CN105319561A - Satellite positioning and navigation receiver fast hot startup method - Google Patents

Satellite positioning and navigation receiver fast hot startup method Download PDF

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CN105319561A
CN105319561A CN201410356964.XA CN201410356964A CN105319561A CN 105319561 A CN105319561 A CN 105319561A CN 201410356964 A CN201410356964 A CN 201410356964A CN 105319561 A CN105319561 A CN 105319561A
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satellite
time
receiver
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谭思远
朱柏承
张晓迪
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Peking University
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Abstract

The invention discloses a satellite positioning and navigation receiver fast hot startup method. The method includes the following steps that: based on priori information, available satellites within a current view field are quickly determined after startup, and a capture unit of a receiver is instructed to perform capture; the receiver captures satellite signals and realize bit synchronization, and then, extracts time information in bit scale; transmission delay of the satellite signals is calculated, and accurate local time can be obtained; a positioning equation is solved, and a group of pseudorange residual values is calculated, and based on the pseudorange residual values, radial distance variation quantity of the satellites in per unit bit time is obtained, and the radial distance variation quantity is projected to the residual space of the satellite, so that the other group of pseudorange residual vectors is obtained; based on the linear relationship between the former group of residual vectors and the later group of residual vectors, the ambiguity of the time of the receiver is obtained, and therefore, accurate satellite signal transmitting time is calculated, and a correct positioning result can be obtained. The method does not have high requirements for the precision of the local time and has a wide application range, and can provide a new idea for the fast hot startup of the receiver.

Description

The starting method of a kind of satellite positioning navigation receiver Rapid Thermal
Technical field
The invention belongs to global positioning satellite and navigation field, relate to the quick location technique of positioning and navigation receiver.Specifically, it is a kind of Rapid Thermal starting method based on satellite spatial position local invariant.
Background technology
The primary positioning time of receiver weighs an important indicator of receiver performance.According to different scenes, the primary positioning time of receiver can be divided into: cold start-up, startup temperature, warm start, heavily mend four classes.
Receiver realizes location needs two necessary conditions, and one is launch time of satellite-signal, and two is time of receiver this locality when receiving signal.The launch time of satellite-signal needs to be determined by the temporal information extracted in text.This temporal information is assembled by the time counting amount of different scale.Obtaining accurate satellite-signal needs receiver synchronous to satellite-signal achieve frame launch time.For GPSL1CA signal, the time that achieve frame synchronously needs is 6s ~ 12s.New System signal GPSL1C then needs 18s ~ 36s.The precision of the launch time of satellite-signal is very high, can arrive nanosecond rank.And the local zone time precision of receiver is generally poor, precision is in rank second.
The process that receiver carries out position calculation is t launch time according to satellite-signal sand the ephemeris information of satellite, determine the position S of satellite j j(x j, y j, z j) and velocity information in conjunction with the local zone time t of receiver rcv, determine the pseudorange ρ of satellite and receiver j=(t rcv-t s) c, wherein c is the light velocity.
On the other hand, pseudorange ρ jwith customer location U (x u, y u, z u), the clock correction δ t of receiver u, and multipath transmisstion time delay error ε ρ jthere is this lower relation of plane:
ρ j = ( x j - x u ) 2 + ( y j - y u ) 2 + ( z j - z u ) 2 + cδt u + ϵ ρj - - - ( 1 )
As long as obtain at least 4 equations as (1), adopt least square method, just can solve the positional information of user.
Warm start refers to that receiver has not too accurate local zone time (in 2s error), effective satellite ephemeris information, local general location (last user position location), specify current user can satellite number when, device powers down restarts the time of locating first.
In existing hot start scheme, major part need wait for that this obviously can make primary positioning time elongated to text frame synchronization to obtain the launch time of satellite-signal; Have some only to need the scheme of bit synchronous (0.2s), but in scheme, need local clock to have higher precision (in 10ms error), and a set of failure monitor mechanism guarantees this precision in addition.This scheme requires higher to local clock, and monitoring mechanism is comparatively complicated.
Summary of the invention
The present invention proposes a kind of rapid hot start method of the local invariant based on satellite constellation, it can overcome the deficiency of existing warm start scheme.
The method is first on the receiver after electricity, according to local zone time, the ephemeris information stored is judged, determine the effective satellite of ephemeris, and the satellite within the vision of receiver when utilizing the general location of receiver to calculate current, obtain their satellite number, and indicate the capturing unit of receiver to catch satellite within the vision.When receiver acquisition satellite success and after realizing the bit synchronous of text, extract the temporal information (for GPSL1C, this time range is 10ms, GPSL1CA, and this time range is 20ms) of a Bit data position.Then, calculate the propagation delay of satellite-signal again, obtain the rough estimate value of local zone time, and estimate the launch time of satellite-signal on this basis, and calculate the Position And Velocity information of satellite at signal x time according to the ephemeris parameter of satellite, obtain the Nonlinear System of Equations of positioning calculation thus.There is the blur level of some bit-time the launch time due to the satellite-signal estimated, therefore when solving positioning equation group by least square method, the pseudorange residuals of acquisition can be very large.At this moment, then solve the radial velocity of satellite relative to receiver, and calculate the semi-invariant of radial velocity in a bit-time, be also called radial distance knots modification, after they being projected to the residual space of satellite, obtain one group of residual vector.Linear ratio relation between the respective components utilizing two residual vectors, can in the hope of the integer ambiguity of bit-time.And then obtain accurate satellite-signal launch time, thus revise positioning error, obtain correct positioning result.
Start to realize Rapid Thermal, the present invention will carry out following several steps.
Step one: read prior imformation.
After the CUP of receiver powers on, need the positional information read the last normal location of receiver from storage unit after, the ephemeris information of satellite.
Step 2: determine current visible satellite.
Absolute difference between the ephemeris time of the local zone time (time uncertainty is 1s, can think the rough estimate evaluation of local zone time) that receiver obtains and satellite ephemeris, in the effective range of 2 hours, can think that ephemeris is now effective; Then, calculate the approximate location of the satellite with effective ephemeris, the elevation angle of satellite is estimated in conjunction with local general location (being generally load last positioning result), remove the satellite that the elevation angle is too low, select present receiving machine within sweep of the eye can satellite, obtain their satellite number.
Step 3: instruction capturing unit catches satellite within the vision.
According to obtain in step 2 present receiving machine within sweep of the eye can satellite after, need the capturing unit to receiver to give an order, instruction receiver unit go to catch these satellites within the vision.
Step 4: the temporal information extracting the small scale of satellite.
When the signal of receiver acquisition a certain satellite also realizes after to the bit synchronous of satellite-signal, the precise time information t in bit-time range scale can be determined frac.
Step 5: the propagation delay of estimation satellite-signal.
According to the position S of the satellite j of rough calculation j(x j, y j, z j), in conjunction with local general location U (x u, y u, z u), can in the hope of the distance l between satellite and receiver j:
l jdivided by light velocity c, obtain the propagation delay t of satellite-signal delay.
Step 6: obtain comparatively accurate local zone time.
According to local zone time t local, the delay time t that the signal calculated in integrating step 5 is propagated delay, in step 4, extract satellite small scale temporal information t frac, comparatively accurate local zone time t can be obtained rcv_estimate, they have relation: t rcv_estimate=t local+ t delay+ t frac.
Step 7: the estimated value calculating satellite-signal launch time.
Utilize the propagation delay of the satellite-signal calculated in step 5, in conjunction with t sat_estimate=t rcv_estimate-t delaytry to achieve the estimated value t of the time that satellite-signal is launched sat_estimate.There is the uncertainty of some bit-time launch time in this estimated value and real satellite-signal.That is: t sat=t sat_estimate+ nt 1bit, wherein the value of n is integer.
Step 8: obtain positioning calculation equation, solve acquisition residual vector.
According to location group
r 1 = ( x 1 - x u ) 2 + ( y 1 - y u ) 2 + ( z 1 - z u ) 2 + cdt u r 2 = ( x 2 - x u ) 2 + ( y 2 - y u ) 2 + ( z 2 - z u ) 2 + cdt u r 3 = ( x 3 - x u ) 2 + ( y 3 - y u ) 2 + ( z 3 - z u ) 2 + cdt u . . . r n = ( x n - x u ) 2 + ( y n - y u ) 2 + ( z n - z u ) 2 + cdt u
Wherein customer location U (x u, y u, z u), dt ufor the clock correction of local clock and satellite time.
The thought of usual employing Newton iteration method solves this group system of equations, has each time in linear iteration process:
Δb＝G.ΔX+ε ρ。(what wherein G represented is the observing matrix of receiver to satellite, ε ρwhat represent is the random noisy vectors measured)
The modification vector Δ X=(G of iteration is each time solved by least square method tg) -1g tΔ b, is used for revising positioning result and clock correction, || Δ X|| is tending towards 0 gradually, thus obtains positioning result, obtains residual vector b=Δ ρ-G Δ X=(I-G (G during last iteration simultaneously tg) -1g t) Δ ρ.
Step 9: the knots modification of compute pseudo-ranges value in a bit-time.
Utilize the satellite-signal launch time calculated in step 7, and satellite ephemeris information, calculate the velocity information of satellite: they are projected to the direction of receiver and satellite links: the radial velocity obtaining a jth satellite be multiplied by the time of a bit, obtain the radial knots modification of pseudorange in a bit-time of a jth satellite and receiver.Similar method is taked to the satellite in other bit synchronous, the changing value of pseudorange corresponding to all usable satellites in a bit-time can be obtained.
Step 10: the projection value of compute pseudo-ranges changing value on residual space.
According to the least square method in step 8, by the pseudorange variable quantity in a bit-time project to residual space by projective transformation, obtain corresponding residual error thus
Step 11: the integral multiple blur level calculating the receiver time.
Utilize with between linear relationship: the integral multiple blur level k of receiver time can be obtained by the ratio solved in two groups of vectors between respective components, in order to obtain according to stable k, need to use components all in two groups of vectors, can pass through k value can be solved.
Step 12: positioning result correction.
According to the integral multiple blur level k of the time determined in step 11, according to formula:
Δξ = Δx Δy Δz Δδ t u = ( G T G ) - 1 G T Δρ ζ
(wherein: Δ ρ ζfor t 1bitthe remaining variable of pseudorange in the × kms time)
Project on measurement space by the pseudorange variable quantity that the integral multiple blur level of a bit-time causes, can realize the correction to positioning result in step 7, the positioning result that revised value just can be used as hot start exports.
The invention has the advantages that following four aspects:
1., as long as receiver just can provide comparatively accurate positioning result after achieving more than at least 5 satellite-signal bit synchronous, warm start required time is reduced greatly.
2. the accuracy requirement of pair local clock not high (in two hours, time error is in 2s), reduces the cost that local zone time safeguarded by receiver.
3. can realize bit synchronous to the synchronous process of more than 4 achieve frames by 1 tunnel by self-adaptation satellite-signal, and in this process, provide comparatively accurate positioning result always.
4. method is applicable to the signal of each satellite system, and is easy to the warm start extending to multisystem.
Accompanying drawing explanation
Fig. 1. be the process flow diagram that the present invention carries out hot start;
Fig. 2. be the temporal information ingredient schematic diagram in satellite emission signal;
Fig. 3. be the disturbance quantity (frobenius type) of observing matrix when satellite-signal to exist deviation launch time of satellite;
Fig. 4. be satellite-signal corresponding pseudorange residuals value when to there is deviation launch time;
Specific implementation method
Below in conjunction with accompanying drawing and example, the present invention is described further:
Fig. 1 describes receiver and refers to that receiver has not too accurate local zone time (in 2s error) in warm start, effective satellite ephemeris information, under the condition of local general location (last user position location), after re-powering after power-off a period of time, carry out the flow process of rapid hot start.
Process shown in Fig. 1 enters the local zone time obtaining ephemeris parameter and receiver after receiver powers on to start, until receiver terminates after positioning modified result.The time required for this process that term " warm start time " just refers to.
After receiver powers on, time local according to receiver, the ephemeris information stored is judged, determine the effective satellite of ephemeris, and the satellite within the vision of receiver when utilizing the general location of receiver to calculate current, get rid of the satellite that the elevation angle is too low, obtain their satellite number, and show that the capturing unit of receiver catches satellite within the vision, the success of receiver acquisition satellite also, after realizing the bit synchronous of text, extracts the temporal information of small scale.Then, then calculate the propagation delay of satellite-signal, obtain the rough estimate value of local zone time, and estimate the launch time of satellite-signal on this basis.At this moment, utilize the ephemeris parameter of satellite to calculate the Position And Velocity information of satellite at signal x time, and obtain the Nonlinear System of Equations of positioning calculation thus.There is the blur level of several bit-time the launch time due to the satellite-signal estimated, therefore when solving positioning equation group by least square method, the pseudorange residuals of acquisition can be very large.At this moment, then solve the radial velocity of satellite relative to receiver, and calculate the semi-invariant of radial velocity in a bit-time, be also called radial distance knots modification, after they being projected to the residual space of satellite, obtain one group of residual vector.Linear ratio relation between the respective components utilizing two residual vectors, can in the hope of the blur level of bit-time.And then obtain accurate satellite-signal launch time, thus revise positioning error, obtain correct positioning result.
Fig. 2. display be the different scale temporal information schematic diagram of New System L1C signal.Wherein, the length of a frame is 1800 bits, and the time of each bit length is 10ms.Time scale wherein in each bit is described by chip C and code phase CP again.Wherein after receiver realizes bit synchronous, the time in bit is determined, it is accurate.And bit position in a frame just can be decided after needing to wait until frame synchronization.
Fig. 3. the observing matrix showing satellite under there is different integral multiple bit-time (10ms) situations in the satellite emission signal time with the difference in correct situation.This illustrate when satellite-signal launch time estimated value and be worth real launch time there is-1s ~ 1s time, the observing matrix of satellite remains unchanged substantially.
Fig. 4. show the situation of change of pseudorange residuals value when satellite-signal time of origin exists different integral multiple bit-time (10ms).Can see, the deviate of pseudorange residuals value and satellite-signal launch time is roughly linear.
Method of the present invention is further illustrated below in conjunction with concrete numerical value.
Step one: read prior imformation.
After the CUP of receiver powers on, from storage unit, read the positional information behind the last normal location of receiver, the ephemeris information of satellite.
Step 2: the satellite number judging current utilization.
Absolute difference between the ephemeris time of the local zone time (time uncertainty is 1s, can think the rough estimate evaluation of local zone time) that receiver obtains and satellite ephemeris, in the effective range of 2 hours, can think that ephemeris is effective; Calculate the approximate location of the satellite with effective ephemeris, the elevation angle of satellite is estimated in conjunction with local general location (being generally load last positioning result), remove the too low satellite in the elevation angle, select present receiving machine within sweep of the eye can satellite, obtain their satellite number.
Step 3: instruction capturing unit catches satellite within the vision.
According to the present receiving machine obtained in step 2 within sweep of the eye can satellite after, need the capturing unit to receiver to give an order, instruction receiver unit go to catch satellite within the vision.
Step 4: the temporal information extracting the small scale of satellite.
Catching a certain prediction visible satellite signal and after the bit synchronous of realization to a certain road satellite-signal, the precise time information t in bit-time range scale can be determined when receiver frac
Step 5: the propagation delay of estimation satellite-signal.
According to the position S of the satellite j of rough calculation j(x j, y j, z j), in conjunction with local general location U (x u, y u, z u), can in the hope of the distance l between satellite and receiver j:
l jdivided by light velocity c, obtain the propagation delay t of satellite-signal delay.
Step 6: obtain the comparatively accurate estimated value of local zone time.
According to local zone time t local, the delay time t that the signal calculated in integrating step five is propagated delay, in step 4, extract satellite small scale temporal information t frac, comparatively accurate local zone time t can be obtained rcv_estimate, they have relation: t rcv_estimate=t local+ t delay+ t frac.
Step 7: the estimated value calculating satellite-signal launch time.
Utilize the propagation delay of the satellite-signal calculated in step 5, in conjunction with t sat_estimate=t rcv_estimate-t delaytry to achieve the estimated value t of the time that satellite-signal is launched sat_estimate.There is the uncertainty of some bit-time launch time in this estimated value and real satellite-signal.That is: t sat=t sat_estimate+ nt 1bit, wherein the value of n is integer.
Step 8: obtain positioning calculation equation, solve acquisition residual vector.
When the number of active lanes that receiver realizes bit synchronous is greater than 4, least square method can be taked to position, certain once actual test time, satellite-signal launch time slow 800ms, after wherein having 12 paths to realize bit synchronous, after carrying out iterated revision by least square method, the observing matrix G that last iteration obtains is:
G = - 0.652544401 0.740096828 0.162611469 1 - 0.790673546 - 0.127259488 - 0.5988659 1 0.950288505 - 0.30548337 - 0.060263315 1 - 0.26641853 0.865575428 - 0.424028708 1 0.157733367 0.554325196 - 0.817217084 1 - 0.652383402 0.736842689 - 0.177366142 1 0.018610605 0.80913813 0.587323704 1 0.340480585 - 0.652466068 - 0.677023634 1 0.552411105 0.671207251 0.494290195 1 - 0.650504904 0.19297948 - 0.734576266 1 0.640063747 - 0.090658819 - 0.762954375 1 0.675664562 0.426831376 - 0.601076015 1
Pseudorange residuals now
b → unit = [ 541.7768391 - 354.6558663 - 463.0185997 - 297.1072035 - 28.13450064 372.4802301 - 615.6472314 496.8288927 445.2953653 - 263.601572 166.0901177 - 0.306481015 ]
Step 9: the knots modification of compute pseudo-ranges value in a bit-time.
Utilize step 7. the satellite-signal launch time of middle calculating, and satellite ephemeris information, calculate the velocity information of satellite: they are projected to the direction of receiver and satellite links: the radial velocity obtaining a jth satellite be multiplied by 10ms (time of a bit), just obtain the radial knots modification of pseudorange in 10ms of a jth satellite and receiver.Similar method is taked to the satellite in other bit synchronous, the changing value of pseudorange corresponding to all usable satellites in 10ms can be obtained.
During test, radial velocity v r = - 520.876167146038 714.732296329781 439.956719966589 387.187333858671 - 17.6716139785415 - 339.588701546811 761.983577986895 - 589.347230251995 - 696.131927468547 501.343635168897 - 309.246855724370 - 163.943734398190 , Within the 10ms time, the pseudorange variable quantity on each road is: Δ r=v r× 0.01
Step 10, the projection value of compute pseudo-ranges changing value on residual space.
According to the least square method in step 8, the pseudorange variable quantity in the 10ms time project to residual space by projective transformation, obtain residual error thus value,
Step 11, the integral multiple blur level of calculating receiver time.
Utilize with between linear relationship: the integral multiple blur level k of receiver time can be obtained by the ratio solved in two groups of vectors between respective components, in order to obtain according to stable k, need to use components all in two groups of vectors, can pass through k value can be solved.
Now compare residual error with each component between relation, can proportionate relationship be it is evident that.
and this scale-up factor k is exactly integer ambiguity.Comprehensively with each component, can in the hope of integer ambiguity k=-80, show the slow 800ms of the ratio normal value of the launch time of satellite-signal.
Step 12, positioning result correction.
According to the 10ms integral multiple blur level k that step 11 is determined, according to formula:
Δξ = Δx Δy Δz Δδ t u = ( G T G ) - 1 G T Δρ ζ
(wherein: Δ ρ ζbe the remaining variable of pseudorange in 10 × kms time)
Project on measurement space by the pseudorange variable quantity that 10ms integral multiple blur level causes, can realize the correction to positioning result in step 7, the positioning result that revised value just can be used as hot start exports.

Claims (9)

1. based on the rapid hot start method of satellite constellation local invariant, it is characterized in that, comprise following 12 steps:
Steps A: read prior imformation, determine current visible satellite;
Step B: instruction capturing unit catches satellite within the vision;
Step C: obtain comparatively accurate local zone time;
Step D: obtain positioning calculation equation, solve acquisition residual vector;
Step e: the knots modification of compute pseudo-ranges value in a bit-time;
Step F: the projection value of compute pseudo-ranges changing value on residual space;
Step G: the integral multiple blur level calculating the receiver time;
Step H: positioning result correction.
2. the rapid hot start method based on satellite constellation local invariant according to claim 1, is characterized in that, reads prior imformation and comprise described in steps A: the general location information of user, the ephemeris information that satellite is broadcast, local time information.Described settled front visible satellite really needs between the ephemeris time of local zone time and the satellite ephemeris obtained by receiver, judge that whether ephemeris is expired, and calculate the approximate location of the satellite with effective ephemeris, in conjunction with local general location, the elevation angle of estimation satellite, and remove the too low satellite in the elevation angle, thus obtain their satellite number.
3. the rapid hot start method based on satellite constellation local invariant according to claim 1, it is characterized in that, step B, by sending the capture command to certain satellite to the capturing unit of receiver, controls receiver and goes to catch the satellite-signal determined in steps A.
4. the rapid hot start method based on satellite constellation local invariant according to claim 1, it is characterized in that, step C receiver acquisition satellite success and after realizing the bit synchronous of text, extract the temporal information in bit yardstick (small scale).Then, according to the general location of this locality and the approximate location of satellite, calculate the propagation delay of satellite-signal, and then obtain comparatively accurately local zone time.
5. the rapid hot start method based on satellite constellation local invariant according to claim 1, is characterized in that, step D utilizes the propagation delay of the comparatively accurate local zone time of estimation and satellite-signal to try to achieve the launch time of satellite-signal.Then, utilize the ephemeris parameter of satellite to calculate the Position And Velocity information of satellite at signal x time, and obtain the Nonlinear System of Equations of positioning calculation thus.Solved the Nonlinear System of Equations of positioning calculation by Newton iteration method, and adopt least square method to solve the modification vector of iteration each time, obtain the pseudorange residuals of positioning result and location.
6. the rapid hot start method based on satellite constellation local invariant according to claim 1, it is characterized in that, step e is by solving the speed of satellite, through by velocity projections on the direction of receiver and satellite links, obtain the radial velocity of satellite, thus obtain the knots modification of satellite radial velocity in a bit-time.
7. the rapid hot start method based on satellite constellation local invariant according to claim 1, it is characterized in that, step F, by the knots modification of radial velocity in the bit-time required by step e is projected to pseudorange residual space, obtains a bit-time and changes the pseudorange residuals brought.
8. the rapid hot start method based on satellite constellation local invariant according to claim 1, it is characterized in that, step G, by the proportionate relationship of each component of the pseudorange residuals caused by changing satellite motion in the pseudorange residuals of positioning result and a bit-time, obtains the blur level of satellite launch time.
9. the rapid hot start method based on satellite constellation local invariant according to claim 1, it is characterized in that, the blur level of the launch time that step H is solved by step G, pseudorange variable quantity caused by it is projected on the measurement space of satellite, for revising the positioning result of step D.
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CN111158034A (en) * 2020-01-15 2020-05-15 东方红卫星移动通信有限公司 Rapid positioning method based on low-earth-orbit satellite multi-coverage scene
CN111276000A (en) * 2020-01-15 2020-06-12 清华大学 Positioning method and system based on vehicle-road cooperation, medium and vehicle-mounted equipment
CN112558117A (en) * 2020-11-30 2021-03-26 上海航天控制技术研究所 Quick hot start method for reconstructing satellite signal transmission time without external assistance
CN114362806A (en) * 2021-12-27 2022-04-15 北京遥感设备研究所 First access device and method for low-earth-orbit satellite communication terminal
CN116908891A (en) * 2023-02-03 2023-10-20 中国科学院国家天文台 Frequency offset correction method and device applied to navigation signal of ground station
CN116908891B (en) * 2023-02-03 2024-06-21 中国科学院国家天文台 Frequency offset correction method and device applied to navigation signal of ground station

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Application publication date: 20160210