CN108415049A - Improve the method that the wide lane ambiguity of network RTK double differences fixes accuracy - Google Patents

Improve the method that the wide lane ambiguity of network RTK double differences fixes accuracy Download PDF

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CN108415049A
CN108415049A CN201810356909.9A CN201810356909A CN108415049A CN 108415049 A CN108415049 A CN 108415049A CN 201810356909 A CN201810356909 A CN 201810356909A CN 108415049 A CN108415049 A CN 108415049A
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wide lane
lane ambiguity
satellite
difference
double difference
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CN108415049B (en
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赖允斌
汪登辉
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Qianxun Position Network Co Ltd
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Qianxun Position Network Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

The present invention provides the methods that a kind of wide lane ambiguity of raising network RTK double differences fixes accuracy, include the following steps：Step 1, data preparation：Receive the real-time observed data of GNSS reference station, the coordinate information of satellite ephemeris and reference station；Step 2, real-time ionospheric product calculates：According to the coordinate information and co-ordinates of satellite of reference station, non-poor Static Precise Point Positioning is carried out to reference station, calculates the non-poor real-time ionospheric length of delay of satellite-signal propagation path；Step 3, the wide lane ambiguity of baseline double difference calculates, including：Step 3.1, by the observation data group of two reference stations at double difference observation, double difference ionosphere discrepance is corrected using the non-poor real-time ionospheric length of delay that step 2 calculates；Step 3.2, the float-solution of the wide lane ambiguity of double difference is calculated；Step 3.3, rounding is carried out to the float-solution of the wide lane ambiguity of double difference and obtains the wide lane ambiguity integer of double difference.The present invention improves the accuracy for resolving the wide lane ambiguity of baseline double difference, so as to improve the precision and stability of network RTK.

Description

Improve the method that the wide lane ambiguity of network RTK double differences fixes accuracy
Technical field
The present invention relates to global position systems and positioning measurement technical field, and in particular to a kind of raising network RTK double differences The method that wide lane ambiguity fixes accuracy.
Background technology
VRS (Virtual Reference Station, virtual reference station) pattern is network RTK (Real-Time Kinematic, in real time dynamically) the most common station-keeping mode of positioning.It is established in a certain region multiple (3 or 3 or more) GNSS (Global Navigation Satellite System, Global Satellite Navigation System) satellite base station is continuously tracked (or base station, reference station) constitutes netted covering to this area, and providing high-precision in real time for the positioning user in the region misses Poor correcting information, improves the positioning accuracy of user, and this technology is known as technology of network RTK.It is referred to using known to these coordinates It stands and generates a dummy observation (virtual reference station) near user, can be calculated by reference station known to these coordinates Double difference fuzziness between reference station, and then double difference atmosphere errors are solved, then gone out virtually using certain interpolating method interpolation The atmosphere errors (position coordinates of virtual reference station are obtained by the rough coordinates of user's One-Point Location) of reference station, to virtual The dummy observation of reference station is modified, and can obtain more accurate dummy observation in this way.End user may be used Conventional RTK technologies carry out Differential positioning with this virtual reference station near him.Very due to virtual reference station and user distance Closely, so this distance (being generally less than 10 meters, determined by Point-positioning Precision) does not influence the performance of conventional RTK location technologies. So one of the key factor of the quality of network RTK services is the precision of the dummy observation of virtual reference station, and virtual observation The precision of value depends on the precision of Correction of Errors.The correctness of baseline double difference fuzziness be Correction of Errors precision key factor it One, the Correction of Errors precision of virtual reference station can be improved by improving the correctness of baseline double difference fuzziness, so as to improve net The precision and stability of network RTK positioning.
Existing baseline double difference Ambiguity Solution Methods usually first resolve the wide lane ambiguity of double difference, and it is narrow then to resolve double difference Lane ambiguity after obtaining baseline double difference fuzziness, and then can solve the double difference air of baseline.The existing wide lane ambiguity of baseline Degree calculation method generally has a phase linearity combined method, MW combined methods, three frequency super-wide-lane combined methods, these three methods are asked there are following Topic：
1, existing phase linearity combined method is then solved wide just with the linear combination of the observation of double frequency phase Lane ambiguity.It is about 0.86 meter, shorter for baseline since wide lane ambiguity wavelength is longer, for example within 20 kms, pass through Observation group double difference, residual error item is largely both less than 0.43 meter of half wavelength, by holding very much after the smooth rounding of several epoch Easily acquire wide lane ambiguity.But this is only suitable for short baseline, and baseline is longer or ionosphere active time section, residual error Item is more than often the half wavelength of wide lane ambiguity, influences the correct fixation of wide lane ambiguity.
2, MW combined methods are the linear combination using two class observation of double frequency pseudorange and phase, can be eliminated using MW combinations Troposphere, ionosphere and geometry item, only remaining observation noise and Multipath Errors.By several epoch it is smooth after, always Error be generally less than the half wavelength of wide lane ambiguity, the right value of wide lane ambiguity can be obtained.MW combinations utilize precision Lower Pseudo-range Observations, when the observation noise of pseudorange is larger or Multipath Errors are larger, it is difficult to ensure that total error is small In the half wavelength of wide lane ambiguity, the correct fixation of wide lane double difference fuzziness is influenced.
3, three frequency super-wide-lane combined methods can obtain the longer ultra-wide lane ambiguity of wavelength, then utilize ultra-wide lane ambiguity Calculate wide lane ambiguity.Three frequency ultra-wide lane ambiguity methods need the observation of three frequencies, but in addition to Beidou satellite system Whole satellites contain three frequency observation data outside, GPS satellite system only have part satellite have three frequency observe data, GLONASS Satellite only has Dual Frequency Observation data.These objective condition limit the use of three frequency super-wide-lane combined methods.
Invention content
The present invention solves the correctness problem of the wide lane ambiguity of double difference in network RTK (NRTK) Baselines algorithm, The present invention can improve the accuracy that the wide lane ambiguity of baseline double difference is resolved in network RTK.The void of virtual reference station in network RTK Quasi- observation data precision is influenced by baseline double difference fuzziness correctness, and the present invention, which improves, resolves the wide lane ambiguity of baseline double difference Accuracy, so as to improve the precision and stability of network RTK.
The technical solution adopted by the present invention is as follows：
A method of it improving the wide lane ambiguity of network RTK double differences and fixes accuracy, include the following steps：
Step 1, data preparation：Receive the real-time observed data of reference station, the coordinate information of satellite ephemeris and reference station；
Step 2, real-time ionospheric product calculates：According to the coordinate information and co-ordinates of satellite of reference station, satellite-signal is calculated The non-poor real-time ionospheric length of delay of propagation path；
Step 3, the wide lane ambiguity of baseline double difference calculates, including：
Step 3.1, by the observation data group of two reference stations at double difference observation, the non-difference calculated using step 2 is real-time Ionospheric delay values correct double difference ionosphere discrepance；
Step 3.2, the float-solution of the wide lane ambiguity of double difference is calculated；
Step 3.3, rounding is carried out to the float-solution of the wide lane ambiguity of double difference and obtains the wide lane ambiguity integer of double difference.
Further, the step 2 Satellite coordinate is calculated by satellite ephemeris.
Further, satellite-signal is calculated by the non-combined precise single-point positioning technology of non-difference in real time in the step 2 to pass Broadcast the non-poor real-time ionospheric length of delay in path.
Further, the step 2 specifically includes following steps：
Step 2.1, according to the coordinate information of reference station and co-ordinates of satellite, the non-difference for listing double frequency pseudorange and carrier phase is non- Combination observation equation；
Step 2.2, error is corrected；
Step 2.3, using Kalman Filter Estimation receiver clock-offsets, non-poor fuzziness and include satellite end and reception The ionosphere delay parameter of generator terminal hardware delay deviation D CB；
Step 2.4, DCB parameters are detached, the ionospheric delay values of true satellite-signal propagation path inclined direction are obtained.
Further, error includes earth rotation error, relativistic effect error, phase winding mistake in the step 2.2 Difference.
Further, region vertical direction ionosphere delay mould is established by non-poor ionosphere delay in the step 2.4 Type detaches DCB parameters.
Further, in the step 3.1 by the observation data group of two reference stations at double difference observation specific steps such as Under：Select the highest satellite of elevation of satellite as star is referred to, other satellites are as mobile star, to the movement in a reference station The observation data of star and reference star subtract each other to obtain first difference observation, the first difference observation of this reference station and another reference The first difference observation stood obtains double difference observation as difference.
Further, the float-solution of the wide lane ambiguity of double difference is calculated by the following formula in the step 3.2：
Wherein,It is double difference operator, φ between star between station1, φ2Phase observations of two frequencies as unit of week are indicated respectively Value, geometric distances of the ρ between satellite and reference station, I1, I2The ionosphere of two frequencies on satellite-signal propagation path is indicated respectively Length of delay, T are tropospheric delay value, ε1, ε2The non-model errors and noise error in two frequencies, λ are indicated respectively1, λ2Point Not Biao Shi two frequencies wavelength, N1, N2The fuzziness of two frequencies is indicated respectively,It is the wide lane ambiguity of double difference Angle value,It is double difference ionosphere discrepance.
The beneficial effects of the present invention are not only reduced the influence of double difference ionosphere discrepance, but also do not need service precision Low Pseudo-range Observations do not need three frequency observation data yet, are suitble to use in all navigational satellite systems.The present invention can be with The fixed accuracy of the wide lane ambiguity of double difference is improved, so as to improve the precision of baseline double difference air, improves determining for network RTK Position precision and stability.
Description of the drawings
Fig. 1 is the ionospheric delay values flow chart in PPP technologies of the present invention estimation signal propagation path；
Fig. 2 is the wide lane ambiguity angle value calculation flow chart of baseline double difference of the present invention.
Specific implementation mode
The present invention proposes the method that a kind of wide lane ambiguity of raising network RTK double differences fixes accuracy, is based on phase line Property combined method is improved, and phase linearity combinatorial formula is：
Wherein,It is double difference operator, φ between star between station1, φ2Phase observations of two frequencies as unit of week are indicated respectively Value, geometric distances of the ρ between satellite and reference station, I1, I2The ionosphere of two frequencies on satellite-signal propagation path is indicated respectively Length of delay, T are tropospheric delay value, ε1, ε2The non-model errors and noise error in two frequencies, λ are indicated respectively1, λ2Point Not Biao Shi two frequencies wavelength, N1, N2The fuzziness of two frequencies is indicated respectively,It is the wide lane ambiguity of double difference Angle value,It is double difference ionosphere discrepance.
When ionosphere is enlivened, double difference ionosphere discrepance is bigger, influences the resolving of the wide lane ambiguity of double difference, Jin Erying Ring the precision of baseline double difference air.The present invention uses real-time accurate One-Point Location technology (PPP, Point Precise Positioning the real-time ionospheric length of delay in satellite-signal propagation path) is calculated.Real-time accurate One-Point Location technology is profit The absolute fix of Static Precise Point Positioning is carried out with real-time accurate track and precise clock correction product and the observation data acquired in real time Technology.Reference station coordinates and satellite orbit are accurately known, receiver clock-offsets, zenith wet tropospheric delay, and non-difference fuzziness, Hardware delay deviation etc. uses precise single-point positioning technology that can go out with real-time estimation in satellite-signal propagation path as unknown number Real-time non-poor ionospheric delay values.Double difference is formed using non-poor ionospheric delay values, you can obtains the double difference electricity in formula (1) Absciss layer discrepance, to improve the correctness that the wide lane ambiguity of double difference resolves.
Hereinafter, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.The present invention step include：
Step 1, data preparation：
Receive the real-time observed data of reference station and the accurate coordinates of real-time High Precision Satellite Ephemeris and reference station Information.
Step 2, real-time ionospheric product calculates：
Reference station coordinates and co-ordinates of satellite are accurately known, and calculating satellite-signal using real-time accurate One-Point Location technology propagates The non-poor real-time ionospheric length of delay in path.Include hardware using Kalman Filter Estimation using the non-combined observation data of non-difference The non-poor real-time ionospheric delay of delay distortion DCB.Region modeling separation DCB is carried out finally by using fitting of a polynomial model Obtain the ionospheric delay values of true satellite-signal propagation path inclined direction.
Step 3, the wide lane ambiguity of baseline double difference calculates：
By the observation data group difference in pairs of two reference stations, the real-time ionospheric length of delay amendment calculated using second step Double difference ionosphere discrepance, then can calculate the floating point values of the wide lane ambiguity of double difference, can be obtained finally by the mode of rounding To the wide lane ambiguity integer of double difference.After improving the fixed accuracy of the wide lane ambiguity of network RTK double differences, virtual reference can be made The data stood calculate more accurate.
Preferably, non-difference real-time ionospheric length of delay calculation process is as shown in Figure 1 in step 2.Reference station coordinates are accurately Know, co-ordinates of satellite is also accurately known, and the non-difference of satellite-signal propagation path is calculated in real time using real-time accurate One-Point Location technology Ionospheric delay values.In the case of reference station and accurately known co-ordinates of satellite, the non-difference of double frequency pseudorange and carrier phase is listed Then non-combined observational equation carries out earth rotation, relativistic effect, phase winding equal error correction, recycles Kalman's filter Wave estimates receiver clock-offsets, non-difference fuzziness, and includes satellite end and receiver end hardware delay deviation D CB (Difference Code Bias)) the parameters such as ionosphere delay, establish region vertical direction using non-poor ionosphere delay Ionospheric delay model detaches DCB parameters, to obtain the ionosphere delay of true satellite-signal propagation path inclined direction Value.
Preferably, the wide lane ambiguity of double difference for the baseline being made of two reference base stations in step 3 calculates step such as Fig. 2 institutes Show.The coordinate of reference base station is all it is known that select the highest satellite of elevation of satellite as star is referred to, other satellites are as movement Star.Subtract each other to obtain first difference observation to the observation data of mobile star and reference star in some base station, this station it is primary Poor observation and the first difference observation of another base station can be obtained by double difference observation as difference.Known to reference station coordinates and In the case of being calculated known to co-ordinates of satellite by satellite ephemeris, and calculates double difference using poor ionospheric delay values non-in real time and ionize Then layer value can calculate the float-solution of the wide lane ambiguity of double difference according to formula (1), then carry out rounding to float-solution fuzziness Obtain the wide lane ambiguity integer of double difference.After improving the fixed accuracy of the wide lane ambiguity of network RTK double differences, it can make virtually to join The data calculating for examining station is more accurate.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair Bright technical solution makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, and according to the present invention Technical spirit to any simple modifications, equivalents, and modifications made by above example, belong to technical solution of the present invention Protection domain.

Claims (8)

1. a kind of method for improving the wide lane ambiguity of network RTK double differences and fixing accuracy, which is characterized in that include the following steps：
Step 1, data preparation：Receive the real-time observed data of reference station, the coordinate information of satellite ephemeris and reference station；
Step 2, real-time ionospheric product calculates：According to the coordinate information and co-ordinates of satellite of reference station, calculates satellite-signal and propagate The non-poor real-time ionospheric length of delay in path；
Step 3, the wide lane ambiguity of baseline double difference calculates, including：
Step 3.1, by the observation data group of two reference stations at double difference observation, the non-difference ionization in real time calculated using step 2 Layer length of delay corrects double difference ionosphere discrepance；
Step 3.2, the float-solution of the wide lane ambiguity of double difference is calculated；
Step 3.3, rounding is carried out to the float-solution of the wide lane ambiguity of double difference and obtains the wide lane ambiguity integer of double difference.
2. a kind of method for improving the wide lane ambiguity of network RTK double differences and fixing accuracy as described in claim 1, feature exist In the step 2 Satellite coordinate is calculated by satellite ephemeris.
3. a kind of method for improving the wide lane ambiguity of network RTK double differences and fixing accuracy as described in claim 1, feature exist In the non-poor real-time ionospheric for calculating satellite-signal propagation path in the step 2 by real-time accurate One-Point Location technology prolongs Value late.
4. a kind of method for improving the wide lane ambiguity of network RTK double differences and fixing accuracy as claimed in claim 3, feature exist In the step 2 specifically includes following steps：
Step 2.1, according to the coordinate information of reference station and co-ordinates of satellite, the non-difference for listing double frequency pseudorange and carrier phase is non-combined Observational equation；
Step 2.2, error is corrected；
Step 2.3, using Kalman Filter Estimation receiver clock-offsets, non-poor fuzziness and include satellite end and receiver end The ionosphere delay parameter of hardware delay deviation D CB；
Step 2.4, DCB parameters are detached, the ionospheric delay values of true satellite-signal propagation path inclined direction are obtained.
5. a kind of method for improving the wide lane ambiguity of network RTK double differences and fixing accuracy as claimed in claim 4, feature exist In error includes earth rotation error, relativistic effect error, phase winding error in the step 2.2.
6. a kind of method for improving the wide lane ambiguity of network RTK double differences and fixing accuracy as claimed in claim 5, feature exist In establishing region vertical direction ionospheric delay model by non-poor ionosphere delay in the step 2.4 and detach DCB parameters.
7. a kind of method for improving the wide lane ambiguity of network RTK double differences and fixing accuracy as claimed in claim 6, feature exist In being as follows at double difference observation by the observation data group of two reference stations in the step 3.1：Select satellite altitude The highest satellite in angle, which is used as, refers to star, other satellites are as mobile star, the sight to mobile star and reference star in a reference station Measured data subtracts each other to obtain first difference observation, and the first difference observation of this reference station is observed with the first difference of another reference station Value obtains double difference observation as difference.
8. a kind of method for improving the wide lane ambiguity of network RTK double differences and fixing accuracy as claimed in claim 7, feature exist In being calculated by the following formula the float-solution of the wide lane ambiguity of double difference in the step 3.2：
Wherein,It is double difference operator, φ between star between station1, φ2Carrier phase observable of two frequencies as unit of week, ρ are indicated respectively Geometric distance between satellite and reference station, I1, I2The ionosphere delay of two frequencies on satellite-signal propagation path is indicated respectively Value, T is tropospheric delay value, ε1, ε2The non-model errors and noise error in two frequencies, λ are indicated respectively1, λ2Table respectively Show the wavelength of two frequencies, N1, N2The fuzziness of two frequencies is indicated respectively,It is the wide lane ambiguity of double difference Value,It is double difference ionosphere discrepance.
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