)) and carrierphase observation equation L_{2}(x) (i.e., equation (9)) of the second frequency may be obtained:
The meanings of the variables in the above equations (8) and (9) are the same as those in the equations (3) and (4).
At step S1520, the carrierphase observation equation L_{1}(x) and the carrierphase observation equation L_{2}(x) of the above equations (4) and (9) are combined to construct a carrierphase ionospherefree combination, that is, a first observation:
At step S1530, the pseudorange observation equation P_{1}(x) and the pseudorange observation equation P_{2}(x) of the above equations (3) and (8) are combined to construct a pseudorange ionospherefree combination, that is, a second observation:
At step S1540, the first observation and the second observation of each of the N satellites are jointly solved by a solution procedure similar to the above, to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S1440, so that it can be obtained that the range of the weighting ratio is from 1:0.01 to 1:0.05, with the optimal weighting ratio being preferred as 1:0.01.
On the other hand, in the use procedure of the user, in order to simplify the processing procedure of the receiver, it is also possible to receive and use only a part of the quadruple correction parameters to correct the operation result. In other words, the receiver can receive or use only the partition comprehensive correction x_{4 }and any combination of the triple correction parameters, the orbit correction x_{1}, the clock difference correction x_{2 }and the ionosphere correction x_{3}, to correct the positioning operation. In the following, the description will be made through an example in which the processing module receives or uses only the triple correction parameters, the partition comprehensive correction x_{4}, the clock difference correction x_{2 }and the ionosphere correction x_{3}. However, it should also be noted that, as will be understood by those skilled in the art, the scheme of the present application is not limited to the following embodiment, but may be applied to the technical schemes using the partition comprehensive correction x_{4 }and one or any two of the other three correction parameters.
Referring to
Based on the broadcast ephemeris, the singlefrequency pseudorange observation equation P_{1 }and carrierphase observation equation L_{1 }of each satellite can be, like the above, written as:
The definition of the parameters is as described above, and thus will no longer be described.
At step S1610, the established pseudorange observation equation (equation (1)) and carrierphase observation equation (equation (2)) are corrected by using correction parameters, with the correction parameters including the partition comprehensive correction x_{4}, the clock error correction x_{2 }and the ionosphere correction x_{3}. In this way, the pseudorange observation equation P_{1}(x) (equation (13)) and the carrierphase observation equation L_{1}(x) (equation (12)) corrected by the correction parameters can be obtained:
The definition of the parameters is as described above, and thus will no longer be described. The partition comprehensive correction may use at least one or both of the GPS partition comprehensive correction and the Beidou partition comprehensive correction. Here, the Beidou partition comprehensive correction is taken as an example.
At step S1620, by combining the above pseudorange observation equation P_{1}(x) (equation (13)) and carrierphase observation equation L_{1}(x) (equation (12)) corrected, i.e., in equations (12), (13), it can constitute a combination that eliminates the influence of the ionosphere, that is, anionospherefree combined observation, as a first observation (the following equation (14)):
At step S1630, the corrected pseudorange observation equation P_{1}(x), that is, the above equation (13), is taken as a second observation.
At step S1640, the first observation (equation (14)) and the second observation (equation (13)) of each of the N satellites are jointly solved to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of the joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S1440, so that it can be obtained that the weighting ratio of experience here is optimally preferred as 1:0.05 and that the amplitude range of the weighting ratio is from 1:0.01 to 1:0.05.
At step S1700, since it is a dualfrequency receiver, the processing module here, in addition to receiving parameters and establishing the pseudorange observation equation P_{1 }(i.e., equation (1)) and the carrierphase observation equation L_{1 }(i.e., equation (2)) of the first frequency f_{1 }as described above with reference to
further introduces a pseudorange observation P_{2 }(i.e., equation (15)) and a carrierphase observation L_{2 }(i.e., equation (16)) of a second frequency f_{2 }other than the first frequency f_{1}:
The definition of the parameters is as described above, and thus will no longer be described.
The meanings of the variables in the above equations (15) and (16) are the same as those in the equations (1) and (2), only except that the second frequency f_{2 }is different from the first frequency f_{1}.
At step S1710, the established pseudorange observation equations (equation (1) and equation (15)) and carrierphase observation equations (equation (2) and equation (16)) are corrected by using the correction parameters (including the partition comprehensive correction x_{4}, the clock difference correction x_{2 }and the ionosphere correction x_{3}), so that the corrected pseudorange observation equation P_{1}(x) (equation (17)) and carrierphase observation equation L_{1}(x) (equation (18)) of the first frequency f_{1 }and the corrected pseudorange observation equation P_{2}(x) (equation (19)) and carrierphase observation equation L_{2}(x) (equation (20)) of the second frequency f_{2 }may be obtained:
The meanings of the variables in the above equations (19) and (20) are the same as those in the equations (17) and (18).
At step S1720, the carrierphase observation equation L_{1}(x) and the carrierphase observation equation L_{2}(x) of the above equations (18) and (20) are combined to construct a carrierphase ionospherefree combination, that is, a first observation:
At step S1730, the pseudorange observation equation P_{1}(x) and the pseudorange observation equation P_{2}(x) of the above equations (17) and (19) are combined to construct a pseudorange ionospherefree combination, that is, a second observation:
At step S1740, the first observation (equation (21)) and the second observation (equation (22)) of each of the N satellites are jointly solved to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S1440, so that it can be obtained that the weighting ratio is optimally preferred as 1:0.01 and that the amplitude range of the weighting ratio is from 1:0.01 to 1:0.05.
With the above description, those skilled in the art have already understood the principles and operation modes of the singlefrequency and dualfrequency receivers implemented according to the embodiments of the present invention. It can be understood that the operation principle of the trifrequency receiver implemented according to an embodiment of the present invention is also similar to the content described above. In the following, various implementations of a trifrequency receiver and its navigation and positioning method according to embodiments of the present application will be explained by way of example with reference to
Firstly, referring to
For example, at step S1800, the processing module here receives the observation parameters corresponding to three frequencies f_{1}, f_{2}, f_{3 }respectively, and the processing module can select any two frequencies thereof (for example, the processing module can select frequencies f_{1 }and f_{2}, or select frequencies f_{1 }and f_{3}, or select frequencies f_{2 }and f_{3}) and establish pseudorange observation equations and carrierphase observation equations for the selected two frequencies.
For example, assuming that the frequencies selected by the processing module are f_{1 }and f_{2}, a pseudorange observation equation P_{1 }and a carrierphase observation equation L_{1 }corresponding to the first frequency f_{1 }and a pseudo observation equation P_{2 }and a carrierphase observation equation L_{2 }corresponding to the second frequency f_{2 }are respectively established for the two frequencies:
Here, the above observation equations are the same as the equations at step S1500, and the meanings of their variables are also the same, and therefore will no longer be described here.
At step S1810, the established pseudorange observation equations (equation (1) and equation (6)) and carrierphase observation equations (equations (2) and (7)) are corrected by using the correction parameters (the correction parameters include the partition comprehensive correction x_{4}, the orbit correction x_{1}, the clock difference correction x_{2 }and the ionosphere correction x_{3}), so that the pseudorange observation equation P_{1}(x) (i.e., equation (3)) and carrierphase observation equation L_{1}(x) (i.e., equation (4)) of the first frequency corrected by the correction parameters and the corrected pseudorange observation equation P_{2}(x) (i.e., equation (8)) and carrierphase observation equation L_{2}(x) (i.e., equation (9)) of the second frequency may be obtained. The observation equations corrected by the correction parameters are the same as the equations (3), (4), (8) and (9) at step S1510, and therefore will no longer be described here.
At step S1820, similar to step S1520, the carrierphase observation equation L_{1}(x) and the carrierphase observation equation L_{2}(x) of the equations (4) and (9) are combined to construct a carrierphase ionospherefree combination, that is, a first observation:
At step S1830, similar to S1530, the pseudorange observation equation P_{1}(x) and the pseudorange observation equation P_{2}(x) of the equations (3) and (8) are combined to construct a pseudorange ionospherefree combination, that is, a second observation:
At step S1840, the first observation and the second observation of each of the N satellites are jointly solved by a solution procedure similar to the above, to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S1440, so that it can be obtained that the range of the weighting ratio is from 1:0.01 to 1:0.05, with the optimal weighting ratio being preferred as 1:0.01.
Similarly, in the use procedure of the user, the correction parameters used may further include at least one of the orbit correction x_{1}, the clock difference correction x_{2 }and the ionosphere correction x_{3 }on the basis of including the partition comprehensive correction x_{4}. For example, refer to
At step S1900, the processing module here receives the observation parameters corresponding to three frequencies f_{1}, f_{2}, f_{3 }respectively, and the processing module can select any two frequencies thereof (for example, the processing module can select frequencies f_{1 }and f_{2}, or select frequencies f_{1 }and f_{3}, or select frequencies f_{2 }and f_{3}) and establish pseudorange observation equations and carrierphase observation equations for the selected two frequencies.
For example, assuming that the frequencies selected by the processing module are f_{1 }and f_{2}, a pseudorange observation equation P_{1 }and a carrierphase observation equation L_{1 }corresponding to the first frequency f_{1 }and a pseudo observation equation P_{2 }and a carrierphase observation equation L_{2 }corresponding to the second frequency f_{2 }are respectively established for the two frequencies:
The definition of the parameters is as described above, and thus will no longer be described.
At step S1910, the established pseudorange observation equations and carrierphase observation equations are corrected by using the correction parameters (the correction parameters include the partition comprehensive correction x_{4}, the clock difference correction x_{2 }and the ionosphere correction x_{3}), so that the corrected pseudorange observation equation P_{1}(x) (equation (17)) and carrierphase observation equation L_{1}(x) (equation (18)) of the first frequency f_{1 }and the corrected pseudorange observation equation P_{2}(x) (equation (19)) and carrierphase observation equation L_{2}(x) (equation (20)) of the second frequency f_{2 }may be obtained:
The meanings of the variables in the above equations (19) and (20) are the same as those in the equations (17) and (18).
At step S1920, the carrierphase observation equation L_{1}(x) and the carrierphase observation equation L_{2}(x) of the above equations (18) and (20) are combined to construct a carrierphase ionospherefree combination, that is, a first observation:
At step S1930, the pseudorange observation equation P_{1}(x) and the pseudorange observation equation P_{2}(x) of the above equations (17) and (19) are combined to construct a pseudorange ionospherefree combination, that is, a second observation:
At step S1940, the first observation (equation (21)) and the second observation (equation (22)) of each of the N satellites are jointly solved to obtain the operation result of the user positioning, where N is greater than 4. Similarly, it should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S1440, so that it can be obtained that the weighting ratio is optimally preferred as 1:0.01 and that the amplitude range of the weighting ratio is from 1:0.01 to 1:0.05.
In addition, the navigation and positioning method using trifrequency is not limited to the above implementation of selecting two frequencies thereof; instead, a method of simultaneously using three frequencies to perform navigation and positioning operation can be realized. For example,
Refer to
At step S2000, since it is a trifrequency receiver, the processing module here receives observation parameters corresponding to three frequencies f_{1}, f_{2}, f_{3 }respectively, and the processing module respectively establishes three pseudorange observations P_{1 }(equation (1)), P_{2 }(equation (15)), P_{3 }(equation (23)) and three carrierphase observations L_{1 }(equation (2)), L_{2 }(equation (16)), L_{3 }(equation (24)) corresponding to f_{1}, f_{2 }and f_{3}:
The definition of the parameters is as described above, and thus will no longer be described.
At step S2010, the established three groups of pseudorange observation equations (equation (1), equation (15) and equation (23)) and carrierphase observation equations (equation (2), equation (6) and equation (24)) are corrected by using the correction parameters (the correction parameters include the partition comprehensive correction x_{4}, the orbit correction x_{1}, the clock difference correction x_{2 }and the ionosphere correction x_{3}), so that the corrected pseudorange observation equation P_{1}(x) (equation (3)) and carrierphase observation equation L_{1}(x) (equation (4)) of the first frequency f_{1}, the corrected pseudorange observation equation P_{2}(x) (equation (8)) and carrierphase observation equation L_{2}(x) (equation (9)) of the second frequency f_{2}, and the corrected pseudorange observation equation P_{3}(x) (equation (25)) and carrierphase observation equation L_{3}(x) (equation (26)) of the second frequency f_{3 }may be obtained:
At step S2020, the above carrierphase observation equations L_{1}(x_{1}−x_{4})−L_{3}(x_{1}−x_{4}) corrected by the correction parameters are combined to construct a carrierphase ionospherefree combination, that is, a first observation (equation (29)):
(αL_{1}(x_{1},x_{2},x_{3},x_{4})+βL_{2}(x_{1},x_{2},x_{3},x_{4})+γL_{3}(x_{1},x_{2},x_{3},x_{4}))/F(α,β,γ) (29)
α, β, γ are the corresponding coefficients of three frequency observations respectively, F(α, β, γ) are the combination of coefficients, the selection of α, β, γ and F(α, β, γ) are applicable to a combination commonly used by a trifrequency receiver currently, and the ionosphere is eliminated by the above combination.
At step S2030, the above pseudorange observation equations P_{1}(x_{1}−x_{4})−P_{3}(x_{1}−x_{4}) corrected by the correction parameters are combined to construct a pseudorange ionospherefree combination, that is, a second observation (equation (30)):
(αP_{1}(x_{1},x_{2},x_{3},x_{4})+βP_{2}(x_{1},x_{2},x_{3},x_{4})+γP_{3}(x_{1},x_{2},x_{3},x_{4}))/F(α,β,γ) (30)
α, β, γ are the corresponding coefficients of three frequency observations respectively, F(α, β, γ) are the combination of coefficients, the selection of α, β, γ and F(α, β, γ) are applicable to a combination commonly used by a trifrequency receiver currently, and the ionosphere is eliminated by the above combination.
At step S2040, the first observation and the second observation of each of the N satellites are jointly solved by a solution procedure similar to the above, to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S1440, so that it can be obtained that the range of the weighting ratio is from 1:0.01 to 1:0.05, with the optimal weighting ratio being preferred as 1:0.01.
In addition, in the use procedure of the user, in order to simplify the processing procedure of the receiver, it is also possible to receive and use only a part of the quadruple correction parameters to correct the operation result. For example, refer to
At step S2100, since it is a trifrequency receiver, the processing module here receives observation parameters corresponding to three frequencies f_{1}, f_{2}, f_{3 }respectively, and the processing module respectively establishes three pseudorange observations P_{1 }(equation (1)), P_{2 }(equation (15)), P_{3 }(equation (23)) and three carrierphase observations L_{1 }(equation (2)), L_{2 }(equation (16)), L_{3 }(equation (24)) corresponding to f_{1}, f_{2 }and f_{3}:
The definition of the parameters is as described above, and thus will no longer be described.
At step S2110, the processing module may correct the abovedescribed observation equations using only the partition comprehensive correction x_{4 }and the correction parameters including at least one of the orbit corrections x_{1}, the clock difference correction x_{2 }and the ionosphere correction x_{3}. For example, in this embodiment, the abovedescribe observation equations are corrected using only the partition comprehensive correction x_{4}, the clock difference correction x_{2 }and the ionosphere correction x_{3}.
For example, the established pseudorange observation equations P_{1 }(equation (1)), P_{2 }(equation (15)) and P_{3 }(equation (23)) and carrierphase observation equations L_{1 }(equation (2)), L_{2 }(equation (16)) and L_{3 }(equation (24)) are corrected by using the partition comprehensive correction x_{4}, the clock difference correction x_{2 }and the ionosphere correction x_{3 }in the correction parameters, so that the corrected pseudorange observation equation P_{1}(x) (equation (17)) and carrierphase observation equation L_{1}(x) (equation (18)) of the first frequency f_{1}, the corrected pseudorange observation equation P_{2}(x) (equation (19)) and carrierphase observation equation L_{2}(x) (equation (20)) of the second frequency f_{2}, and the corrected pseudorange observation equation P_{3}(x) (equation (27)) and carrierphase observation equation L_{3}(x) (equation (28)) of the second frequency f_{3 }may be obtained:
At step S2120, the above carrierphase observations L_{1}(x_{2}−x_{4})−L_{3}(x_{2}−x_{4}) corrected by the correction parameters are combined to construct a carrierphase ionospherefree combination, that is, a first observation (equation (31)):
(αL_{1}(x_{1},x_{2},x_{3},x_{4})+βL_{2}(x_{1},x_{2},x_{3},x_{4})+γL_{3}(x_{1},x_{2},x_{3},x_{4}))/F(α,β,γ) (31)
α, β, γ are the corresponding coefficients of three frequency observations respectively, F(α, β, γ) are the combination of coefficients, the selection of α, β, γ and F(α, β, γ) are applicable to a combination commonly used by a trifrequency receiver currently, and the ionosphere is eliminated by the above combination.
At step S2130, the above corrected/enhanced pseudorange observations P_{1}(x_{2}−x_{4})−P_{3}(x_{2}−x_{4}) are combined to construct a pseudorange ionospherefree combination, that is, a second observation (equation (32)):
(αP_{1}(x_{1},x_{2},x_{3},x_{4})+βP_{2}(x_{1},x_{2},x_{3},x_{4})+γP_{3}(x_{1},x_{2},x_{3},x_{4}))/F(α,β,γ) (32)
α, β, γ are the corresponding coefficients of three frequency observations respectively, F(α, β, γ) are the combination of coefficients, the selection of α, β, γ and F(α, β, γ) are applicable to a combination commonly used by a trifrequency receiver currently, and the ionosphere is eliminated by the above combination.
At step S2140, the first observation and the second observation of each of the N satellites are jointly solved by a solution procedure similar to the above, to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S1440, so that it can be obtained that the range of the weighting ratio is from 1:0.01 to 1:0.05, with the optimal weighting ratio being preferred as 1:0.01.
In addition to the above implementations, embodiments of the present application may also receive and use only the partition comprehensive correction x_{4 }to correct the observation equations. In the following, description will be made by implementations of the singlefrequency, dualfrequency and trifrequency receivers using the partition comprehensive correction x_{4}.
Referring to
The definition of the parameters is as described above, and thus will no longer be described.
At step S2210, the established pseudorange observation equation (equation (1)) and carrierphase observation equation (equation (2)) are corrected by using the correction parameters including the partition comprehensive correction x_{4}, so that the pseudorange observation equation P_{1}(x) (equation (34)) and the carrierphase observation equation L_{1}(x) (equation (33)) corrected by the correction parameters may be obtained:
wherein, ε_{L}_{1}′ and ε_{P1}′ are the parametercorrected observation noises after combing pseudorange and carrierphase, and the definition of other parameters is as described above, and thus will no longer be described. The partition comprehensive correction may also be at least one or both of the GPS partition comprehensive correction and the Beidou partition comprehensive correction. Here, the Beidou partition comprehensive correction is taken as an example.
At step S2220, by combining the above pseudorange observation equation P_{1}(x) and carrierphase observation equation L_{1}(x) corrected, i.e., in equations (33), (34), it can constitute a combination that eliminates the influence of the ionosphere, that is, an ionospherefree combined observation, as a first observation (the following equation (35)):
At step S2230, the corrected pseudorange observation equation P_{1}(x), that is, the above equation (34), is taken as a second observation.
At step S2240, the first observation (equation (35)) and the second observation (equation (34)) of each of the N satellites are jointly solved to obtain the operation result of the user positioning, where N is greater than 4. Specifically, the above equations (35) and (34) are combined to form the observation equation of the navigation and positioning of the singlefrequency receiver. The corresponding observation equation is as follows:
In the equation, [X_{0}, Y_{0}, Z_{0}] is the approximate coordinate of the observation station; [X^{1}, Z^{1 }⋅ ⋅ ⋅ X^{n}, Y^{n}, Z^{n}] is the coordinate of a satellite; [dX, dY, dZ] is the coordinate correction parameters of the observation station; M_{wet }is the troposphere wet delay mapping function; dZTD_{W }is the troposphere wet zenith delay correction parameters; w is the carrierphase winding correction; B is the carrierphase ambiguity parameter in units of distance. According to the above observation equation, those skilled in the art can solve the final operation result of the user positioning.
In addition, because the accuracies of different observation equations are not uniform, it is necessary to perform weight determination on the observation equations (that is, configure the corresponding weighting ratios for the observations) and establish a stochastic model thereof. The observation equation noise is mainly composed of the errors of respective models:
σ^{2}=σ_{eph}^{2}+σ_{clk}^{2}+σ_{ion}^{2}+σ_{trop}^{2}+σ_{mp}^{2}+σ_{noise}^{2 }
In the above equation, σ is the observation equation noise, and σ_{eph}, σ_{clk}, σ_{ion}, σ_{trop}, σ_{mp}, σ_{noise }indicate the satellite orbit accuracy, the satellite clock difference accuracy, the ionosphere model accuracy, the troposphere model accuracy, the multipath model accuracy, and the observation noise accuracy respectively. Further, in order to simplify the models, the above observation equation can be divided into components (σ_{eph},σ_{clk}) that are independent of the elevation angle, and other parts are classified as components related to the elevation angle (σ^{2}(ele)), as follows:
σ^{2}=σ_{eph}+σ_{clk}^{2}+σ^{2}(ele)
In the above equation, the weight of σ^{2}(ele) is generally determined according to the elevation angle:
Therefore, the stochastic model is as follows:
In the above equation, Q is the weight matrix of the observation, R is the covariance matrix of the observation. Through the solution of the abovementioned weight matrix of the observation, it can be obtained that the empirical weighting ratio here is optimally preferred as 1:0.05 and that the amplitude range of the weighting ratio is from 1:0.01 to 1:0.05.
At step S2300, since it is a dualfrequency receiver, the processing module here, in addition to receiving parameters and establishing the pseudorange observation equation P_{1 }(equation (1)) and the carrierphase observation equation L_{1 }(equation (2)) of the first frequency f_{1 }as described above with reference to
further introduces a pseudorange observation P_{2 }(equation (15)) and a carrierphase observation L_{2 }(equation (16)) of a second frequency f_{2 }other than the first frequency f_{1}:
The definition of the parameters is as described above, and thus will no longer be described.
The meanings of the variables in the above equations (15) and (16) are the same as those in the equations (1) and (2), except only that the second frequency f_{2 }is different from the first frequency f_{1}.
At step S2310, the established pseudorange observation equations (equation (1) and equation (15)) and carrierphase observation equations (equations (2) and (16)) are corrected by using the correction parameters (the correction parameters include the partition comprehensive correction x_{4}), so that the corrected pseudorange observation equation P_{1}(x) (equation (34)) and carrierphase observation equation L_{1}(x) (equation (33)) of the first frequency f_{1 }and the corrected pseudorange observation equation P_{2}(x) (equation (36)) and carrierphase observation equation L_{2}(x) (equation (37)) of the second frequency f_{2 }may be obtained:
The meanings of the variables in the above equations (36) and (37) are the same as those in the equations (34) and (33).
At step S2320, the carrierphase observation equation L_{1}(x) and the carrierphase observation equation L_{2}(x) of the above equations (33) and (37) are combined to construct a carrierphase ionospherefree combination, that is, a first observation:
At step S2330, the pseudorange observation equation P_{1}(x) and the pseudorange observation equation P_{2}(x) of the above equations (34) and (36) are combined to construct a pseudorange ionospherefree combination, that is, a second observation:
At step S2340, the first observation (equation (38)) and the second observation (equation (39)) of each of the N satellites are jointly solved to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S2240, so that it can be obtained that the weighting ratio is optimally preferred as 1:0.01, and the amplitude range of the weighting ratio is from 1:0.01 to 1:0.05.
Refer to
At step S2400, the processing module here receives the observation parameters corresponding to three frequencies f_{1}, f_{2}, f_{3 }respectively, and the processing module can select any two frequencies thereof (for example, the processing module can select frequencies f_{1 }and f_{2}, or select frequencies f_{1 }and f_{3}, or select frequencies f_{2 }and f_{3}) and establish pseudorange observation equations and carrierphase observation equations for the selected two frequencies.
For example, assuming that the frequencies selected by the processing module are f_{1 }and f_{2}, a pseudorange observation equation P_{1 }and a carrierphase observation equation L_{1 }corresponding to the first frequency f_{1 }and a pseudo observation equation P_{2 }and a carrierphase observation equation L_{2 }corresponding to the second frequency f_{2 }are respectively established for the two frequencies:
The definition of the parameters is as described above, and thus will no longer be described.
The meanings of the variables in the above equations (15) and (16) are the same as those in the equations (1) and (2), except only that the second frequency f_{2 }is different from the first frequency f_{1}.
At step S2410, the established pseudorange observation equations (equation (1) and equation (15)) and carrierphase observation equations (equations (2) and (16)) are corrected by using the correction parameters (including the partition comprehensive correction x_{4}), so that the corrected pseudorange observation equation P_{1}(x) (equation (34)) and carrierphase observation equation L_{1}(x) (equation (33)) of the first frequency f_{1 }and the corrected pseudorange observation equation P_{2}(x) (equation (36)) and carrierphase observation equation L_{2}(x) (equation (37)) of the second frequency f_{2 }may be obtained:
The meanings of the variables in the above equations (36) and (37) are the same as those in the equations (34) and (33).
At step S2420, the carrierphase observation equation L_{1}(x) and the carrierphase observation equation L_{2}(x) of the above equations (33) and (37) are combined to construct a carrierphase ionospherefree combination, that is, a first observation:
At step S2430, the pseudorange observation equation P_{1}(x) and the pseudorange observation equation P_{2}(x) of the above equations (34) and (36) are combined to construct a pseudorange ionospherefree combination, that is, a second observation:
At step S2440, the first observation (equation (38)) and the second observation (equation (39)) of each of the N satellites are jointly solved to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S2240, so that it can be obtained that the weighting ratio is optimally preferred as 1:0.01, and the amplitude range of the weighting ratio is from 1:0.01 to 1:0.05.
In addition, the navigation and positioning method using trifrequency is not limited to the above implementation of selecting two frequencies thereof; instead, a method of simultaneously using three frequencies to perform navigation and positioning operation can be realized.
For example,
Referring to
The definition of the parameters is as described above, and thus will no longer be described.
At step S2110, the established three groups of pseudorange observation equations (equation (1), equation (15) and equation (23)) and carrierphase observation equations (equation (2), equation (16) and equation (24)) are corrected by using the correction parameters (the correction parameters include the partition comprehensive correction x_{4}), so that the corrected pseudorange observation equation P_{1}(x) (equation (34)) and carrierphase observation equation L_{1}(x) (equation (33)) of the first frequency f_{1}, the corrected pseudorange observation equation P_{2}(x) (equation (36)) and carrierphase observation equation L_{2}(x) (equation (37)) of the second frequency f_{2}, and the corrected pseudorange observation equation P_{3}(x) (equation (40)) and carrierphase observation equation L_{3}(x) (equation (41)) of the second frequency f_{3 }may be obtained:
At step S2520, the above carrierphase observation equations L_{1}(x_{4})−L_{3}(x_{4}) corrected by the correction parameters are combined to construct a carrierphase ionospherefree combination, that is, a first observation (equation (42)):
(αL_{1}(x_{1},x_{2},x_{3},x_{4})+βL_{2}(x_{1},x_{2},x_{3},x_{4})+γL_{3}(x_{1},x_{2},x_{3},x_{4}))/F(α,β,γ) (42)
α, β, γ are the corresponding coefficients of three frequency observations respectively, F(α, β, γ) are the combination of coefficients, the selection of α, β, γ and F(α, β, γ) are applicable to a combination commonly used by trifrequency currently, and the ionosphere is eliminated by the above combination.
At step S2530, the above pseudorange observation equations P_{1}(x_{4})−P_{3}(x_{4}) corrected by the correction parameters are combined to construct a pseudorange ionospherefree combination, that is, a second observation (equation (43)):
(αP_{1}(x_{1},x_{2},x_{3},x_{4})+βP_{2}(x_{1},x_{2},x_{3},x_{4})+γP_{3}(x_{1},x_{2},x_{3},x_{4}))/F(α,β,γ) (43)
α, β, γ are the corresponding coefficients of three frequency observations respectively, F(α, β, γ) are the combination of coefficients, the selection of α, β, γ and F(α, β, γ) are applicable to a combination commonly used by trifrequency currently, and the ionosphere is eliminated by the above combination.
At step S2540, the first observation and the second observation of each of the N satellites are jointly solved by a solution procedure similar to the above, to obtain the operation result of the user positioning, where N is greater than 4. It should be noted that, in the procedure of joint solution, the weighting ratios of the observations are configured by the above weight determination formula similar to that in step S2240, so that it can be obtained that the range of the weighting ratio is from 1:0.01 to 1:0.05, with the optimal weighting ratio being preferred as 1:0.01.
Embodiments of the present invention have at least one of the following beneficial effects:
The embodiments of the invention improve the accuracy of positioning (achieve at least the decimeterlevel accuracy of positioning) through the superimposition of the correction parameters (protocol superimposition) and the cooperation of the updating of the correction parameters with the protocol superposition, thereby meeting the requirements of highaccuracy positioning of different industries including, but not limited to, measurement, mechanical control, precision agriculture, intelligent transportation, logistics and asset tracking, engineering management, engineering construction, navigation for the blind, early warning monitoring, emergency rescue, etc. Furthermore, the embodiments of the present invention further reduce the hardware complexity of the user end and can also realize realtime highaccuracy navigation and positioning, and/or the embodiments of the invention further improve the convergence speed and achieve fast convergence, thereby shortening the initialization time of the receiver, so that the receiver is quickly brought into a substantial highaccuracy positioning working state.
It should be noted that, in this specification, the terms “include”, “comprise” or any other variations thereof are intended to cover nonexclusive inclusions so that a procedure, method, article or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or elements that are inherent to such a procedure, method, article or device. With no more limitation, the element defined by the sentence “include one . . . ” does not exclude that there is another same element in the procedure, method, article, or device including the element.
Finally, it should also be noted that the abovedescribed series of processes includes not only processes performed chronologically in the order described herein but also processes performed in parallel or individually rather than chronologically.
With the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary hardware platform, and of course can also be implemented entirely by hardware. Based on such understanding, all or part of the contribution of the technical scheme of the present invention to the background can be embodied in the form of a software product which can be stored in a storage medium such as a ROM/RAM, a magnetic disk, an optical disk, etc. and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments of the present invention or certain portions of the embodiments.
In embodiments of the present invention, units/modules may be implemented in software for execution by various types of processors. For example, an identified executable code module may include one or more physical or logical blocks of computer instructions, which may be constructed as objects, procedures, or functions, for example. Nevertheless, the executable codes of the identified modules need not be physically located together, but may include different instructions stored in different bits. When these instructions are logically combined together, they constitute a unit/module and implement the specified purpose of the unit/module.
When the unit/module can be implemented by means of software, taking into account the level of the existing hardware process, for the unit/module can be implemented in software, the corresponding hardware circuit can be built by those skilled in the art to achieve the corresponding function without considering the cost, the hardware circuit including conventional Very Large Scale Integration (VLSI) circuits or gate arrays and existing semiconductors such as logic chips, transistors or the like, or other discrete components. The module can also be implemented with programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices, and the like.
The present invention has been described in detail above, and the principles and implementations of the present invention are elaborated using specific examples herein. The above explanation of embodiments is only used for helping to understand the methods of the present invention and the core ideas thereof; meanwhile, for the ordinary skill in the art, in light of the ideas of the present invention, there will be changes in specific implementations and application scopes. In summary, the contents of this specification should not be construed as the limiting of the present invention.