CN103176188A - Single-epoch fixing method for enhancing PPP-RTK ambiguity of regional foundation - Google Patents

Abstract

The invention provides a single-epoch fixing method for enhancing PPP-RTK ambiguity of regional foundation. The single-epoch fixing method comprises the following steps of: improving the ambiguity convergence time of a PPP-RTK method by carrying out optimizing ordering on the fixing feasibility of single-difference ambiguity between alternative satellites, respectively modeling for an observed value residual error of a CA/P1 pseudo-range and observed value residual errors of L1 and L2 phase positions by adopting a single-reference station processing mode based on a PPP-RTK technique, and realizing the single-epoch fixing of combined ambiguity of an ionization-free layer through step-by-step solving of the ambiguity in consideration of a linear constraint relationship between the high precision of a pseudo-range observed value, long wavelength of a wide-lane observed value, wide-lane ambiguity and L1 ambiguity after a user refines the models, thus the determination time of the PPP ambiguity is minimized, and the working efficiency of precisely locating the user is improved to the maximum degree.

Description

A kind of regional ground strengthens PPP-RTK blur level single epoch of fixing means

Technical field

The invention belongs to the Global Navigation System field, about the blur level technique for fixing of Static Precise Point Positioning (PPP), particularly a kind of regional ground strengthens PPP-RTK blur level single epoch of fixing means.

Background technology

Strengthen net based on regional ground and realize that it is study hotspot and the difficulties of present Technique of Satellite Navigation and Positioning that the Static Precise Point Positioning blur level is determined single epoch." based on the network RTK method of non-poor observation " that the scholars such as Ge propose ^[1]And the scholar such as Teunissen " based on the PPP-RTK method of CORS net " that propose ^[2]Feasibility is provided for realizing this goal, yet existing method is just carried out modeling to the non-poor observed reading residual error of carrier phase at base station place, because this information has not only comprised ionosphere delay, not modeled tropospheric delay, satellite orbit, the impact of satellite clock correction equal error have also been comprised, and original pseudorange only can be eliminated ionosphere delay impact without ionosphere combination observation value (PC), so there is inconsistency in the residual error that the user carries out comprising in carrier phase observation data after model correction and original PC pseudorange.This inconsistent being equivalent to has added a group system sexual deviation in Pseudo-range Observations, thereby affects speed of convergence and reliability that carrier phase ambiguity resolves.

In addition, " regional ground strengthens the single base station modeling method of information " that is proposing according to scholars such as Li ^[3]The time, because needing long-time continuous observation, the base station zenith tropospheric delay just can obtain comparatively stable valuation, and the residual error Δ ztd of zenith tropospheric delay can be converted into by the tropospheric delay mapping function delay error of wrong path footpath direction, when this will affect Static Precise Point Positioning without ionosphere combinational fuzzy degree N _IFEstimation accuracy, and then cause by N _IFWith wide lane ambiguity (N _WL) inverse gained L1 blur level (N _L1) generation deviation (Δ N _IF), even resolve mistake (as shown in the formula (a) and (b), f wherein _L1, f _L2And finally cause the regional ground of generation error to strengthen information frequency for L1, L2 observed reading).Therefore, according to the PPP-RTK method, for guaranteeing the fixedly reliability of result of the non-poor blur level in base station place, whole regional ground enhancing system is difficult to realize fast initialization.

$N_{L1}=\frac{f_{L1}+f_{L2}}{f_{L1}}(N_{\mathrm{IF}}+{\mathrm{\ΔN}}_{\mathrm{IF}})-\frac{f_{L2}}{f_{L1}-f_{L2}}{N}_{\mathrm{WL}}---\left(a\right)$

N _L2＝N _L1-N _WL （b）

List of references:

[1]Ge M.R.,Zou X.,Dick G.,Jiang W.P.,Wickert J.,Liu J.N.(2010).An alternative Network RTK approach based on undifferenced observation corrections,ION GNSS 2010(Oral report).

[2]Teunissen P.J.G.,Odijk D.,Zhang B.(2010).PPP-RTK:Results of CORS network-based PPP with integer ambiguity resolution,Journal of Aeronautics,Astronautics and Aviation,Series A,42(4):223-230.

[3]Li X.X.,Zhang X.H.,Ge M.R.(2011).Regional reference network augmented precise point positioning for instantaneous ambiguity resolution,Journal of Geodesy,85(3):151-158.

Summary of the invention

Strengthen base station error Real-time modeling set method, system initialization speed for regional ground, and user's blur level single epoch of these several class problems of fixing means, the present invention proposes a kind of regional ground and strengthens PPP-RTK blur level single epoch of fixing means.

For solving the problems of the technologies described above, the present invention adopts following technical scheme:

A kind of regional ground strengthens PPP-RTK blur level single epoch of fixing means, comprises the following steps,

Step 1, calculate the non-poor observed reading residual error of L1, L2 carrier phase of the non-poor observed reading residual sum deblurring degree impact of the base station CA/P1 of place pseudorange, and it strengthened information distributing to user in net as regional ground, specifically comprise:

Step 1.1, utilize the observation data of IGS real-time accurate satellite orbit, real-time accurate satellite clock correction product and global equally distributed base station according to the real-time Calculation of Satellite hardware delay of conventional PPP-RTK method UPD;

Step 1.2, the fixedly feasibility of single poor blur level between alternative star is optimized sequence;

Step 1.3, utilize the satellite hardware of calculating in real time postpone UPD information and fixedly the sequence of feasibility observation data that each regional ground is strengthened base station carry out the PPP-RTK blur level and fix, obtain single poor blur level static solution between its star;

Step 1.4, setting reference satellite, strengthen the base station coordinate according to known ground, utilize formula (1) inverse to obtain the corresponding CA/P1 pseudorange error information such as satellite orbit, satellite clock correction, atmospheric refraction and L1, L2 phase error information, namely this moment base station the non-poor observed reading residual error Omc of pseudorange _P1The non-poor observed reading residual error Omc of phase place with the impact of deblurring degree _L1And Omc _L2, and it is strengthened information distributing to user in net as regional ground;

Omc _P1＝O _P1-ρ-ct+cT+M _P1

Omc _L1＝(O _L1+N _L1)λ _L1-ρ-ct+cT+M _L1 （1）

Omc _L2＝(O _L2+N _L2)λ _L2-ρ-ct+cT+M _L2

Wherein, O _P1, O _L1, O _L2Be the CA/P1 pseudorange at base station place and L1, L2 phase observations value, N _L1, N _L2Be the non-poor blur level of the base station L1 of place, L2 that calculates according to the PPP-RTK method, λ _L1, λ _L2Be L1, L2 phase observations value wavelength, ρ is survey station inter-satellite geometric distance, and c is the light velocity in vacuum, and t, T are receiver and satellite clock correction, M _P1, M _L1, M _L2Reduction for the CA/P1 pseudorange that utilizes existing error model to calculate, L1, L2 observed reading;

Step 2, user obtain according to himself approximate coordinates and the neighboring area ground strengthens relative position relation between base station, by the peripheral base station zone ground enhancing information of obtaining is carried out the match interpolation, calculate the user and locate corresponding ground and strengthen information, the user is located carrier phase and Pseudo-range Observations is refined;

Step 3, strengthen that the fixing three-step approach of Static Precise Point Positioning user blur level is resolved its Kuan Xiang fast and without ionosphere combinational fuzzy degree according to regional ground;

Employing is resolved single poor blur level user satellite by wide lane ambiguity, L1 blur level to the three-step approach of progressively fixing without ionosphere combination observation value blur level, specifically comprises the following steps:

CA/P1 Pseudo-range Observations after step 3.1, utilization are refined

With refine after wide lane carrier phase observation data

Form single poor joint observation equation between star, as shown in Equation (2), by single poor wide lane ambiguity ▽ N between LAMBDA algorithm search star _WL, and be aided with the fixedly validity of result of RATIO check judgement blur level;

$\left\{\begin{array}{c}\▿{\hat{O}}_{P1}=\▿\mathrm{\ρ}-c\▿T-\▿M_{P1}\\ \▿{\hat{O}}_{\mathrm{WL}}=\frac{\▿\mathrm{\ρ}-c\▿T-\▿M_{\mathrm{WL}}}{{\mathrm{\λ}}_{\mathrm{WL}}}-\▿N_{\mathrm{WL}}\end{array}\right.---\left(2\right)$

Wherein, ▽ ρ is single poor result between the star of survey station inter-satellite geometric distance, and c is the light velocity in vacuum, and ▽ T is single poor satellite clock correction between star, ▽ M _P1, ▽ M _WLBe single poor reduction between the star of the CA/P1 pseudorange that utilizes existing error model to calculate, wide lane phase observations value, λ _WLBe wide lane phase observations value wavelength;

Step 3.2, the wide lane carrier phase after refining are apart from observed reading

With refine after without ionosphere combined carriers phase observations value

Form single poor joint observation equation between star, as shown in Equation (3), calculate without ionosphere combinational fuzzy degree floating-point solution ▽ N _IF, calculate between star the floating-point solution ▽ N of single poor L1 blur level according to formula (4) _L1

$\left\{\begin{array}{c}\▿{\hat{O}}_{\mathrm{WL}}=\frac{\▿\mathrm{\ρ}-c\▿T-\▿M_{\mathrm{WL}}}{{\mathrm{\λ}}_{\mathrm{WL}}}-\▿N_{\mathrm{WL}}\\ \▿{\hat{O}}_{\mathrm{IF}}=\frac{\▿\mathrm{\ρ}-c\▿T-\▿M_{\mathrm{IF}}}{{\mathrm{\λ}}_{\mathrm{IF}}}-\▿N_{\mathrm{IF}}\end{array}\right.---\left(3\right)$

$\&dtri;N_{L1}=\frac{f_{L1}+f_{L2}}{f_{L1}}\&dtri;N_{\mathrm{IF}}-\frac{f_{L2}}{f_{L1}-{\mathrm{<figure-callout\; id="2"\; label="f\; L"\; filenames="130319152015.png"\; state="\{\{state\}\}">f</figure-callout>}}_L}\&dtri;N_{\mathrm{WL}}---\left(4\right)$

Wherein, ▽ M _IFFor utilize that existing error model calculates without on duty for the week poor reduction of list of ionosphere combination observation, λ _IFFor without ionosphere combinatorial phase observed reading wavelength, f _L1, f _L2Frequency for L1, L2 observed reading;

Utilize single poor wide lane ambiguity ▽ N between star _WLCalculate the approximate value of single poor L1 blur level between star according to formula (5)

And with it virtual observation equation addition method equation during as the L1 ambiguity resolution;

$\&dtri;{\tilde{N}}_{L1}=\frac{f_{L1}}{f_{\mathrm{WL}}}\&dtri;N_{\mathrm{WL}}+\frac{c{f}_{L1}\&dtri;{\hat{O}}_{\mathrm{WL}}+f_{L1}{f}_{\mathrm{WL}}\&dtri;M_{\mathrm{WL}}-c{f}_{\mathrm{WL}}\&dtri;{\hat{O}}_{L1}-f_{L1}{f}_{\mathrm{WL}}\&dtri;M_{L1}}{c{f}_{\mathrm{WL}}}---\left(5\right)$

Wherein, f _WLBe the frequency of wide lane observed reading,

Be single poor L1 observed reading between the user satellite after refining, ▽ M _L1Be on duty for the week poor reduction of list of L1 observation;

Step 3.3, by single poor L1 blur level between LAMBDA algorithm search star, and be aided with the fixedly validity of result of RATIO check and formula (6) judgement L1 blur level;

$|\&dtri;N_{L1}-\&dtri;{\tilde{N}}_{L1}|<e---\left(6\right)$

Error threshold e is determined by the precision that observation noise and regional ground strengthen information, e=0.5;

Utilize blur level ▽ N _WL, ▽ N _L1, calculate the static solution ▽ N that obtains without single poor blur level between the corresponding star of ionosphere combination observation value according to formula (7) _IF, and obtain corresponding blur level static solution positioning result;

$\&dtri;N_{\mathrm{IF}}=\frac{f_{L1}{f}_{L2}}{f_{L1}^2-{\mathrm{<figure-callout\; id="2"\; label="f\; L"\; filenames="130319152015.png"\; state="\{\{state\}\}">f</figure-callout>}}_L^2}\&dtri;N_{\mathrm{WL}}+\frac{f_{L1}}{f_{L1}+{\mathrm{<figure-callout\; id="2"\; label="f\; L"\; filenames="130319152015.png"\; state="\{\{state\}\}">f</figure-callout>}}_L}\&dtri;N_{L1}---\left(7\right)$

The implementation method of described step 1.2 is: suppose that certain regional ground strengthens the base station Observable n of place satellite, it is sorted from high to low according to survey station place elevation of satellite, satellite list is S ₁, S ₂S _n-1, S _nBecause elevation of satellite is directly related with wrong path footpath direction tropospheric delay mapping function, for any satellites in view, it is single poor to select with immediate another satellite composition of its elevation angle, between the star of tropospheric delay mapping function, single poor result is minimum at this moment, the residual error of zenith tropospheric delay also can be relatively minimum on single poor impact without ionosphere combinational fuzzy degree valuation between this group star, therefore sorts, selects according to the fixedly feasibility of following principle to single poor blur level between alternative star:

1) form the elevation angle difference minimum of two satellites of single poor blur level between star;

2) single poor blur level between alternative star is sorted from big to small according to the average height angle of its corresponding two satellites;

3) choosing between one group of separate star single poor blur level from whole alternative blur leveles resolves;

According to the fixing feasibility principle of ordering of above blur level, between final alternative star, single poor blur level by fixing feasibility order from high to low is: S ₁oS ₂, S ₂oS ₃S _n-1oS _n

Compared with prior art, the present invention has the following advantages and beneficial effect:

1, the present invention not only calculates the non-poor observed reading residual error of L1, L2 carrier phase of base station place's deblurring degree impact, also calculated the non-poor observed reading residual error of the base station CA/P1 of place pseudorange, and above information has been strengthened information distributing to user in net as regional ground in the lump.

2, the present invention is optimized sequence by the fixedly feasibility to single poor blur level between alternative star, reduces the blur level convergence time of PPP-RTK method, improves the initialization speed that whole regional ground strengthens system.

3, in the present invention, the user utilizes regional ground enhancing information that carrier phase and Pseudo-range Observations are all refined, therefore can take full advantage of linear restriction relation between high accuracy pseudo range observed reading after refining, wide lane observed reading that blur level is integer, longer wavelength and double frequency blur level and go to dwindle the hunting zone of integer ambiguity when blur level is searched for, improve the state of normal equation, thereby fixing speed and the reliability of single poor blur level between the raising star, and resolve real-time single epoch that final feasible region ground strengthens PPP-RTK user's blur level.

Description of drawings

Fig. 1 is Satellite hardware delay of the present invention (UPD) calculation flow chart in real time.

Fig. 2 is that in the present invention, real-time PPP-RTK blur level is fixed, and single base station formation zone ground strengthens the process flow diagram of information.

Fig. 3 is for adopting original error map when carrying out dynamic single-point location without ionosphere combined pseudorange (PC).

The error map of Fig. 4 when adopting CA/P1 pseudorange after refining to carry out dynamic single-point location.

Fig. 5 is the fixedly feasibility Optimal scheduling schematic diagram of single poor blur level between alternative star.

Fig. 6 is that three-step approach single epoch of fixed area ground strengthens PPP-RTK user's blur level schematic diagram.

Fig. 7 is overall flow figure of the present invention.

Embodiment

As shown in Figure 7, this patent is divided into base station and user's two parts:

A kind of regional ground strengthens PPP-RTK blur level single epoch of fixing means, comprises the following steps,

The base station part:

Step 1, calculate the non-poor observed reading residual error of L1, L2 carrier phase of the non-poor observed reading residual sum deblurring degree impact of the base station CA/P1 of place pseudorange, and it strengthened information distributing to user in net as regional ground, specifically comprise:

Step 1.1, utilize IGS real-time accurate satellite orbit, real-time accurate satellite clock correction product and global equally distributed 100-120 base station observation data according to the real-time Calculation of Satellite hardware delay of conventional PPP-RTK method UPD, idiographic flow is as shown in Figure 1;

Step 1.2, the fixedly feasibility of single poor blur level between alternative star is optimized sequence;

Concrete implementation method is: suppose that certain regional ground strengthens the base station Observable n of place satellite, it is sorted from high to low according to survey station place elevation of satellite, as shown in Figure 5, satellite list is S ₁, S ₂S _n-1, S _nBecause elevation of satellite is directly related with wrong path footpath direction tropospheric delay mapping function, for any satellites in view, it is single poor to select with immediate another satellite composition of its elevation angle, between the star of tropospheric delay mapping function, single poor result is minimum at this moment, the residual error of zenith tropospheric delay also can be relatively minimum on single poor impact without ionosphere combinational fuzzy degree valuation between this group star, therefore sorts, selects according to the fixedly feasibility of following principle to single poor blur level between alternative star:

1) form the elevation angle difference minimum of two satellites of single poor blur level between star;

2) single poor blur level between alternative star is sorted from big to small according to the average height angle of its corresponding two satellites;

3) choosing between one group of separate star single poor blur level from whole alternative blur leveles resolves;

According to the fixing feasibility principle of ordering of above blur level, between final alternative star, single poor blur level by fixing feasibility order from high to low is: S ₁oS ₂, S ₂oS ₃S _n-1oS _n

Step 1.3, utilize the satellite hardware of calculating in real time postpone single poor blur level between UPD information and star fixedly the sequence of feasibility observation data that each regional ground is strengthened base station carry out the PPP-RTK blur level and fix, obtain the poor blur level static solution of list between its star; Can't fix simultaneously as this group blur level, the fixing single poor blur level between the poorest one group of alternative star of feasibility of deletion, and re-start the blur level Iterative is until single poor blur level between fixing star as much as possible;

Step 1.4, by setting reference satellite, the non-poor blur level that is about to reference satellite is set as a certain appointment numerical value, can be mapped as non-poor blur level corresponding to each satellite with resolving between the star that obtains single poor blur level, as shown in Figure 2, strengthen the base station coordinate according to known ground, utilize formula (1) inverse to obtain the corresponding CA/P1 pseudorange error information such as satellite orbit, satellite clock correction, atmospheric refraction and L1, L2 phase error information, namely this moment base station the non-poor observed reading residual error Omc of pseudorange _P1The non-poor observed reading residual error Omc of phase place with the impact of deblurring degree _L1And Omc _L2, and it is strengthened information distributing to user in net as regional ground;

Omc _P1＝O _P1-ρ-ct+cT+M _P1

Omc _L1＝(O _L1+N _L1)λ _L1-ρ-ct+cT+M _L1 （1）

Omc _L2＝(O _L2+N _L2)λ _L2-ρ-ct+cT+M _L2

Wherein, O _P1, O _L1, O _L2Be the CA/P1 pseudorange at base station place and L1, L2 phase observations value, N _L1, N _L2Be the non-poor blur level of the base station L1 of place, L2 that calculates according to the PPP-RTK method, λ _L1, λ _L2Be L1, L2 phase observations value wavelength, ρ is survey station inter-satellite geometric distance, and c is the light velocity in vacuum, and t, T are receiver and satellite clock correction, M _P1, M _L1, M _L2Reduction for the CA/P1 pseudorange that utilizes existing various Error Correction Model to calculate, L1, L2 observed reading;

User Part:

Step 2, user obtain according to himself approximate coordinates and the neighboring area ground strengthens relative position relation between base station, by the peripheral base station zone ground enhancing information of obtaining is carried out the match interpolation, calculate the user and locate corresponding ground and strengthen information, the user is located carrier phase and Pseudo-range Observations refine (Correction of Errors);

Comparison diagram 3 and Fig. 4 as can be known, after the user refined to Pseudo-range Observations, the dynamic Point-positioning Precision of its pseudorange had obtained remarkable lifting, positioning result generally is better than 1m, this is also the realization basis of step 3;

Step 3, strengthen that the fixing three-step approach of Static Precise Point Positioning user blur level is resolved its Kuan Xiang fast and without ionosphere combinational fuzzy degree according to regional ground;

Employing is resolved single poor blur level user satellite by wide lane ambiguity, L1 blur level to the three-step approach of progressively fixing without ionosphere combination observation value blur level, as shown in Figure 6, specifically comprises the following steps:

CA/P1 Pseudo-range Observations after step 3.1, utilization are refined

With refine after wide lane carrier phase observation data

Form single poor joint observation equation between star, as shown in Equation (2), because higher (being better than 0.5m, with reference to figure 4) of the Pseudo-range Observations precision after refining and wide lane ambiguity wavelength are grown (86cm), therefore generally can search for single poor wide lane ambiguity ▽ N between star epoch by LAMBDA algorithm list _WL, and be aided with the fixedly validity of result of RATIO check judgement blur level;

$\left\{\begin{array}{c}\&dtri;{\hat{O}}_{P1}=\&dtri;\mathrm{\&rho;}-c\&dtri;T-\&dtri;M_{P1}\\ \&dtri;{\hat{O}}_{\mathrm{WL}}=\frac{\&dtri;\mathrm{\&rho;}-c\&dtri;T-\&dtri;M_{\mathrm{WL}}}{{\mathrm{\&lambda;}}_{\mathrm{WL}}}-\&dtri;N_{\mathrm{WL}}\end{array}\right.---\left(2\right)$

Wherein, ▽ ρ is single poor result between the star of survey station inter-satellite geometric distance, and c is the light velocity in vacuum, and ▽ T is single poor satellite clock correction between star, ▽ M _P1, ▽ M _WLBe the CA/P1 that utilizes existing various Error Correction Model to calculate, on duty for the week poor reduction of list of wide lane observation, λ _WLBe wide lane phase observations value wavelength;

Step 3.2, the wide lane carrier phase after refining are apart from observed reading

With refine after without ionosphere combined carriers phase observations value

Form single poor joint observation equation between star, as shown in Equation (3), calculate without ionosphere combinational fuzzy degree floating-point solution ▽ N _IF, calculate between star the floating-point solution ▽ N of single poor L1 blur level according to formula (4) _L1

$\left\{\begin{array}{c}\&dtri;{\hat{O}}_{\mathrm{WL}}=\frac{\&dtri;\mathrm{\&rho;}-c\&dtri;T-\&dtri;M_{\mathrm{WL}}}{{\mathrm{\&lambda;}}_{\mathrm{WL}}}-\&dtri;N_{\mathrm{WL}}\\ \&dtri;{\hat{O}}_{\mathrm{IF}}=\frac{\&dtri;\mathrm{\&rho;}-c\&dtri;T-\&dtri;M_{\mathrm{IF}}}{{\mathrm{\&lambda;}}_{\mathrm{IF}}}-\&dtri;N_{\mathrm{IF}}\end{array}\right.---\left(3\right)$

$\&dtri;N_{L1}=\frac{f_{L1}+f_{L2}}{f_{L1}}\&dtri;N_{\mathrm{IF}}-\frac{f_{L2}}{f_{L1}-{\mathrm{<figure-callout\; id="2"\; label="f\; L"\; filenames="130319152015.png"\; state="\{\{state\}\}">f</figure-callout>}}_L}\&dtri;N_{\mathrm{WL}}---\left(4\right)$

Wherein, ▽ M _IFFor utilize that existing various Error Correction Model calculate without on duty for the week poor reduction of list of ionosphere combination observation, λ _IFFor without ionosphere combinatorial phase observed reading wavelength, f _L1, f _L2Frequency for L1, L2 observed reading;

Utilize single poor wide lane ambiguity ▽ N between star _WLCalculate the approximate value of single poor L1 blur level between star according to formula (5)

And with it virtual observation equation addition method equation during as the L1 ambiguity resolution;

$\&dtri;{\tilde{N}}_{L1}=\frac{f_{L1}}{f_{\mathrm{WL}}}\&dtri;N_{\mathrm{WL}}+\frac{c{f}_{L1}\&dtri;{\hat{O}}_{\mathrm{WL}}+f_{L1}{f}_{\mathrm{WL}}\&dtri;M_{\mathrm{WL}}-c{f}_{\mathrm{WL}}\&dtri;{\hat{O}}_{L1}-f_{L1}{f}_{\mathrm{WL}}\&dtri;M_{L1}}{c{f}_{\mathrm{WL}}}---\left(5\right)$

Wherein, f _WLBe the frequency of wide lane observed reading,

Be single poor L1 observed reading between the user satellite after refining, ▽ M _L1Be on duty for the week the poor reduction of list of L1 observation that utilizes existing various Error Correction Model to calculate;

Step 3.3, by single poor L1 blur level between LAMBDA algorithm search star, and be aided with the fixedly validity of result of RATIO check and formula (6) judgement L1 blur level;

$|\&dtri;N_{L1}-\&dtri;{\tilde{N}}_{L1}|<e---\left(6\right)$

Error threshold e is determined by the precision that observation noise and regional ground strengthen information, e=0.5;

Utilize blur level ▽ N _WL, ▽ N _L1, calculate the static solution ▽ N that obtains without single poor blur level between the corresponding star of ionosphere combination observation value according to formula (7) _IF, and obtain corresponding blur level static solution positioning result;

$\&dtri;N_{\mathrm{IF}}=\frac{f_{L1}{f}_{L2}}{f_{L1}^2-{\mathrm{<figure-callout\; id="2"\; label="f\; L"\; filenames="130319152015.png"\; state="\{\{state\}\}">f</figure-callout>}}_L^2}\&dtri;N_{\mathrm{WL}}+\frac{f_{L1}}{f_{L1}+{\mathrm{<figure-callout\; id="2"\; label="f\; L"\; filenames="130319152015.png"\; state="\{\{state\}\}">f</figure-callout>}}_L}\&dtri;N_{L1}---\left(7\right).$

Claims (2)

1. a regional ground strengthens PPP-RTK blur level single epoch of fixing means, it is characterized in that: comprise the following steps,

Step 1, calculate the non-poor observed reading residual error of L1, L2 carrier phase of the non-poor observed reading residual sum deblurring degree impact of the base station CA/P1 of place pseudorange, and it strengthened information distributing to user in net as regional ground, specifically comprise:

Step 1.1, utilize the observation data of IGS real-time accurate satellite orbit, real-time accurate satellite clock correction product and global equally distributed base station according to the real-time Calculation of Satellite hardware delay of conventional PPP-RTK method UPD;

Step 1.2, the fixedly feasibility of single poor blur level between alternative star is optimized sequence;

Step 1.3, utilize the satellite hardware of calculating in real time postpone UPD information and fixedly the sequence of feasibility observation data that each regional ground is strengthened base station carry out the PPP-RTK blur level and fix, obtain single poor blur level static solution between its star;

Step 1.4, setting reference satellite, strengthen the base station coordinate according to known ground, utilize formula (1) inverse to obtain the corresponding CA/P1 pseudorange error information such as satellite orbit, satellite clock correction, atmospheric refraction and L1, L2 phase error information, namely this moment base station the non-poor observed reading residual error Omc of pseudorange _P1The non-poor observed reading residual error Omc of phase place with the impact of deblurring degree _L1And Omc _L2, and it is strengthened information distributing to user in net as regional ground;

Omc _P1＝O _P1-ρ-ct+cT+M _P1

Omc _L1＝(O _L1+N _L1)λ _L1-ρ-ct+cT+M _L1 （1）

Omc _L2＝(O _L2+N _L2)λ _L2-ρ-ct+cT+M _L2

Wherein, O _P1, O _L1, O _L2Be the CA/P1 pseudorange at base station place and L1, L2 phase observations value, N _L1, N _L2Be the non-poor blur level of the base station L1 of place, L2 that calculates according to the PPP-RTK method, λ _L1, λ _L2Be L1, L2 phase observations value wavelength, ρ is survey station inter-satellite geometric distance, and c is the light velocity in vacuum, and t, T are receiver and satellite clock correction, M _P1, M _L1, M _L2Reduction for CA/P1 pseudorange, L1, L2 observed reading;

Step 2, user obtain according to himself approximate coordinates and the neighboring area ground strengthens relative position relation between base station, by the peripheral base station zone ground enhancing information of obtaining is carried out the match interpolation, calculate the user and locate corresponding ground and strengthen information, the user is located carrier phase and Pseudo-range Observations is refined;

Step 3, strengthen that the fixing three-step approach of Static Precise Point Positioning user blur level is resolved its Kuan Xiang fast and without ionosphere combinational fuzzy degree according to regional ground;

Employing is resolved single poor blur level user satellite by wide lane ambiguity, L1 blur level to the three-step approach of progressively fixing without ionosphere combination observation value blur level, specifically comprises the following steps:

CA/P1 Pseudo-range Observations after step 3.1, utilization are refined

With refine after wide lane carrier phase observation data

Form single poor joint observation equation between star, as shown in Equation (2), by single poor wide lane ambiguity ▽ N between LAMBDA algorithm search star _WL, and be aided with the fixedly validity of result of RATIO check judgement blur level;

$\left\{\begin{array}{c}\&dtri;{\hat{O}}_{P1}=\&dtri;\mathrm{\&rho;}-c\&dtri;T-\&dtri;M_{P1}\\ \&dtri;{\hat{O}}_{\mathrm{WL}}=\frac{\&dtri;\mathrm{\&rho;}-c\&dtri;T-\&dtri;M_{\mathrm{WL}}}{{\mathrm{\&lambda;}}_{\mathrm{WL}}}-\&dtri;N_{\mathrm{WL}}\end{array}\right.---\left(2\right)$

Wherein, ▽ ρ is single poor result between the star of survey station inter-satellite geometric distance, and c is the light velocity in vacuum, and ▽ T is single poor satellite clock correction between star, ▽ M _P1, ▽ M _WLBe single poor reduction between the star of CA/P1 pseudorange, wide lane phase observations value, λ _WLBe wide lane phase observations value wavelength;

Step 3.2, the wide lane carrier phase after refining are apart from observed reading

With refine after without ionosphere combined carriers phase observations value

Form single poor joint observation equation between star, as shown in Equation (3), calculate without ionosphere combinational fuzzy degree floating-point solution ▽ N _IF, calculate between star the floating-point solution ▽ N of single poor L1 blur level according to formula (4) _L1

$\left\{\begin{array}{c}\&dtri;{\hat{O}}_{\mathrm{WL}}=\frac{\&dtri;\mathrm{\&rho;}-c\&dtri;T-\&dtri;M_{\mathrm{WL}}}{{\mathrm{\&lambda;}}_{\mathrm{WL}}}-\&dtri;N_{\mathrm{WL}}\\ \&dtri;{\hat{O}}_{\mathrm{IF}}=\frac{\&dtri;\mathrm{\&rho;}-c\&dtri;T-\&dtri;M_{\mathrm{IF}}}{{\mathrm{\&lambda;}}_{\mathrm{IF}}}-\&dtri;N_{\mathrm{IF}}\end{array}\right.---\left(3\right)$

$\&dtri;N_{L1}=\frac{f_{L1}+f_{L2}}{f_{L1}}\&dtri;N_{\mathrm{IF}}-\frac{f_{L2}}{f_{L1}-f_{L2}}\&dtri;N_{\mathrm{WL}}---\left(4\right)$

Wherein, ▽ M _IFFor without on duty for the week poor reduction of list of ionosphere combination observation, λ _IFFor without ionosphere combinatorial phase observed reading wavelength, f _L1, f _L2Frequency for L1, L2 observed reading;

Utilize single poor wide lane ambiguity ▽ N between star _WLCalculate the approximate value of single poor L1 blur level between star according to formula (5)

And with it virtual observation equation addition method equation during as the L1 ambiguity resolution;

$\&dtri;{\tilde{N}}_{L1}=\frac{f_{L1}}{f_{\mathrm{WL}}}\&dtri;N_{\mathrm{WL}}+\frac{c{f}_{L1}\&dtri;{\hat{O}}_{\mathrm{WL}}+f_{L1}{f}_{\mathrm{WL}}\&dtri;M_{\mathrm{WL}}-c{f}_{\mathrm{WL}}\&dtri;{\hat{O}}_{L1}-f_{L1}{f}_{\mathrm{WL}}\&dtri;M_{L1}}{c{f}_{\mathrm{WL}}}---\left(5\right)$ Wherein, f _WLBe the frequency of wide lane observed reading,

Be single poor L1 observed reading between the user satellite after refining, ▽ M _L1Be on duty for the week poor reduction of list of L1 observation;

Step 3.3, by single poor L1 blur level between LAMBDA algorithm search star, and be aided with the fixedly validity of result of RATIO check and formula (6) judgement L1 blur level;

$|\&dtri;N_{L1}-\&dtri;{\tilde{N}}_{L1}|<e---\left(6\right)$

Error threshold e is determined by the precision that observation noise and regional ground strengthen information, e=0.5;

Utilize blur level ▽ N _WL, ▽ N _L1, calculate the static solution ▽ N that obtains without single poor blur level between the corresponding star of ionosphere combination observation value according to formula (7) _IF, and obtain corresponding blur level static solution positioning result;

$\&dtri;N_{\mathrm{IF}}=\frac{f_{L1}{f}_{L2}}{f_{L1}^2-f_{L2}^2}\&dtri;N_{\mathrm{WL}}+\frac{f_{L1}}{f_{L1}+f_{L2}}\&dtri;N_{L1}---\left(7\right)$

2. a kind of regional ground according to claim 1 strengthens PPP-RTK blur level single epoch of fixing means, it is characterized in that: the implementation method of described step 1.2 is: suppose that certain regional ground strengthens the base station Observable n of a place satellite, it is sorted from high to low according to survey station place elevation of satellite, and satellite list is S ₁, S ₂S _n-1, S _nBecause elevation of satellite is directly related with wrong path footpath direction tropospheric delay mapping function, for any satellites in view, it is single poor to select with immediate another satellite composition of its elevation angle, between the star of tropospheric delay mapping function, single poor result is minimum at this moment, the residual error of zenith tropospheric delay also can be relatively minimum on single poor impact without ionosphere combinational fuzzy degree valuation between this group star, therefore sorts, selects according to the fixedly feasibility of following principle to single poor blur level between alternative star:

1) form the elevation angle difference minimum of two satellites of single poor blur level between star;

2) single poor blur level between alternative star is sorted from big to small according to the average height angle of its corresponding two satellites;

3) choosing between one group of separate star single poor blur level from whole alternative blur leveles resolves;

According to the fixing feasibility principle of ordering of above blur level, between final alternative star, single poor blur level by fixing feasibility order from high to low is: S ₁oS ₂, S ₂oS ₃S _n-1oS _n

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