CN102788985A - Method for correcting positioning errors by means of wide area weighting of pseudorange differentials - Google Patents

Method for correcting positioning errors by means of wide area weighting of pseudorange differentials Download PDF

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CN102788985A
CN102788985A CN2012103186893A CN201210318689A CN102788985A CN 102788985 A CN102788985 A CN 102788985A CN 2012103186893 A CN2012103186893 A CN 2012103186893A CN 201210318689 A CN201210318689 A CN 201210318689A CN 102788985 A CN102788985 A CN 102788985A
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pseudorange
error
reference station
user
station
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薛艳荣
李孝辉
许龙霞
任烨
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National Time Service Center of CAS
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Abstract

The invention relates to a method for correcting positioning errors by means of wide area weighting of pseudorange differentials. Pseudorange correction is subjected to simulation verification by means of weighted average of pseudorange differentials of M reference stations closest to users by the users, the pseudorange differentials and the virtual reference station technique are combined to control influences of ephemeris errors and ionized layer errors on positioning within a certain range by means of the technique of wide area weighting of the pseudorange differentials at the virtual reference stations, and pseudorange differentials with precision superior to 0.5m can be finally realized. Further, high-precision positioning can be realized, accuracy in positioning is guaranteed, and the application range of conventional pseudorange differentials is widened.

Description

Wide area weighting pseudo range difference is to the correcting method of positioning error
Technical field
The invention belongs to satellite navigation differential technique field, particularly the method for the bearing accuracy of the improvement of the pseudo range difference scope of application and pseudo range difference raising specifically is the correcting method of a kind of wide area weighting pseudo range difference to positioning error.
Background technology
Differential technique is an important technology that improves the satellite navigation and location system bearing accuracy.In the satellite navigation position fixing process; The error effect that observation station receives is space correlation like satellite ephemeris, ionosphere and troposphere etc., and satellite clock correction is the space strong correlation; Therefore; Two stations in certain distance at interval, same satellite of simultaneous observation, then the observed reading on two stations can be thought and comprises identical error.If a station is made as base station, its coordinate is known, and the real-time monitored data at this station are transferred to another station through communication link, i.e. subscriber station, then subscriber station simultaneously difference processing can eliminate the influence of common error from the observation data at two stations.Difference mainly is divided into differential position, pseudo range difference, carrier phase difference and GPS wide area differential GPS.Differential position is lower because of precision, near less employing.At present, the most frequently used is pseudo range difference, carrier phase difference and GPS wide area differential GPS.The pseudo range difference bearing accuracy is about 5m, and carrier phase difference location can be improved several times than the precision of pseudo range difference, but its equipment and technology is comparatively complicated.GPS wide area differential GPS is that the error source of observed quantity is distinguished; And to each error source modelling in addition respectively; The error correction values of each error source that will calculate then sends to the user through data communication link; Observed reading to the user is revised, to reach the purpose that weakens the error source influence.The advantage of pseudo range difference method is: (1) provides pseudorange correction and pseudorange correction rate of change.When some reason causes the differential signal transient loss, can utilize pseudorange correction rate of change to proceed the difference location.(2) base station the satellite that all observes can be provided the pseudorange correction to the user.Like this, just can allow the user to select for use any four satellites to position, needn't consider whether two station observation satellites are identical.But pseudo range difference also has the limitation of oneself, its reach can only be about 40km in, the zone of 40km is outer will to produce the problem that positioning error is big, the location is inaccurate if exceed.
Summary of the invention
In order to solve the deficiency of prior art, the invention provides a kind of correcting method that can improve the wide area weighting pseudo range difference of pseudo range difference precision to positioning error.
The technical scheme that solves the problems of the technologies described above may further comprise the steps:
(1) the pseudorange error Δ ρ of N this base station of differential reference station monitoring i, N is 6～9;
(2) N differential reference station incited somebody to action pseudorange error Δ ρ separately iSend to the navigation master station through telstar;
(3) the navigation master station pseudorange error input communication satellite of respectively standing that will receive, telstar sends to the user with each station pseudorange error;
(4) user receives the pseudorange error Δ ρ that each differential reference station monitored by communication satellite broadcasting i
(5) according to user's position; The pseudorange error of M the differential reference station that the user that adjusts the distance is nearest is carried out weighted mean; Weights are taken the inverse of family and M differential reference station distance, calculate the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of user position u:
Δ ρ u = Σ i = 1 M ( 1 r i Σ i = 1 M 1 r i ) · Δ ρ i - - - ( 1 )
In the formula: N>=M>=3, i representes the nearest differential reference station of distance users got, r iThe expression customer location and the distance between the differential reference station of getting, Δ ρ iThe pseudorange error of the expression differential reference station of getting;
(6) user utilizes the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of its position uRevise user's pseudorange ρ u, obtain the actual distance R of user to satellite u:
R u＝ρ u+Δρ u （2）。
The present invention carries out weighted mean and user's pseudorange is corrected has carried out simulating, verifying through user's its nearest M base station pseudorange error of adjusting the distance; Pseudo range difference is combined with virtual reference station technology; Utilize place, virtual reference station wide area weighting pseudo range difference technology can ephemeris error and ionospheric error be controlled in certain scope location influence; Can realize that finally precision is superior to 0.5 meter pseudo range difference; And then the location of realizing degree of precision, guarantee accurate positioning, improved the scope of application of traditional pseudo range difference.
Embodiment
Combine embodiment that technical scheme of the present invention is further specified, but the present invention is not limited only to following embodiment at present.
Embodiment 1
The realization of the wide area weighting pseudo range difference method of present embodiment relates to six differential reference stations in the regional, user, pseudo range difference precision emulation three parts.
The emulation of pseudo range difference precision mainly is to locate the pseudo range difference bearing accuracy that the wide area weighting pseudorange reduction at the virtual reference station of pseudorange error that emulation ephemeris error and ionospheric error cause and user position is made comparisons and obtained the user.
6 pseudo range difference base stations are set at home, and promptly N is 6, lays respectively at Xi'an, Changchun, Keshen, Sanya, Shanghai, Lhasa.The time at each station is all synchronous with the Coordinated Universal Time(UTC) at national time service center, and each station is placed and looked receiver altogether.Choose the Chengdu user and carry out emulation.Satellite is elected Asia-Pacific 1A satellite as, and the position of adopting satellite in one day on the 2nd August in 2009 is as the satellite physical location, and physical location adds that certain error is as broadcast ephemeris.In one day; Ephemeris x deflection error is made as:
Figure BDA00002081400600031
ephemeris y deflection error be made as
Figure BDA00002081400600032
ephemeris z deflection error and be made as
Figure BDA00002081400600033
in the LZT that t being; With ephemeris error A=10 rice is example, and wide area weighting pseudo range difference may further comprise the steps the correcting method of positioning error:
(1) six pseudo range difference base station is the pseudorange error Δ ρ that Xi'an, Changchun, Keshen, Sanya, Shanghai, the monitoring of Lhasa base station cause owing to ephemeris error Ei(i=1,2, L, 6) are respectively 13.70m, 13.22m, 13.96m, 14.19m, 13.60m, 14.11m; The pseudorange error Δ ρ that causes owing to ionospheric error Ti(i=1,2, L, 6) be respectively-6.42m ,-4.62m ,-6.24m ,-8.99m ,-6.02m ,-7.56m, so the pseudorange error Δ ρ at each station i=Δ ρ Ei+ Δ ρ Ti(i=1,2, L, 6) are respectively 7.28m, 8.60m, 7.72m, 5.20m, 7.58m, 6.55m;
(2) 6 differential reference stations are incited somebody to action pseudorange error Δ ρ separately iSend to the navigation master station through telstar;
(3) the pseudorange error input communication satellite of navigation master station each base station that will receive sends to the Chengdu user by telstar with the pseudorange error of each base station;
(4) the Chengdu user receives the pseudorange error Δ ρ that each differential reference station monitored by communication satellite broadcasting i
(5) according to the position in Chengdu; The pseudorange error that 3 the nearest pseudo range difference base stations of Chengdu of adjusting the distance are Xi'an, Sanya, Lhasa is carried out weighted mean; Be that M is 3; Weights are got the inverse of Chengdu and these 3 differential reference station distances, calculate the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of position, Chengdu according to formula (1) u:
Δ ρ u = ( 1 r 1 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 1 + ( 1 r 2 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 2 + ( 1 r 3 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 3 = 6.62 m
R wherein 1, r 2, r 3Be expressed as all the distance with get 3 differential reference station Xi'an, Sanya, Lhasa, Δ ρ 1, Δ ρ 2, Δ ρ 3The pseudorange error of representing 3 differential reference station Xi'an, Sanya, the Lhasa of getting respectively;
(6) the Chengdu user utilizes the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of its position uRevise the pseudorange ρ of Chengdu user to satellite u, obtain the actual distance of Chengdu according to formula (2) to satellite:
R u＝ρ u+Δρ u=37398429.32m+6.62m=37398435.94m
According to above embodiment; The pseudorange error that emulation Chengdu user causes owing to ephemeris error is 13.90m; Owing to pseudorange error-7.08m that ionospheric error causes, so Chengdu user's pseudorange error is 6.82m, the pseudo range difference precision is 6.82m-6.62m=0.2m＜0.5m; So the pseudo range difference precision is superior to 0.5m, the scope of application of traditional pseudo range difference there has been certain improvement.
Embodiment 2
In the foregoing description 1, with domestic 9 pseudo range difference base stations are set, promptly N is 9, lays respectively at Xi'an, Changchun, Keshen, Sanya, Shanghai, Lhasa, Huhehaote, Beijing, Xiamen, chooses the Chengdu user and carries out emulation.Satellite is elected Asia-Pacific 1A satellite as, and the position of adopting satellite in one day on the 2nd August in 2009 is as the satellite physical location, and physical location adds that certain error is as broadcast ephemeris.In one day; Ephemeris x deflection error is made as:
Figure BDA00002081400600042
ephemeris y deflection error be made as
Figure BDA00002081400600043
ephemeris z deflection error and be made as
Figure BDA00002081400600044
in the LZT that t being; With ephemeris error A=10 rice is example, and wide area weighting pseudo range difference may further comprise the steps the correcting method of positioning error:
(1) 9 pseudo range difference base station is the pseudorange error Δ ρ that Xi'an, Changchun, Keshen, Sanya, Shanghai, Lhasa, Huhehaote, Beijing, the monitoring of Xiamen base station cause owing to ephemeris error Ei(i=1,2, L, 9) are respectively 13.70m, 13.22m, 13.96m, 14.19m, 13.60m, 14.11m, 13.50m, 13.45m, 13.85m; The pseudorange error Δ ρ that causes owing to ionospheric error Ti(i=1,2, L, 9) be respectively-6.42m ,-4.62m ,-6.24m ,-8.99m ,-6.02m ,-7.56m ,-5.67m ,-5.47m ,-7.20m, so the pseudorange error Δ ρ at each station i=Δ ρ Ei+ Δ ρ Ti(i=1,2, L, 9) are respectively 7.28m, 8.60m, 7.72m, 5.20m, 7.58m, 6.55m, 7.83m, 7.98m, 6.65m;
(2) identical with embodiment 1;
(3) identical with embodiment 1;
(4) identical with embodiment 1;
(5) according to the position in Chengdu; The pseudorange error that 3 the nearest pseudo range difference base stations of Chengdu of adjusting the distance are Xi'an, Lhasa, Huhehaote is carried out weighted mean; Weights are got the inverse of Chengdu and these 3 differential reference station distances, calculate the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of position, Chengdu according to formula (1) u:
Δ ρ u = ( 1 r 1 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 1 + ( 1 r 2 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 2 + ( 1 r 3 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 3 = 7.22 m
R wherein 1, r 2, r 3The distance in expression Chengdu and 3 differential reference station Xi'an, Lhasa, the Huhehaote of getting, Δ ρ 1, Δ ρ 2, Δ ρ 3The pseudorange error in expression 3 differential reference station Xi'an, Lhasa, the Huhehaote of getting;
(6) the Chengdu user utilizes the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of its position u, through type (2) calculates, and revises the pseudorange ρ of Chengdu user to satellite u, acquisition Chengdu is R to the actual distance of satellite u=ρ u+ Δ ρ u=37398429.32m+7.22m=37398436.54m.
Chengdu user's pseudo range difference precision is 6.82m-7.22m=-0.4m＜0.5m.
Embodiment 3
In the foregoing description 1, with domestic 8 pseudo range difference base stations are set, promptly N is 8, lays respectively at Changchun, Keshen, Sanya, Shanghai, Lhasa, Huhehaote, Beijing, Xiamen, chooses the Chengdu user and carries out emulation.Satellite is elected Asia-Pacific 1A satellite as, and the position of adopting satellite in one day on the 2nd August in 2009 is as the satellite physical location, and physical location adds that certain error is as broadcast ephemeris.In one day; Ephemeris x deflection error is made as:
Figure BDA00002081400600061
ephemeris y deflection error be made as
Figure BDA00002081400600062
ephemeris z deflection error and be made as
Figure BDA00002081400600063
in the LZT that t being; With ephemeris error A=10 rice is example, and wide area weighting pseudo range difference may further comprise the steps the correcting method of positioning error:
(1) 8 pseudo range difference base station is the pseudorange error Δ ρ that Changchun, Keshen, Sanya, Shanghai, Lhasa, Huhehaote, Beijing, the monitoring of Xiamen base station cause owing to ephemeris error Ei(i=1,2, L, 8) are respectively 13.22m, 13.96m, 14.19m, 13.60m, 14.11m, 13.50m, 13.45m, 13.85m; The pseudorange error Δ ρ that causes owing to ionospheric error Ti(i=1,2, L, 8) be respectively-4.62m ,-6.24m ,-8.99m ,-6.02m ,-7.56m ,-5.67m ,-5.47m ,-7.20m, so the pseudorange error Δ ρ at each station i=Δ ρ Ei+ Δ ρ Ti(i=1,2, L, 8) are respectively 8.60m, 7.72m, 5.20m, 7.58m, 6.55m, 7.83m, 7.98m, 6.65m;
(2) identical with embodiment 1;
(3) identical with embodiment 1;
(4) identical with embodiment 1;
(5) according to the position in Chengdu; The pseudorange error that 3 the nearest pseudo range difference base stations of Chengdu of adjusting the distance are Sanya, Lhasa, Huhehaote is carried out weighted mean; Weights are got the inverse of Chengdu and these 3 differential reference station distances, calculate the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of position, Chengdu according to formula (1) u:
Δ ρ u = ( 1 r 1 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 1 + ( 1 r 2 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 2 + ( 1 r 3 1 r 1 + 1 r 2 + 1 r 3 ) · Δ ρ 3 = 6 . 58 m
R wherein 1, r 2, r 3The distance in expression Chengdu and 3 differential reference station Sanyas, Lhasa, the Huhehaote of getting, Δ ρ 1, Δ ρ 2, Δ ρ 3The pseudorange error in expression 3 differential reference station Sanyas, Lhasa, the Huhehaote of getting;
(6) the Chengdu user utilizes the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of its position u, through type (2) calculates, and revises the pseudorange ρ of Chengdu user to satellite u, acquisition Chengdu is R to the actual distance of satellite u=ρ u+ Δ ρ u=37398429.32m+6.58m=37398435.90m.
Chengdu user's pseudo range difference precision is 6.82m-6.58m=0.24m＜0.5m.
Embodiment 4
In the correcting method of wide area weighting pseudo range difference to positioning error of the foregoing description 1～3; In step 5; According to the position in Chengdu, 6 nearest pseudo range difference base stations of the Chengdu of adjusting the distance are Xi'an, Lhasa, Huhehaote, Sanya, Beijing, Xiamen weighted mean, and promptly M is 6; Weights are got the inverse of Chengdu and these 6 differential reference station distances, calculate the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of position, Chengdu according to formula (1) u, other operation is identical with respective embodiments.
Other step is identical with respective embodiments, draws the actual distance of Chengdu to satellite.
Embodiment 5
In the correcting method of wide area weighting pseudo range difference to positioning error of the foregoing description 1～3; In step 5; According to the position in Chengdu, 4 nearest pseudo range difference base stations of the Chengdu of adjusting the distance are Xi'an, Lhasa, Huhehaote, Sanya weighted mean, and promptly M is 4; Weights are got the inverse of Chengdu and these 4 differential reference station distances, calculate the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of position, Chengdu according to formula (1) u, other operation is identical with respective embodiments.
Other step is identical with respective embodiments, draws the actual distance of Chengdu to satellite.

Claims (1)

1. a wide area weighting pseudo range difference is characterized in that may further comprise the steps to the correcting method of positioning error:
(1) the pseudorange error Δ ρ of N this base station of differential reference station monitoring i, N is 6～9;
(2) N differential reference station incited somebody to action pseudorange error Δ ρ separately iSend to the navigation master station through telstar;
(3) the navigation master station pseudorange error input communication satellite of respectively standing that will receive, telstar sends to the user with each station pseudorange error;
(4) user receives the pseudorange error Δ ρ that each differential reference station monitored by communication satellite broadcasting i
(5) according to user's position; The pseudorange error of M the differential reference station that the user that adjusts the distance is nearest is carried out weighted mean; Weights are taken the inverse of family and M differential reference station distance, calculate the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of user position u:
Δ ρ u = Σ i = 1 M ( 1 r i Σ i = 1 M 1 r i ) · Δ ρ i - - - ( 1 )
In the formula: N>=M>=3, i representes the nearest differential reference station of distance users got, r iThe expression customer location and the distance between the differential reference station of getting, Δ ρ iThe pseudorange error of the expression differential reference station of getting;
(6) user utilizes the wide area weighting pseudorange reduction Δ ρ at the virtual reference station of its position uRevise user's pseudorange ρ u, obtain the actual distance R of user to satellite u:
R u＝ρ u+Δρ u （2）。
CN2012103186893A 2012-08-31 2012-08-31 Method for correcting positioning errors by means of wide area weighting of pseudorange differentials Pending CN102788985A (en)

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CN112230247A (en) * 2020-09-25 2021-01-15 南京航空航天大学 GNSS integrity monitoring method used in urban complex environment

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Application publication date: 20121121