GNSS-based star selection method, device, terminal and storage medium

Abstract

The invention discloses a GNSS-based star selection method, device, terminal and storage medium, belonging to the technical field of navigation. Including: calculating the receiver clock error and user position according to the navigation messages and observations of satellites within the line of sight; calculating the observation residual of uncertain satellites according to the receiver clock error and user position; making the observation residual meet the first threshold condition Uncertain satellites and satellites within line-of-sight are determined as observation satellites. The invention determines the type of the tracked satellite according to the user's estimated position and map information, and calculates the receiver clock error and the user's position according to the navigation message and observation of the satellite within the line of sight, and then makes the observation residual value meet the first threshold Conditions and line-of-sight satellites are used as observation satellites. Due to the selection based on map information at the same time, unreliable satellites can be eliminated, the observation quality of the selected satellites can be improved, more accurate positioning can be achieved in urban environments, and it can be widely used in handheld devices, vehicle systems, etc.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a GNSS-based star selection method, device, terminal and storage medium. Background technique [0002] When positioning based on GNSS (Global Navigation Satellite System, Global Navigation Satellite System), the process of selecting a suitable satellite to participate in user position calculation is called star selection. Star selection based on GNSS can eliminate satellites with poor observation quality, reduce the introduction of errors, and select the most suitable satellite distribution to reduce the impact of errors in satellite observations on user positions. [0003] When the relevant technology selects satellites based on GNSS, the following method is mainly used: obtain the elevation angle and satellite signal carrier-to-noise ratio of each satellite being tracked, if the elevation angle of any satellite is greater than the first preset value, and / or the satellite sig...

AI Technical Summary

Problems solved by technology

[0004] However, in the urban environment, due to the existence of buildings, problems such as occlusion and multipath will occur, resulting in poor observation quality of the observation satellites selected according to the elevation angle and satellite signal carrier-to-noise ratio

For example, a satellite with a higher elevation angle in a direction obscured by a building may have poorer observation quality than a satellite with a lower elevation angle in an unobscured direction

Images