CN111290005B - Differential positioning method and device for carrier phase, electronic equipment and storage medium - Google Patents

Differential positioning method and device for carrier phase, electronic equipment and storage medium Download PDF

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CN111290005B
CN111290005B CN202010143826.9A CN202010143826A CN111290005B CN 111290005 B CN111290005 B CN 111290005B CN 202010143826 A CN202010143826 A CN 202010143826A CN 111290005 B CN111290005 B CN 111290005B
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rover
delay
data
station
reference stations
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CN111290005A (en
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张明
陈波波
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Gaowei Spatiotemporal Beijing Network Co Ltd
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Gaowei Spatiotemporal Beijing 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the invention discloses a carrier phase differential positioning method, a carrier phase differential positioning device, electronic equipment and a storage medium, wherein differential data of more than two virtual reference stations are sent to a rover user, even if the differential data of part of the virtual reference stations cannot be updated in time or have poor quality, the rover user can use the differential data of other virtual reference stations to carry out carrier phase differential positioning, and the positioning precision and the reliability cannot be reduced; meanwhile, when the rover user moves from one reference station coverage area to another reference station coverage area, the rover user does not need to be initialized again, and continuous high-precision positioning results can be obtained.

Description

Differential positioning method and device for carrier phase, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to a differential positioning method and device of carrier phases, electronic equipment and a storage medium.
Background
The network RTK (Real-Time Kinematic) is one of GNSS (Global Navigation Satellite System) positioning technologies, and the technology can obtain Real-Time centimeter-level positioning accuracy, has the advantages of high initialization speed and high positioning accuracy, and is widely used in the fields of traffic, surveying and mapping, buildings and the like.
However, the existing network RTK technology only sends a single virtual reference station data to the rover user, and when the virtual reference station data cannot be updated in time, the positioning accuracy and reliability of the corresponding rover user gradually decrease as time accumulates; when the data quality of the virtual reference station is poor, positioning errors of the user of the rover station can be caused; in addition, when the main base station closest to the rover station is changed along with the movement of the rover station user, the rover station user is reinitialized, and the user cannot obtain a high-precision positioning result before the initialization is completed.
Disclosure of Invention
Because the existing methods have the above problems, embodiments of the present invention provide a differential positioning method and apparatus for carrier phase, an electronic device, and a storage medium.
In a first aspect, an embodiment of the present invention provides a differential positioning method for carrier phases, including:
acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, and calculating double-difference ionosphere delay and troposphere delay of all baselines according to the coordinates, the observation data and the broadcast ephemeris;
selecting more than two reference stations closest to the rover according to the double-difference ionosphere delay, the troposphere delay and the approximate coordinates of the rover of all baselines, and generating more than two corresponding virtual reference stations near the rover by using a virtual reference station algorithm; wherein the number of selected reference stations is determined based on data delay, data quality, rover position, rover motion trajectory and rover positioning state of the reference stations;
and according to the distance between each reference station and the rover station, sequencing from near to far, and sequentially sending the differential data of all the virtual reference stations to the rover station user so that the rover station user can calculate and obtain a carrier phase differential positioning result according to the received differential data and GNSS data of the rover station.
Optionally, the obtaining coordinates, observation data, and broadcast ephemeris of a reference station network composed of GNSS reference stations of each global navigation satellite system, and calculating double-difference ionosphere delay and troposphere delay of all baselines according to the coordinates, the observation data, and the broadcast ephemeris specifically includes:
acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, wherein the observation data comprises dual-frequency or multi-frequency pseudo-range and phase observation values;
preprocessing the observation data, eliminating GNSS satellite data with incomplete data or gross error, and correcting pseudo range satellite group delay TGD, relativity effect, gravitation delay, phase winding, errors of earth solid tide and ocean tide to obtain processed observation data;
and establishing an observation equation of double-difference pseudo range and phase according to the coordinates of the reference station and the processed observation data, and calculating double-difference ionospheric delay and tropospheric delay according to the observation equation.
Optionally, the selecting, according to the double-difference ionospheric delay and the tropospheric delay of all baselines and the approximate coordinates of the rover, two or more reference stations closest to the rover, and generating, using a virtual reference station algorithm, two or more corresponding virtual reference stations near the rover, specifically includes:
establishing a regional atmosphere delay model according to double-difference ionosphere delay and troposphere delay of at least two baselines which are closest to the rover, and selecting more than two reference stations which are closest to the rover according to approximate coordinates of the rover;
the method comprises the steps of calculating double-difference ionosphere delay and troposphere delay between a rover and more than two reference stations, and generating more than two virtual reference stations corresponding to the more than two reference stations near the rover according to a virtual reference station algorithm.
Optionally, the sequentially sending the differential data of all the virtual reference stations to the rover user according to the distance between each reference station and the rover station and the sequence from near to far, so that the rover user calculates a carrier phase differential positioning result according to the received differential data and GNSS data of the rover station, specifically including:
and according to the distance between each reference station and the mobile station, sequentially sending the differential data of more than two virtual reference stations to a user of the mobile station according to the sequence from near to far, so that the user of the mobile station establishes a double-difference pseudorange and a phase observation equation with the GNSS data of the mobile station according to the received differential data of each virtual reference station, calculates according to each observation equation to obtain a corresponding error equation, and solves each error equation to obtain a carrier phase difference differential positioning result.
In a second aspect, an embodiment of the present invention further provides a differential positioning apparatus for carrier phases, including:
the atmosphere delay calculation module is used for acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, and calculating double-difference ionosphere delay and troposphere delay of all base lines according to the coordinates, the observation data and the broadcast ephemeris;
the virtual reference station generating module is used for selecting more than two reference stations closest to the rover according to the double-difference ionosphere delay, the troposphere delay and the approximate coordinates of the rover of all baselines and generating more than two corresponding virtual reference stations near the rover by using a virtual reference station algorithm; wherein the number of selected reference stations is determined based on data delay, data quality, rover position, rover motion trajectory and rover positioning state of the reference stations;
and the differential data sending module is used for sequentially sending the differential data of all the virtual reference stations to the rover user according to the distance between each reference station and the rover station and the sequence from near to far so that the rover user can calculate the differential positioning result of the carrier phase according to the received differential data of the virtual reference stations and the GNSS data of the rover station.
Optionally, the atmospheric delay calculation module is specifically configured to:
acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, wherein the observation data comprises dual-frequency or multi-frequency pseudo-range and phase observation values;
preprocessing the observation data, eliminating GNSS satellite data with incomplete data or gross error, and correcting pseudo range satellite group delay TGD, relativity effect, gravitation delay, phase winding, errors of earth solid tide and ocean tide to obtain processed observation data;
and establishing an observation equation of double-difference pseudo range and phase according to the coordinates of the reference station and the processed observation data, and calculating double-difference ionospheric delay and tropospheric delay according to the observation equation.
Optionally, the virtual reference station generating module is specifically configured to:
establishing a regional atmosphere delay model according to double-difference ionosphere delay and troposphere delay of at least two baselines which are closest to the rover, and selecting more than two reference stations which are closest to the rover according to approximate coordinates of the rover;
the method comprises the steps of calculating double-difference ionosphere delay and troposphere delay between a rover and more than two reference stations, and generating more than two virtual reference stations corresponding to the more than two reference stations near the rover according to a virtual reference station algorithm.
Optionally, the differential data sending module is specifically configured to:
and according to the distance between each reference station and the mobile station, sequentially sending the differential data of more than two virtual reference stations to a user of the mobile station according to the sequence from near to far, so that the user of the mobile station establishes a double-difference pseudorange and a phase observation equation with the GNSS data of the mobile station according to the received differential data of each virtual reference station, calculates according to each observation equation to obtain a corresponding error equation, and solves each error equation to obtain a carrier phase difference differential positioning result.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, which when called by the processor are capable of performing the above-described methods.
In a fourth aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium storing a computer program, which causes the computer to execute the above method.
According to the technical scheme, the differential data of more than two virtual reference stations are sent to the rover station user, even if the differential data of part of the virtual reference stations cannot be updated in time or the quality is poor, the rover station user can use the differential data of other virtual reference stations to carry out carrier phase differential positioning, and the positioning accuracy and reliability cannot be reduced; meanwhile, when the rover user moves from one reference station coverage area to another reference station coverage area, the rover user does not need to be initialized again, and continuous high-precision positioning results can be obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a carrier phase differential positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a carrier phase differential positioning method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a carrier phase differential positioning apparatus according to an embodiment of the present invention;
fig. 5 is a logic block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Fig. 1 shows a schematic flowchart of a differential positioning method for carrier phases provided in this embodiment, including:
s101, obtaining coordinates, observation data and broadcast ephemeris of a reference station network formed by GNSS reference stations of the global navigation satellite system, and calculating double-difference ionosphere delay and troposphere delay of all base lines according to the coordinates, the observation data and the broadcast ephemeris.
The reference station network is a network formed by a plurality of GNSS reference stations.
The system shown in fig. 2 mainly comprises three parts, namely a reference station network, a data processing center and a rover user. A GNSS receiver of the reference station receives and processes GNSS signals, outputs GNSS dual-frequency or multi-frequency pseudo-range, carrier observed values and ephemeris data, and transmits the observed data to a data processing center; the data processing center processes the observation data, generates a virtual reference station data code according to the approximate coordinates of the rover station and then sends the virtual reference station data code to the user; and the rover receiver acquires the differential data and the GNSS observation value, and carries out carrier phase differential positioning after decoding to obtain a positioning result.
The observation data includes dual or multi-frequency pseudoranges and phase observations.
S102, selecting more than two reference stations closest to the rover according to double-difference ionosphere delay, troposphere delay and approximate coordinates of the rover of all baselines, and generating more than two corresponding virtual reference stations near the rover by using a virtual reference station algorithm; wherein the number of selected reference stations is determined based on data delay, data quality, rover position, rover motion trajectory, and rover positioning status of the reference stations.
Wherein the virtual reference station algorithm is an algorithm for generating a virtual reference station.
S103, according to the distance between each reference station and the mobile station, sequencing from near to far, and sequentially sending the differential data of all the virtual reference stations to the user of the mobile station, so that the user of the mobile station calculates to obtain a carrier phase differential positioning result according to the received differential data and the GNSS data of the mobile station.
Specifically, in the differential positioning method for carrier phases provided in this embodiment, a reference station network is formed by using a plurality of GNSS reference stations, and dual difference ionospheric delay and tropospheric delay of all baselines are calculated by using GNSS observation values; secondly, selecting alpha (alpha is more than or equal to 2) reference stations closest to the rover according to the approximate coordinates of the rover, and generating corresponding alpha virtual reference stations near the rover by using a virtual reference station algorithm; then, according to the distance between the reference station and the mobile station, sorting from near to far, encoding alpha group of virtual reference station data by using an RTCM protocol or a custom protocol, and then sequentially sending the encoded alpha group of virtual reference station data to a user; and finally, the rover station decodes the differential data according to the protocol to obtain alpha group of virtual reference station data, the alpha group of virtual reference station data and the rover station GNSS data form a double-difference pseudorange and phase observation equation respectively, and the double-difference pseudorange and phase observation equation is resolved to obtain an alpha group of carrier phase differential positioning result. And comprehensively considering factors such as the distance between the mobile station and the reference station, the fixed satellite number, the age of the differential data, the variance-covariance matrix of the positioning result and the like to obtain the optimal carrier phase differential positioning result.
In view of the defects of the prior art, the present embodiment provides a long-distance carrier phase differential positioning method for multiple virtual reference stations, which can solve the problems of poor precision, discontinuity, and low availability and reliability of long-distance carrier phase differential positioning, and implement precise, continuous, and reliable carrier phase differential positioning under a long-distance condition.
In the embodiment, differential data of more than two virtual reference stations are sent to the rover station user, even if the differential data of part of the virtual reference stations cannot be updated in time or the quality is poor, the rover station user can use the differential data of other virtual reference stations to carry out carrier phase differential positioning, and the positioning accuracy and reliability cannot be reduced; meanwhile, when the rover user moves from one reference station coverage area to another reference station coverage area, the rover user does not need to be initialized again, and continuous high-precision positioning results can be obtained.
Further, on the basis of the above method embodiment, S101 specifically includes:
acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, wherein the observation data comprises dual-frequency or multi-frequency pseudo-range and phase observation values;
preprocessing the observation data, eliminating GNSS satellite data with incomplete data or gross error, and correcting errors such as pseudorange satellite Group Delay TGD (satellite Group Delay), relativity effect, gravitational Delay, phase winding, earth solid tide and ocean tide to obtain processed observation data;
and establishing an observation equation of double-difference pseudo range and phase according to the coordinates of the reference station and the processed observation data, and calculating double-difference ionospheric delay and tropospheric delay according to the observation equation.
S102 specifically comprises the following steps:
establishing a regional atmosphere delay model according to double-difference ionosphere delay and troposphere delay of at least two baselines which are closest to the rover, and selecting more than two reference stations which are closest to the rover according to approximate coordinates of the rover;
the method comprises the steps of calculating double-difference ionosphere delay and troposphere delay between a rover and more than two reference stations, and generating more than two virtual reference stations corresponding to the more than two reference stations near the rover according to a virtual reference station algorithm.
S103 specifically comprises the following steps:
and according to the distance between each reference station and the mobile station, sequentially sending the differential data of more than two virtual reference stations to a user of the mobile station according to the sequence from near to far, so that the user of the mobile station establishes a double-difference pseudorange and a phase observation equation with the GNSS data of the mobile station according to the received differential data of each virtual reference station, calculates according to each observation equation to obtain a corresponding error equation, and solves each error equation to obtain a carrier phase difference differential positioning result.
Specifically, as shown in fig. 3, the carrier phase differential positioning method provided in this embodiment operates on the data processing center side, and needs to acquire observation data of a plurality of reference stations for processing, and send differential data to the rover user. In the execution process of the differential positioning method of the carrier phase, the method specifically comprises the following steps:
step 1: calculating double difference ionospheric delay and tropospheric delay for all baselines;
step 2: selecting alpha (alpha is more than or equal to 2) reference stations closest to the rover according to the approximate coordinates of the rover, generating alpha virtual reference stations near the rover by using a virtual reference station algorithm, sequencing the reference stations from near to far according to the distance between the reference stations and the rover, and sequentially transmitting alpha group of virtual reference station data to a user after coding by using an RTCM (real time messaging protocol) protocol or a custom protocol;
and step 3: the rover station user decodes the received differential data to obtain alpha group of virtual reference station data, the alpha group of virtual reference station data and the rover station GNSS observation values form a double-difference pseudorange and phase observation equation to carry out positioning calculation to obtain alpha group of positioning results, and factors such as the distance between the rover station and the reference station, the fixed satellite number, the age of the differential data, the variance-covariance matrix of the positioning results and the like are comprehensively considered to calculate the optimal carrier phase difference positioning result.
Wherein, the specific steps of the step 1 are as follows:
step 1.1: the method comprises the steps that GNSS observation data and broadcast ephemeris collected by a reference station receiver are transmitted to a data processing center, and the observation data comprise dual-frequency or multi-frequency pseudo-range and phase observation values;
step 1.2: preprocessing observation data, and removing GNSS satellites with incomplete data, gross errors and the like;
step 1.3: correcting pseudorange TGD, relativistic effect, gravitational delay, phase winding, earth solid tide and ocean tide errors;
step 1.4: forming a triangular network by using a Delauney algorithm for the reference station according to the coordinates of the reference station;
step 1.5: establishing a double-difference pseudorange and phase observation equation, wherein if the reference station is A, B, the satellite i is a reference satellite, the satellite j is an observation satellite, and the observation equation for neglecting the orbit error and the observation noise is as follows:
Figure GDA0002897788840000091
Figure GDA0002897788840000092
Figure GDA0002897788840000093
Figure GDA0002897788840000094
wherein the content of the first and second substances,
Figure GDA0002897788840000095
the carrier double-difference pseudorange observed values are respectively L1 and L2;
Figure GDA0002897788840000096
double-difference phase observed values of L1 and L2 carriers in meters respectively;
Figure GDA0002897788840000097
is a double-difference distance between fields; f. of1、f2The frequencies of the L1 and L2 carriers, respectively; lambda [ alpha ]1、λ2Wavelengths of L1, L2 carriers, respectively;
Figure GDA0002897788840000101
is the L1 carrier double differential ionospheric delay;
Figure GDA0002897788840000102
is a double differential tropospheric delay;
Figure GDA0002897788840000103
respectively double-difference narrow lane ambiguity and wide lane ambiguity.
Step 1.6: the double difference tropospheric delay is expressed as:
Figure GDA0002897788840000104
wherein the content of the first and second substances,
Figure GDA0002897788840000105
respectively, the single difference dry delay projection coefficients between the stations A, B;
Figure GDA0002897788840000106
the single difference wet delay projection coefficient between the stations is measured by station A, B; t isw,A、Td,BRespectively, station A, B zenith tropospheric stem delay; t isw,A、Tw,BRespectively, zenith tropospheric wet delay at station A, B.
Step 1.7: and correcting the troposphere dry delay by using a model, and estimating parameters including double-difference ionosphere delay, double-difference ambiguity and zenith troposphere wet delay to obtain an error equation:
V＝BX-l,D (1f)
wherein B is a design matrix; x is a parameter vector to be estimated; l is an observation vector; v is an observed value residual error vector; and D is an observation value vector weight matrix.
Figure GDA0002897788840000107
Figure GDA0002897788840000108
Figure GDA0002897788840000111
Figure GDA0002897788840000112
Wherein n is the total number of double-difference satellite pairs;
Figure GDA0002897788840000113
the double difference pseudo range and the prior variance of the phase observation value of the L1 carrier wave and the L2 carrier wave are respectively obtained by calculation according to the prior standard variance and the satellite height angle of the pseudo range and the phase observation value;
step 1.8: detecting the cycle slip of the satellite, and regarding the satellite with the cycle slip, taking the ambiguity parameter as a new parameter;
step 1.9: and obtaining a double-difference ambiguity floating solution through sequential adjustment.
Step 1.10: and (3) obtaining a double-difference ambiguity fixing solution by using an ambiguity searching method and carrying out ambiguity checking.
Step 1.11: calculating double differential ionospheric and tropospheric delays:
Figure GDA0002897788840000114
Figure GDA0002897788840000115
the specific steps of step 2 are as follows:
step 2.1: selecting more than 2 baselines with fixed ambiguity nearest to the base lines according to approximate coordinates of the rover
Step 2.2: a regional atmospheric delay model is built from the baseline double difference ionospheric and tropospheric delays, and the observation equation for satellite j for reference station A, B is as follows:
Figure GDA0002897788840000121
Figure GDA0002897788840000122
wherein the content of the first and second substances,
Figure GDA0002897788840000123
the ionosphere model coefficient to be solved is obtained;
Figure GDA0002897788840000124
the troposphere model coefficient to be solved is obtained; B. l is the latitude and longitude of the reference station; i is a reference satellite.
Step 2.3: establishing an observation equation set by using the double-difference atmospheric delay of the base line selected in the step 2.1, and obtaining the coefficient of the regional atmospheric delay model through least square adjustment
Figure GDA0002897788840000125
Figure GDA0002897788840000126
Step 2.4: according to the approximate coordinates of the rover station, alpha (alpha is larger than or equal to 2) reference stations closest to the rover station are selected.
Step 2.5: calculating the rover and the reference station Rk(k is more than or equal to 1 and less than or equal to alpha) double difference ionospheric delay and tropospheric delay:
Figure GDA0002897788840000127
Figure GDA0002897788840000128
wherein, BU、LULatitude and longitude of the rover U;
Figure GDA0002897788840000129
as a reference station RkLatitude and longitude of;
step 2.5: according to reference station RkAnd dual differential ionospheric delay and tropospheric delay between the rover and the reference station, generating a virtual reference station near the rover using a virtual reference station algorithm.
Step 2.6: and repeating the steps 2.4-2.5 to obtain alpha group of virtual reference station data.
Step 2.7: and according to the distance between the reference station and the mobile station, sequencing from near to far, and sequentially sending the data of the virtual reference station to the user after coding the data of the virtual reference station by adopting an RTCM protocol or a custom protocol.
The specific steps of step 3 are as follows:
step 3.1: the user of the mobile station decodes the received differential data to obtain alpha group of virtual reference station data;
step 3.2: preprocessing GNSS observation data of a mobile station, and eliminating GNSS satellites with incomplete data, gross errors and the like;
step 3.3: and (3) establishing a double-difference pseudorange and phase observation equation by utilizing the kth group of virtual reference station data and the rover GNSS observation value, wherein if the reference satellite is i, the observation equation after the satellite j is linearized is as follows:
Figure GDA0002897788840000131
Figure GDA0002897788840000132
Figure GDA0002897788840000133
Figure GDA0002897788840000134
Figure GDA0002897788840000135
Figure GDA0002897788840000136
Figure GDA0002897788840000137
wherein the content of the first and second substances,
Figure GDA0002897788840000138
the carrier double-difference pseudorange observed values are respectively L1 and L2;
Figure GDA0002897788840000139
double-difference phase observed values of L1 and L2 carriers in meters respectively;
Figure GDA00028977888400001310
is a double-difference distance between fields; f. of1、f2Frequencies of L1, L2 carriers; lambda [ alpha ]1、λ2Wavelengths of L1, L2 carriers, respectively;
Figure GDA00028977888400001311
respectively double-difference narrow lane ambiguity and wide lane ambiguity; (x)0,U,y0,U,z0,U) Approximate coordinates for the rover;
Figure GDA00028977888400001312
and calculating the approximate distance between the rover and the satellites i and j according to the approximate coordinate of the rover and the coordinate of the satellite, and calculating the coordinate of the satellite according to the broadcast ephemeris.
Step 3.4: obtaining an error equation:
Figure GDA00028977888400001313
wherein the content of the first and second substances,
Figure GDA0002897788840000141
to design a matrix;
Figure GDA0002897788840000142
is a parameter vector to be estimated;
Figure GDA0002897788840000143
is an observation vector;
Figure GDA0002897788840000144
is an observed value residual vector;
Figure GDA0002897788840000145
vector weighting matrix for observation value.
Figure GDA0002897788840000146
Figure GDA0002897788840000147
Figure GDA0002897788840000148
Figure GDA0002897788840000149
Wherein n is the total number of double-difference satellite pairs;
Figure GDA00028977888400001410
the carrier double-difference pseudo-range and the prior variance of the phase observation value are respectively L1 and L2, and are obtained by calculation according to the prior standard variance of the pseudo-range and the phase observation value and the satellite height angle;
step 3.5: solving equation (3h) to obtain the rover coordinates:
Figure GDA0002897788840000151
step 3.6: repeating the steps 3.3 to 3.5 to obtain an alpha group carrier phase differential positioning result;
step 3.7: and calculating the optimal carrier phase difference positioning result by comprehensively considering factors such as the distance between the mobile station and the reference station, the fixed satellite number, the age of the difference data, the variance-covariance matrix of the positioning result and the like.
Compared with the prior art, in the carrier phase differential positioning method provided by the embodiment, because the rover station user can receive a plurality of pieces of virtual reference station data, even if part of the virtual reference station data cannot be updated in time, the rover station user can use other pieces of virtual reference station data to perform carrier phase differential positioning, and the positioning accuracy cannot be reduced; when the data quality of part of the virtual reference stations is poor, the rover user can use the data of other virtual reference stations to carry out carrier phase differential positioning, and the situation of positioning errors can not occur; when the rover user moves from one reference station coverage area to another, the rover user does not need to reinitialize and can obtain continuous high-precision positioning results.
Fig. 4 is a schematic structural diagram of a carrier phase differential positioning apparatus provided in this embodiment, where the apparatus includes: an atmospheric delay calculation module 401, a virtual reference station generation module 402, and a differential data transmission module 403, wherein:
the atmosphere delay calculation module 401 is configured to obtain coordinates, observation data, and broadcast ephemeris of a reference station network composed of GNSS reference stations of each global navigation satellite system, and calculate double-difference ionosphere delay and troposphere delay of all baselines according to the coordinates, the observation data, and the broadcast ephemeris;
the virtual reference station generating module 402 is configured to select, according to the double difference ionospheric delay and tropospheric delay of all baselines and approximate coordinates of the rover, two or more reference stations closest to the rover, and generate two or more corresponding virtual reference stations near the rover using a virtual reference station algorithm; wherein the number of selected reference stations is determined based on data delay, data quality, rover position, rover motion trajectory and rover positioning state of the reference stations;
the differential data sending module 403 is configured to sequentially send the differential data of all the virtual reference stations to the rover user according to the distance between each reference station and the rover station and in a descending order, so that the rover user obtains the differential positioning result of the carrier phase by calculating according to the received virtual reference station differential data and the GNSS data of the rover station.
Specifically, the atmospheric delay calculation module 401 obtains coordinates, observation data, and broadcast ephemeris of a reference station network composed of GNSS reference stations of each global navigation satellite system, and calculates double-difference ionosphere delay and troposphere delay of all baselines according to the coordinates, the observation data, and the broadcast ephemeris; the virtual reference station generating module 402 selects two or more reference stations closest to the rover according to the double-difference ionosphere delay and the troposphere delay of all baselines and the approximate coordinates of the rover, and generates two or more corresponding virtual reference stations near the rover by using a virtual reference station algorithm; wherein the number of selected reference stations is determined based on data delay, data quality, rover position, rover motion trajectory and rover positioning state of the reference stations; the differential data sending module 403 sequentially sends the differential data of all the virtual reference stations to the rover user according to the distance between each reference station and the rover station and the sequence from near to far, so that the rover user can calculate the differential positioning result of the carrier phase according to the received differential data of the virtual reference stations and the GNSS data of the rover station.
In the embodiment, differential data of more than two virtual reference stations are sent to the rover station user, even if the differential data of part of the virtual reference stations cannot be updated in time or the quality is poor, the rover station user can use the differential data of other virtual reference stations to carry out carrier phase differential positioning, and the positioning accuracy and reliability cannot be reduced; meanwhile, when the rover user moves from one reference station coverage area to another reference station coverage area, the rover user does not need to be initialized again, and continuous high-precision positioning results can be obtained.
Further, on the basis of the above device embodiment, the atmospheric delay calculation module 401 is specifically configured to:
acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, wherein the observation data comprises dual-frequency or multi-frequency pseudo-range and phase observation values;
preprocessing the observation data, eliminating GNSS satellite data with incomplete data or gross error, and correcting pseudo range satellite group delay TGD, relativity effect, gravitation delay, phase winding, errors of earth solid tide and ocean tide to obtain processed observation data;
and establishing an observation equation of double-difference pseudo range and phase according to the coordinates of the reference station and the processed observation data, and calculating double-difference ionospheric delay and tropospheric delay according to the observation equation.
Further, on the basis of the foregoing apparatus embodiment, the virtual reference station generating module 402 is specifically configured to:
establishing a regional atmosphere delay model according to double-difference ionosphere delay and troposphere delay of at least two baselines which are closest to the rover, and selecting more than two reference stations which are closest to the rover according to approximate coordinates of the rover;
the method comprises the steps of calculating double-difference ionosphere delay and troposphere delay between a rover and more than two reference stations, and generating more than two virtual reference stations corresponding to the more than two reference stations near the rover according to a virtual reference station algorithm.
Further, on the basis of the above device embodiment, the differential data sending module 403 specifically includes a module for:
and according to the distance between each reference station and the mobile station, sequentially sending the differential data of more than two virtual reference stations to a user of the mobile station according to the sequence from near to far, so that the user of the mobile station establishes a double-difference pseudorange and a phase observation equation with the GNSS data of the mobile station according to the received differential data of each virtual reference station, calculates according to each observation equation to obtain a corresponding error equation, and solves each error equation to obtain a carrier phase difference differential positioning result.
The differential positioning apparatus for carrier phase described in this embodiment may be used to implement the above method embodiments, and the principle and technical effect are similar, which are not described herein again.
Referring to fig. 5, the electronic device includes: a processor (processor)501, a memory (memory)502, and a bus 503;
wherein the content of the first and second substances,
the processor 501 and the memory 502 are communicated with each other through the bus 503;
the processor 501 is used to call program instructions in the memory 502 to perform the methods provided by the above-described method embodiments.
The present embodiments disclose a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the methods provided by the above-described method embodiments.
The present embodiments provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the methods provided by the method embodiments described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
It should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (8)

1. A method for differential positioning of carrier phases, comprising:
acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, and calculating double-difference ionosphere delay and troposphere delay of all baselines according to the coordinates, the observation data and the broadcast ephemeris;
selecting more than two reference stations closest to the rover according to the double-difference ionosphere delay, the troposphere delay and the approximate coordinates of the rover of all baselines, and generating more than two corresponding virtual reference stations near the rover by using a virtual reference station algorithm; wherein the number of selected reference stations is determined based on data delay, data quality, rover position, rover motion trajectory and rover positioning state of the reference stations;
and according to the distance between each reference station and the mobile station, sequentially sending the differential data of more than two virtual reference stations to a user of the mobile station according to the sequence from near to far, so that the user of the mobile station establishes a double-difference pseudorange and a phase observation equation with the GNSS data of the mobile station according to the received differential data of each virtual reference station, calculates according to each observation equation to obtain a corresponding error equation, and solves each error equation to obtain a carrier phase difference differential positioning result.
2. The carrier-phase differential positioning method according to claim 1, wherein the obtaining coordinates, observation data, and broadcast ephemeris of a network of reference stations formed by GNSS reference stations of global navigation satellite systems, and calculating double difference ionospheric delay and tropospheric delay of all baselines according to the coordinates, the observation data, and the broadcast ephemeris, specifically comprises:
acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, wherein the observation data comprises dual-frequency or multi-frequency pseudo-range and phase observation values;
preprocessing the observation data, eliminating GNSS satellite data with incomplete data or gross error, and correcting pseudo range satellite group delay TGD, relativity effect, gravitation delay, phase winding, errors of earth solid tide and ocean tide to obtain processed observation data;
and establishing an observation equation of double-difference pseudo range and phase according to the coordinates of the reference station and the processed observation data, and calculating double-difference ionospheric delay and tropospheric delay according to the observation equation.
3. The method for differential carrier-phase positioning according to claim 1, wherein the selecting, according to the double differential ionospheric delay and tropospheric delay of all baselines and approximate rover coordinates, two or more rover stations that are closest to the rover station, and generating, using a virtual rover algorithm, the corresponding two or more virtual rover stations near the rover station specifically includes:
establishing a regional atmosphere delay model according to double-difference ionosphere delay and troposphere delay of at least two baselines which are closest to the rover, and selecting more than two reference stations which are closest to the rover according to approximate coordinates of the rover;
the method comprises the steps of calculating double-difference ionosphere delay and troposphere delay between a rover and more than two reference stations, and generating more than two virtual reference stations corresponding to the more than two reference stations near the rover according to a virtual reference station algorithm.
4. A carrier phase differential positioning apparatus, comprising:
the atmosphere delay calculation module is used for acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, and calculating double-difference ionosphere delay and troposphere delay of all base lines according to the coordinates, the observation data and the broadcast ephemeris;
the virtual reference station generating module is used for selecting more than two reference stations closest to the rover according to the double-difference ionosphere delay, the troposphere delay and the approximate coordinates of the rover of all baselines and generating more than two corresponding virtual reference stations near the rover by using a virtual reference station algorithm; wherein the number of selected reference stations is determined based on data delay, data quality, rover position, rover motion trajectory and rover positioning state of the reference stations;
and the differential data sending module is used for sequentially sending the differential data of more than two virtual reference stations to the rover user according to the distance between each reference station and the rover station and the sequence from near to far, so that the rover user establishes double-difference pseudorange and phase observation equations respectively with GNSS data of the rover station according to the received differential data of each virtual reference station, calculates corresponding error equations according to the observation equations, and solves the error equations to obtain a carrier phase differential positioning result.
5. The carrier-phase differential positioning apparatus of claim 4, wherein the atmospheric delay calculation module is specifically configured to:
acquiring coordinates, observation data and broadcast ephemeris of a reference station network consisting of GNSS reference stations of the global navigation satellite system, wherein the observation data comprises dual-frequency or multi-frequency pseudo-range and phase observation values;
preprocessing the observation data, eliminating GNSS satellite data with incomplete data or gross error, and correcting pseudo range satellite group delay TGD, relativity effect, gravitation delay, phase winding, errors of earth solid tide and ocean tide to obtain processed observation data;
and establishing an observation equation of double-difference pseudo range and phase according to the coordinates of the reference station and the processed observation data, and calculating double-difference ionospheric delay and tropospheric delay according to the observation equation.
6. The carrier-phase differential positioning apparatus according to claim 4, wherein the virtual reference station generating module is specifically configured to:
establishing a regional atmosphere delay model according to double-difference ionosphere delay and troposphere delay of at least two baselines which are closest to the rover, and selecting more than two reference stations which are closest to the rover according to approximate coordinates of the rover;
the method comprises the steps of calculating double-difference ionosphere delay and troposphere delay between a rover and more than two reference stations, and generating more than two virtual reference stations corresponding to the more than two reference stations near the rover according to a virtual reference station algorithm.
7. An electronic device, comprising:
at least one processor; and at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform a carrier-phased differential positioning method as claimed in any one of claims 1 to 3.
8. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute the carrier-phase differential positioning method according to any one of claims 1 to 3.
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