CN105204048B - A kind of Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS - Google Patents

Abstract

The invention discloses a kind of Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS.The accuracy of ambiguity resolution is directly connected to the precision of the space errors such as troposphere, ionosphere modeling between reference station in network RTK models.In many constellation UNE RTK, number of satellite significantly increases, for the quick resolving of fuzziness provides advantage.This root of hair is according to the network RTK ambiguity resolution models with the constraint of atmosphere delay prior information, elevation angle satellite high is fixed first, then the satellite observation constraint atmosphere delay of fuzziness will have been fixed, observational equation simultaneous corresponding with the satellite of low clearance cornerdown star or new rise satellite or losing lock recapture is resolved, and realizes that the fuzziness of unlocked fuzziness satellite is quickly fixed.The inventive method can substantially shorten the Ambiguity Resolution in Reference Station Network resolving time, improve network RTK positioning precisions and its reliability.

Description

A kind of Ambiguity Resolution in Reference Station Network of Big Dipper compatible with GPS/GLONASS is quickly solved Calculation method

Technical field

The invention belongs to network RTK positioning fields, more particularly to the multisystem network RTK of Big Dipper compatible with GPS/GLONASS Ambiguity resolution between reference station.

Background technology

With the development of global navigation satellite system, navigation is turned into based on many constellation satellite navigation system compatible positionings The study hotspot of positioning field.Beidou satellite navigation system is the global positioning satellite and communication system that China voluntarily develops (BDS), it is the 3rd satellite navigation system of maturation after GPS and GLONASS.The Big Dipper is compatible with GPS/GLONASS fixed Position is significant, and user can carry out compatible positioning using different constellation systems combinations according to the actual requirements, so as to keep away Exempt from using single constellation systems position when number of satellite it is very few, and the undue dependence to the particular constellation problem, the increasing of constellation Plus the increase of number of satellites will necessarily be brought, the healthy satellite more multipotency for participating in positioning makes the precision of positioning higher, thus tool Standby stronger practicality, reliability, positioning precision can also reach higher level.

Network RTK, also known as many reference station RTK, is in recent years in conventional RTK, Internet, wireless telecommunications, computer network The real-time dynamic positioning new technology of new generation grown up in the technical foundation such as management.Whole Reference network data are by data processing Centre punch one is calculated, and real-time estimation goes out the correction member (troposphere, ionosphere and orbit error) of various systematic errors in net, Corresponding Error Correction Model is set up, correcting information is issued into user.User after these Correction of Errors information are received, according to Its approximate coordinate observation data are modified just can quick fixed carrier phase ambiguity, realize the interior high accuracy positioning of net.

In network RTK, the correct resolving of fuzziness is directly connected to the space errors such as troposphere, ionosphere between reference station The precision of estimation, is the key problem of whole network RTK technologies.Reference station network ambiguity resolution mainly by double difference ionosphere, The influence of tropospheric delay and the equidistant correlated error of orbit error.With the growth of parallax range between reference station, systematic error Correlation gradually weakens, and the systematic error residue in double difference observation increases rapidly, causes to be difficult to Exact Solutions in the short time to obtain whole All values of ambiguity, have impact on the precision and ageing of network RTK positioning.

The content of the invention

Goal of the invention：For above-mentioned prior art, a kind of network RTK fuzzinesses constrained with air prior information are proposed Fixed model, can quickly realize that the fuzziness of unlocked fuzziness satellite is quickly fixed.

Technical scheme：A kind of Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS, According to the network RTK ambiguity resolution models constrained with atmosphere delay prior information, elevation angle satellite high is fixed first, then The satellite observation constraint atmosphere delay of fuzziness degree will have been fixed, and low clearance cornerdown star or new satellite or losing lock has been risen again The satellite correspondence observational equation simultaneous of capture is resolved, and realizes that the fuzziness of unlocked fuzziness satellite is quickly fixed.

Further, the Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS is included such as Lower specific steps：

1), control centre is initialized judgement first according to real-time observed data：When control centre initializes first When, the fuzziness of low clearance cornerdown's star is calculated by constraint scheme one；The constraint scheme one is comprised the following specific steps that：

A) control centre BDS/GPS/GLONASS real-time observed datas are carried out data prediction formed altogether regard file；

B) lane ambiguity wide for carrying out each navigation system using MW combinations is resolved, and obtains double difference lane ambiguity ▽ Δs wide N_w；

C) all satellites of each navigation system are classified by elevation angle, is elevation angle satellite high higher than 35 °, be less than 35 ° is low clearance cornerdown's star, and the fuzziness of elevation angle satellite high is fixed using single epoch；

D) the corresponding observational equation of the elevation angle satellite high sight corresponding with low clearance cornerdown's star for having fixed fuzziness is used Survey equations simultaneousness and resolve zenith tropospheric delay and low clearance cornerdown's star double difference fuzziness：

Wherein, V_HIt is the observational equation error of elevation angle satellite high, V_LIt is the observational equation error of low clearance cornerdown's star, MF_H,AIt is the projection function of the Zenith tropospheric wet stack emission of elevation angle satellite high correspondence website A, MF_H,BIt is elevation angle satellite pair high Answer the projection function of the Zenith tropospheric wet stack emission of website B, MF_L,AFor the Zenith tropospheric of low clearance cornerdown star correspondence website A is wet The projection function of delay, MF_L,BIt is the projection function of the Zenith tropospheric wet stack emission of low clearance cornerdown star correspondence website B, N_HIt is height Elevation angle satellite fuzziness, N_LIt is low clearance cornerdown's star fuzziness, C_LIt is fuzziness N_LCoefficient matrix, C_HIt is fuzziness N_HBe Matrix number, O is null matrix, T_ztd,AIt is the Zenith tropospheric wet stack emission parameter of website A, T_ztd,BFor the Zenith tropospheric of website B is wet Delay parameter, L_HIt is the observation constant term of elevation angle satellite high, L_LIt is the observation constant term of low clearance cornerdown's star；

When control centre has completed to initialize first, step 2 is jumped to) newly risen satellite or losing lock recapture Satellite judges；

2), when control centre is determined with nova rise or losing lock satellite recapture according to real-time observed data, utilize Constraint scheme two resolves the corresponding fuzziness of the satellite of satellite or losing lock recapture of new rise；The constraint scheme two includes Following specific steps：

A) control centre newly rises the real-time observed data of the satellite of satellite or losing lock recapture to each navigation system and enters Row pretreatment is formed and regards file altogether；

B) lane ambiguity wide that the satellite of satellite or losing lock recapture is newly risen using MW combinations is resolved, and obtains double Difference width lane ambiguity ▽ Δs N_w；

C) using fix defending for the corresponding observational equation of satellite of fuzziness and new rise satellite or losing lock recapture The corresponding observational equation simultaneous of star resolves the double of the satellite of zenith tropospheric delay and new rise satellite or losing lock recapture Difference fuzziness, comprises the following steps that：

Its observation error equation is：

Subscript F, U corresponds to defending for the satellite and new rise satellite of fix fuzziness or losing lock recapture respectively in formula Star；

Wherein, V_FTo have fixed the observational equation error of the satellite of fuzziness, V_USatellite or losing lock recapture are risen for new Satellite observational equation error, MF_F,ATo have fixed the throwing of the Zenith tropospheric wet stack emission of the satellite correspondence website A of fuzziness Shadow function, MF_F,BTo have fixed the projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website B of fuzziness, MF_U,AFor new Rise the projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website A of satellite or losing lock recapture, MF_U,BIt is new liter Play the projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website B of satellite or losing lock recapture, N_FFor stent The satellite fuzziness of paste degree, N_UIt is the new satellite fuzziness for rising satellite or losing lock recapture, C_UIt is fuzziness N_UCoefficient square Battle array, C_FIt is fuzziness N_FCoefficient matrix, O is null matrix, T_ztd,AIt is the Zenith tropospheric wet stack emission parameter of website A, T_ztd,BFor The Zenith tropospheric wet stack emission parameter of website B, L_FTo have fixed the observation constant term of the satellite of fuzziness, L_UFor new rise is defended The observation constant term of the satellite of star or losing lock recapture.

Beneficial effect：Ambiguity Resolution in Reference Station Network based on many constellations is resolved, because the fusion of many constellations is greatly increased Usable satellite quantity so that be possibly realized satellite classification resolving, a class is (usually high for fuzziness is easier to fixed satellite Elevation angle satellite), a class is the more difficult fixed satellite of fuzziness (usually low clearance cornerdown star).High height cornerdown's star is corresponding Observation is influenceed smaller by atmosphere errors residual error, observation noise etc., therefore can quickly fix its double difference values of ambiguity；High After degree cornerdown's star fuzziness is fixed, its fuzziness parameter is given value, is resolved with low clearance cornerdown's star observational equation simultaneous, Quick fixed low clearance cornerdown's star fuzziness.Also be can use further for the new satellite for rising recapture after satellite or losing lock and consolidated The satellite of fuzziness is determined as constraint, realizes that fuzziness is quickly resolved.

A kind of quick side of resolving of the Ambiguity Resolution in Reference Station Network of Big Dipper compatible with GPS/GLONASS proposed by the present invention Method, in many constellation UNE RTK, number of satellite significantly increases, and satellite is carried out into classification resolving, is the quick of fuzziness Resolve and provide advantage, while according to the network RTK fuzziness fixed models constrained with air prior information, being easier to Fixed satellite serves its advantage function, can realize the quick fixation of unlocked satellite fuzziness, hence it is evident that reduce satellite mould The set time of paste degree, shorten network RTK positioning times, improve positioning precision and its reliability.

Brief description of the drawings

Fig. 1 network RTK ambiguity resolution overall plans；

Fig. 2 network RTK fuzziness fixed constraints scheme one；

Fig. 3 network RTK fuzziness fixed constraints scheme two；

Fig. 4 is base station NJTS elevation of satellite schematic diagrames；

Fig. 5 is base station LIXI elevation of satellite schematic diagrames；

Fig. 6 is baseline NJTS->NJPK elevation angle satellite single epoch ambiguity resolution results high

Fig. 7 is baseline NJTS->NJPK low clearance cornerdown's star conventional method ambiguity resolution results

Fig. 8 is baseline NJTS->NJPK low clearance cornerdown star constrains the ambiguity resolution result of scheme one

Fig. 9 is baseline NJTS->NJPK conventional methods and the constraint calculation result Ratio values of scheme one

Figure 10 is baseline NJTS->NJPK conventional methods and constraint scheme one association factor battle array conditional number

Figure 11 is baseline LIXI->AUST newly rises or the recapture satellite constraint ambiguity resolution result of scheme two

Figure 12 is baseline LIXI->AUST conventional methods and the constraint calculation result Ratio values of scheme two

Specific embodiment

The present invention is done below in conjunction with the accompanying drawings further is explained.

In the network RTK of multisystem fusion, according to the network RTK solution of fuzzy degree constrained with atmosphere delay prior information Model is calculated, elevation angle satellite high is fixed first, the satellite observation that then will fix fuzziness degree constrains atmosphere delay, and low Elevation angle satellite or the new satellite correspondence observational equation simultaneous resolving for rising satellite or losing lock recapture, realize unlocked fuzzy The fuzziness for spending satellite is quickly fixed, and general flow chart is as shown in Figure 1.

Specifically include following steps：

1), control centre is initialized judgement first according to real-time observed data：When control centre initializes first When, the fuzziness of low clearance cornerdown's star is calculated by constraint scheme one；Constraint scheme one is as shown in Fig. 2 including following specific Step：

A) control centre BDS/GPS/GLONASS real-time observed datas are carried out data prediction formed altogether regard file；

B) lane ambiguity wide for carrying out each navigation system using MW combinations is resolved, and obtains double difference lane ambiguity ▽ Δs wide N_w；

C) all satellites of each navigation system are classified by elevation angle, is elevation angle satellite high higher than 35 °, be less than 35 ° is low clearance cornerdown's star, and the fuzziness of elevation angle satellite high is fixed using static Kalman filtering and LAMBDA algorithms；

D) the corresponding observational equation of the elevation angle satellite high sight corresponding with low clearance cornerdown's star for having fixed fuzziness is used Survey equations simultaneousness and resolve zenith tropospheric delay and low clearance cornerdown's star double difference fuzziness：

Wherein, V_HIt is the observational equation error of elevation angle satellite high, V_LIt is the observational equation error of low clearance cornerdown's star, MF_H,AIt is the projection function of the Zenith tropospheric wet stack emission of elevation angle satellite high correspondence website A, MF_H,BIt is elevation angle satellite pair high Answer the projection function of the Zenith tropospheric wet stack emission of website B, MF_L,AFor the Zenith tropospheric of low clearance cornerdown star correspondence website A is wet The projection function of delay, MF_L,BIt is the projection function of the Zenith tropospheric wet stack emission of low clearance cornerdown star correspondence website B, N_HIt is height Elevation angle satellite fuzziness, N_LIt is low clearance cornerdown's star fuzziness, C_LIt is fuzziness N_LCoefficient matrix, C_HIt is fuzziness N_HBe Matrix number, O is null matrix, T_ztd,AIt is the Zenith tropospheric wet stack emission parameter of website A, T_ztd,BFor the Zenith tropospheric of website B is wet Delay parameter, L_HIt is the observation constant term of elevation angle satellite high, L_LIt is the observation constant term of low clearance cornerdown's star；

When control centre has completed to initialize first, step 2 is jumped to) newly risen satellite or losing lock recapture Satellite judges；

2), when control centre is determined with nova rise or losing lock satellite recapture according to real-time observed data, utilize Constraint scheme two resolves the corresponding fuzziness of the satellite of satellite or losing lock recapture of new rise；Such as Fig. 3 institutes of constraint scheme two Show, comprise the following specific steps that：

A) control centre newly rises the real-time observed data of the satellite of satellite or losing lock recapture to each navigation system and enters Row pretreatment is formed and regards file altogether；

B) lane ambiguity wide that the satellite of satellite or losing lock recapture is newly risen using MW combinations is resolved, and obtains double Difference width lane ambiguity ▽ Δs N_w；

C) using fix defending for the corresponding observational equation of satellite of fuzziness and new rise satellite or losing lock recapture The corresponding observational equation simultaneous of star resolves the double of the satellite of zenith tropospheric delay and new rise satellite or losing lock recapture Difference fuzziness, comprises the following steps that：

Its observation error equation is：

Subscript F, U corresponds to defending for the satellite and new rise satellite of fix fuzziness or losing lock recapture respectively in formula Star；

Wherein, V_FTo have fixed the observational equation error of the satellite of fuzziness, V_USatellite or losing lock recapture are risen for new Satellite observational equation error, MF_F,ATo have fixed the throwing of the Zenith tropospheric wet stack emission of the satellite correspondence website A of fuzziness Shadow function, MF_F,BTo have fixed the projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website B of fuzziness, MF_U,AFor new Rise the projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website A of satellite or losing lock recapture, MF_U,BIt is new liter Play the projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website B of satellite or losing lock recapture, N_FFor stent The satellite fuzziness of paste degree, N_UIt is the new satellite fuzziness for rising satellite or losing lock recapture, C_UIt is fuzziness N_UCoefficient square Battle array, C_FIt is fuzziness N_FCoefficient matrix, O is null matrix, T_ztd,AIt is the Zenith tropospheric wet stack emission parameter of website A, T_ztd,BFor The Zenith tropospheric wet stack emission parameter of website B, L_FTo have fixed the observation constant term of the satellite of fuzziness, L_UFor new rise is defended The observation constant term of the satellite of star or losing lock recapture.

Example is verified with two Long baselines below, wherein one is NJTS and the stations of NJPK two composition in the CORS of Jiangsu The baseline of 51km, is GPS/GLONASS dual systems, when -1 when observation time being 29 days 0 December in 2012, amounts to for 3600 epoch, Each system-satellite is：GPS：G01、G04、G17、G20、G28、G32；GLONASS：R01、R08、R14、R15、R17、R24；With reference to Satellite is respectively：G28, R24, base station NJTS elevation of satellite are as shown in Figure 1.

Other one is the test data of on January 17th, 2013, and website is positioned at the decorated archway school district auditorium of Southeast China University four LIXI websites and the AUST station datas positioned at Anhui University of Science and Technology's environment building, two websites are GPS/BDS dual system receptions Machine, baseline length is 179km, and 3600 data of epoch when -3 during selection 2, each Systematic selection satellite is respectively：GPS：G02、 G04、G05、G10；BDS：C01、C02、C03、C04、C06、C08；Reference satellite is：G02, C06, base station LIXI elevation of satellite As shown in Figure 2.

Two kinds of fuzziness constraint resolving schemes are designed altogether：

Constraint scheme one：For baseline NJTS->NJPK, resolves the corresponding satellite pair of diagonal satellite high, respectively first G01-G28, G17-G28, G20-G28, G32-G28, R01-R24, R14-R24, because the elevation angle of this six pairs of satellites is all high In 35 °, tropospheric influence is more thorough by what can be eliminated after double difference and Modifying model, so single epoch can be resolved, It will be appreciated from fig. 6 that for the double difference fuzziness of elevation angle satellite high, can preferably be fixed using single epoch.

In the case of fixation elevation angle satellite high, solution of fuzzy degree is carried out using a pair of low clearance cornerdown stars of constraint scheme Calculate, as shown in Figure 7, if using conventional method, the fuzziness of low clearance cornerdown's star in 200 epoch, float-solution and true value Between still differ two weeks, and as shown in Figure 9, its Ratio value more cannot be improved significantly all the time；Exist as seen from Figure 8 After constraint scheme one, the float-solution of the fuzziness of low clearance cornerdown's star can be with correct fixed solution phase in first epoch Difference is less than one week, and as seen from Figure 9, and its Ratio value is i.e. comparable big at the beginning；As seen from Figure 10, using general The conditional number that factor battle array is assisted during circulation method is reduced with the growth of observation time, and after using leash law, association's factor Conditional number several orders of magnitude smaller than conventional method all the time, and amplitude of variation is little.

Constraint scheme two：Constraint during for nova rise or losing lock recapture satellite, by baseline LIXI->In AUST G05 and C04 rise satellite or missing recapture satellite as new.As seen from Figure 11, after using constraint scheme two, The float-solution of the fuzziness of low clearance cornerdown's star can be differed less than one week in first epoch with correct fixed solution；And by Figure 12 can be seen that conventional method its Ratio value and more cannot significantly improve all the time, and constrained procedure two its Ratio value exists It is i.e. comparable big at the beginning, and consistently greater than conventional method Ratio values；It is similar to scheme one that it calculates effect.

By constraining both the above the analysis of scheme, the conditional number of the model constrained with atmospheric information is better than The several orders of magnitude of conventional model, and change over time is smaller, and network is being improved using the model constrained with atmospheric information Have than conventional method in terms of the efficiency and reliability of the fixation of RTK fuzzinesses and obviously improve.

The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (1)

1. a kind of Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS, it is characterised in that According to the network RTK ambiguity resolution models constrained with atmosphere delay prior information, elevation angle satellite high is fixed first, then The satellite observation constraint atmosphere delay of fuzziness degree will have been fixed, and low clearance cornerdown star or new satellite or losing lock has been risen again The satellite correspondence observational equation simultaneous of capture is resolved, and realizes that the fuzziness of unlocked fuzziness satellite is quickly fixed；

Comprise the following specific steps that：

1), control centre is initialized judgement first according to real-time observed data：When control centre initializes first, lead to Planar Mechanisms scheme one calculates the fuzziness of low clearance cornerdown's star；The constraint scheme one is comprised the following specific steps that：

A) control centre BDS/GPS/GLONASS real-time observed datas are carried out data prediction formed altogether regard file；

B) lane ambiguity wide for carrying out each navigation system using MW combinations is resolved, and obtains double difference lane ambiguity wide

C) all satellites of each navigation system are classified by elevation angle, is elevation angle satellite high higher than 35 °, less than 35 ° It is low clearance cornerdown's star, the fuzziness of elevation angle satellite high is fixed using single epoch；

D) the corresponding observational equation of the elevation angle satellite high observation side corresponding with low clearance cornerdown's star for having fixed fuzziness is used Cheng Lianli resolves zenith tropospheric delay and low clearance cornerdown's star double difference fuzziness：

$\left(\begin{array}{c}{V}_H\\ V_L\end{array}\right)=\left(\begin{array}{ccc}{\mathrm{MF}}_{H,A}& {\mathrm{MF}}_{H,B}& O\\ {\mathrm{MF}}_{L,A}& {\mathrm{MF}}_{L,B}& C_L\end{array}\right)\left(\begin{array}{c}{T}_{ztd,A}\\ T_{ztd,B}\\ N_L\end{array}\right)-\left(\begin{array}{c}{L}_H-C_H{N}_H\\ L_L\end{array}\right)---\left(1.1\right)$

Wherein, V_HIt is the observational equation error of elevation angle satellite high, V_LIt is the observational equation error of low clearance cornerdown's star, MF_H,AFor The projection function of the Zenith tropospheric wet stack emission of elevation angle satellite correspondence website A high, MF_H,BIt is elevation angle satellite high correspondence website B Zenith tropospheric wet stack emission projection function, MF_L,AFor low clearance cornerdown star corresponds to the Zenith tropospheric wet stack emission of website A Projection function, MF_L,BIt is the projection function of the Zenith tropospheric wet stack emission of low clearance cornerdown star correspondence website B, N_HIt is elevation angle high Satellite fuzziness, N_LIt is low clearance cornerdown's star fuzziness, C_LIt is fuzziness N_LCoefficient matrix, C_HIt is fuzziness N_HCoefficient square Battle array, O is null matrix, T_ztd,AIt is the Zenith tropospheric wet stack emission parameter of website A, T_ztd,BIt is the Zenith tropospheric wet stack emission of website B Parameter, L_HIt is the observation constant term of elevation angle satellite high, L_LIt is the observation constant term of low clearance cornerdown's star；

When control centre has completed to initialize first, step 2 is jumped to) newly risen satellite or losing lock recapture satellite Judge；

2), when control centre is determined with nova rise or losing lock satellite recapture according to real-time observed data, using constraint Scheme two resolves the corresponding fuzziness of the satellite of satellite or losing lock recapture of new rise；The constraint scheme two includes as follows Specific steps：

A) control centre each navigation system is newly risen the satellite of satellite or losing lock recapture real-time observed data carry out it is pre- Treatment is formed and regards file altogether；

B) lane ambiguity wide that the satellite of satellite or losing lock recapture is newly risen using MW combinations is resolved, and obtains double difference wide Lane ambiguity

C) the corresponding observational equation of satellite and the new satellite pair for rising satellite or losing lock recapture for having fixed fuzziness are used The observational equation simultaneous answered resolves the double difference mould of zenith tropospheric delay and the new satellite for rising satellite or losing lock recapture Paste degree, comprises the following steps that：

Its observation error equation is：

$\left(\begin{array}{c}{V}_F\\ V_U\end{array}\right)=\left(\begin{array}{ccc}{\mathrm{MF}}_{F,A}& {\mathrm{MF}}_{F,B}& O\\ {\mathrm{MF}}_{U,A}& {\mathrm{MF}}_{U,B}& C_U\end{array}\right)\left(\begin{array}{c}{T}_{ztd,A}\\ T_{ztd,B}\\ N_U\end{array}\right)-\left(\begin{array}{c}{L}_F-C_F{N}_F\\ L_U\end{array}\right)---\left(1.2\right)$

Subscript F, U corresponds to the satellite and the new satellite for rising satellite or losing lock recapture for having fixed fuzziness respectively in formula；

Wherein, V_FTo have fixed the observational equation error of the satellite of fuzziness, V_UDefending for satellite or losing lock recapture is risen for new The observational equation error of star, MF_F,ATo have fixed the projection letter of the Zenith tropospheric wet stack emission of the satellite correspondence website A of fuzziness Number, MF_F,BTo have fixed the projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website B of fuzziness, MF_U,AIt is new rise The projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website A of satellite or losing lock recapture, MF_U,BFor new rise is defended The projection function of the Zenith tropospheric wet stack emission of the satellite correspondence website B of star or losing lock recapture, N_FTo have fixed fuzziness Satellite fuzziness, N_UIt is the new satellite fuzziness for rising satellite or losing lock recapture, C_UIt is fuzziness N_UCoefficient matrix, C_FIt is fuzziness N_FCoefficient matrix, O is null matrix, T_ztd,AIt is the Zenith tropospheric wet stack emission parameter of website A, T_ztd,BIt is website The Zenith tropospheric wet stack emission parameter of B, L_FTo have fixed the observation constant term of the satellite of fuzziness, L_UFor it is new rise satellite or The observation constant term of the satellite of losing lock recapture.