农业机械学报2024，Vol.55Issue(z1)：51-60,10.DOI:10.6041/j.issn.1000-1298.2024.S1.006
基于伪距及多普勒频移的改进GNSS定位算法研究
Improved GNSS Positioning Algorithm Based on Pseudorange and Doppler Frequency Shift
摘要
Abstract
Aiming at the problem of poor positioning accuracy of intelligent equipment,such as weak satellite navigation signal and phase locking caused by tree occlusion in Panax notoginseng planting area,a global navigation satellite system(GNSS)positioning algorithm for the shading environment of Panax notoginseng combine harvester based on pseudorange and Doppler double-difference positioning algorithm was proposed.Firstly,based on the difference of the influencing factors of pseudorange measurement and Doppler frequency shift measurement,the pseudorange double difference and Doppler frequency shift double difference were taken as inputs,and the carrier irritability ratio was used as the weight,and the measured values were fused through Kalman filter,so as to reduce the estimation error and correct the pseudorange and Doppler frequency shift measurement.Secondly,the Bayesian information criterion was used to select the regularization parameters,and the reweighted least squares problem was solved by Lasso regression to achieve the sparsity of the model and obtain the improved positioning results.Finally,the u-blox ZED-F9P high-precision GNSS receiver was used to collect the messages in RINEX format.Under three working conditions:open environment,shade shelter and tree shade shielding,the positioning accuracy test of the real vehicle was carried out.Compared with the traditional pseudo-distance positioning algorithm,open environment,shade shelter environment,and tree shade shade environment the position error was reduced by 13.43%,56.08% and 46.35%,respectively,and the root mean square error of the positioning deviation was reduced by 75.64%,62.31% and 50.21%,respectively.Under dynamic conditions,the positioning error was reduced by 36.97%,52.14% and 62.37%,respectively,and the root mean square error of positioning deviation was reduced by 45.34%,60.24% and 65.81%,respectively.The proposed method effectively reduced the positioning error caused by GNSS satellite signal difference and phase lock,and effectively improved the positioning accuracy and positioning credibility,The research result can provide theoretical and technical support for the problem of poor positioning accuracy of intelligent equipment due to tree shading in hilly and mountainous areas.关键词
全球卫星导航系统/导航定位/伪距双差/卡尔曼滤波Key words
global navigation satellite system/navigation and positioning/pseudorange double difference/Kalman filter分类
农业科技引用本文复制引用
王法安,王博洋,张兆国,刘新琦,倪畅,梁晋豪..基于伪距及多普勒频移的改进GNSS定位算法研究[J].农业机械学报,2024,55(z1):51-60,10.基金项目
国家重点研发计划项目(2022YFD2002004)、国家自然科学基金青年基金项目(52402497)和云南省科技厅青年基金项目(202401AU070196) （2022YFD2002004）
