CN103176188B - 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 region ground strengthens PPP-RTK blur level list fixing means epoch

Technical field

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

Background technology

Based on region ground, strengthening net realizes Static Precise Point Positioning blur level list and determines it is study hotspot and the difficulties of current Technique of Satellite Navigation and Positioning epoch." the network RTK method based on non-poor observation " that the scholars such as Ge propose ^[1]and the scholar such as Teunissen " the PPP-RTK method based on 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 the 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 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 " region ground strengthens information list base station modeling method " proposing according to scholars such as Li, ^[3]time, because needing long-time continuous observation, 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 tropospheric delay mapping function the delay error of oblique path 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 formula (a) and (b), f wherein _l1, f _l2and finally cause the region ground of generation error to strengthen information frequency for L1, L2 observed reading).Therefore,, according to PPP-RTK method, for guaranteeing the fixedly reliability of result of the non-poor blur level in base station place, whole region 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

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

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

Region ground strengthens PPP-RTK blur level list fixing means epoch, 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 CA/P1 of base station place pseudorange, and using it as region ground, strengthen information distributing to user in net, specifically comprise:

Step 1.1, the observation data of utilizing IGS real-time accurate satellite orbit, real-time accurate satellite clock correction product and global equally distributed base station are calculated in real time satellite hardware according to conventional PPP-RTK method and are postponed UPD;

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

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

Step 1.4, setting reference satellite, according to known ground, strengthen base station coordinate, utilize formula (1) inverse to obtain CA/P1 pseudorange error information that satellite orbit, satellite clock correction, atmospheric refraction etc. are corresponding and L1, L2 phase error information, i.e. the non-poor observed reading residual error Omc of the pseudorange of base station now _p1the non-poor observed reading residual error Omc of phase place with the impact of deblurring degree _l1and Omc _l2, and using it as region ground, strengthen information distributing to user in net;

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 _l2for the CA/P1 pseudorange at base station place and L1, L2 phase observations value, N _l1, N _l2for the non-poor blur level of the L1 of base station place, L2 calculating according to PPP-RTK method, λ _l1, λ _l2for 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 neighboring area ground strengthens the relative position relation between base station, by the periphery base station region ground enhancing information to obtaining, carry out matching interpolation, calculate user and locate corresponding ground and strengthen information, user is located to carrier phase and Pseudo-range Observations is refined;

Step 3, according to region ground, strengthen the fixing three-step approach of Static Precise Point Positioning user's blur level and resolve fast He Wu ionosphere, Qi Kuan lane combinational fuzzy degree;

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

CA/P1 Pseudo-range Observations after step 3.1, utilization are refined with the Hou Kuan lane carrier phase observation data of refining 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 _wLfor single poor reduction between the star of the CA/P1 pseudorange that utilizes existing error model to calculate, wide lane phase observations value, λ _wLwei Kuan lane phase observations value wavelength;

Step 3.2, the Hou Kuan lane carrier phase of 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, according to formula (4), calculate between star the floating-point solution ▽ N of single poor L1 blur level _l1;

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

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

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 _wLaccording to formula (5), calculate the approximate value of single poor L1 blur level between star and the virtual observation equation addition method equation during using it as L1 ambiguity resolution;

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

Wherein, f _wLthe frequency of Wei Kuan lane observed reading, for single poor L1 observed reading between the user satellite after refining, ▽ M _l1for on duty for the week the 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;

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

The precision that error threshold e strengthens information by observation noise and region ground determines, e=0.5;

Utilize blur level ▽ N _wL, ▽ N _l1, according to formula (7), calculate the static solution ▽ N obtaining without single poor blur level between the corresponding star of ionosphere combination observation value _iF, and obtain corresponding blur level static solution positioning result;

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

The implementation method of described step 1.2 is: suppose that certain region ground strengthens the Observable n of a base station 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 with tiltedly path direction tropospheric delay mapping function is directly related, for any satellites in view, it is single poor to select with immediate another satellite composition of its elevation angle, now between the star of tropospheric delay mapping function, single poor result is minimum, 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 according to following principle, the fixedly feasibility of single poor blur level between alternative star sorted, selected:

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) from whole alternative blur leveles, choosing single poor blur level between one group of separate star 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 is from high to low: 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 deblurring degree impact, also calculated the non-poor observed reading residual error of the CA/P1 of base station place pseudorange, and above information has been strengthened to information distributing to user in net as region ground in the lump.

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

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

Accompanying drawing explanation

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 while 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 list fixed area epoch 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:

Region ground strengthens PPP-RTK blur level list fixing means epoch, comprises the following steps,

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 CA/P1 of base station place pseudorange, and using it as region ground, strengthen information distributing to user in net, specifically comprise:

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

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

Concrete implementation method is: suppose that certain region ground strengthens the Observable n of a base station 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 with tiltedly path direction tropospheric delay mapping function is directly related, for any satellites in view, it is single poor to select with immediate another satellite composition of its elevation angle, now between the star of tropospheric delay mapping function, single poor result is minimum, 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 according to following principle, the fixedly feasibility of single poor blur level between alternative star sorted, selected:

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) from whole alternative blur leveles, choosing single poor blur level between one group of separate star 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 is from high to low: S ₁oS ₂, S ₂oS ₃s _n-1oS _n;

Step 1.3, utilize the satellite hardware of calculating in real time to postpone the observation data that fixedly sequence of feasibility strengthens base station to each region ground of single poor blur level between UPD information and star to carry out PPP-RTK blur level and fix, obtain the poor blur level static solution of list between its star; As this group blur level cannot be fixed simultaneously, delete single poor blur level between one group of the poorest alternative star of fixing feasibility, and re-start blur level Iterative, 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 the non-poor blur level that each satellite is corresponding by resolving single poor blur level between the star obtaining, as shown in Figure 2, according to known ground, strengthen base station coordinate, utilize formula (1) inverse to obtain CA/P1 pseudorange error information that satellite orbit, satellite clock correction, atmospheric refraction etc. are corresponding and L1, L2 phase error information, i.e. the non-poor observed reading residual error Omc of the pseudorange of base station now _p1the non-poor observed reading residual error Omc of phase place with the impact of deblurring degree _l1and Omc _l2, and using it as region ground, strengthen information distributing to user in net;

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 _l2for the CA/P1 pseudorange at base station place and L1, L2 phase observations value, N _l1, N _l2for the non-poor blur level of the L1 of base station place, L2 calculating according to PPP-RTK method, λ _l1, λ _l2for 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 neighboring area ground strengthens the relative position relation between base station, by the periphery base station region ground enhancing information to obtaining, carry out matching interpolation, calculate user and locate corresponding ground and strengthen information, user is located to carrier phase and Pseudo-range Observations refine (Correction of Errors);

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

Step 3, according to region ground, strengthen the fixing three-step approach of Static Precise Point Positioning user's blur level and resolve fast He Wu ionosphere, Qi Kuan lane combinational fuzzy degree;

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

CA/P1 Pseudo-range Observations after step 3.1, utilization are refined with the Hou Kuan lane carrier phase observation data of refining 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 _wLfor the CA/P1 that utilizes existing various Error Correction Model to calculate, on duty for the week the poor reduction of list of wide lane observation, λ _wLwei Kuan lane phase observations value wavelength;

Step 3.2, the Hou Kuan lane carrier phase of 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, according to formula (4), calculate between star the floating-point solution ▽ N of single poor L1 blur level _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 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 _wLaccording to formula (5), calculate the approximate value of single poor L1 blur level between star and the virtual observation equation addition method equation during using it as 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 _wLthe frequency of Wei Kuan lane observed reading, for single poor L1 observed reading between the user satellite after refining, ▽ M _l1for 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;

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

The precision that error threshold e strengthens information by observation noise and region ground determines, e=0.5;

Utilize blur level ▽ N _wL, ▽ N _l1, according to formula (7), calculate the static solution ▽ N obtaining without single poor blur level between the corresponding star of ionosphere combination observation value _iF, and obtain corresponding blur level static solution positioning result;

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

Claims (2)

1. region ground strengthens PPP-RTK blur level list fixing means epoch, 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 CA/P1 of base station place pseudorange, and using it as region ground, strengthen information distributing to user in net, specifically comprise:

Step 1.1, the observation data of utilizing IGS real-time accurate satellite orbit, real-time accurate satellite clock correction product and global equally distributed base station are calculated in real time satellite hardware according to conventional PPP-RTK method and are postponed UPD;

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

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

Step 1.4, setting reference satellite, according to known ground, strengthen base station coordinate, utilize formula (1) inverse to obtain CA/P1 pseudorange error information that satellite orbit, satellite clock correction, atmospheric refraction are corresponding and L1, L2 phase error information, i.e. the non-poor observed reading residual error Omc of the pseudorange of base station now _p1the non-poor observed reading residual error Omc of phase place with the impact of deblurring degree _l1and Omc _l2, and using it as region ground, strengthen information distributing to user in net;

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 respectively the CA/P1 pseudorange at base station place, the observed reading of the observed reading of L1 phase place, L2 phase place, N _l1, N _l2for the non-poor blur level of the L1 of base station place, L2 calculating according to PPP-RTK method, λ _l1, λ _l2for 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 respectively receiver clock correction, 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 neighboring area ground strengthens the relative position relation between base station, by the periphery base station region ground enhancing information to obtaining, carry out matching interpolation, calculate user and locate corresponding ground and strengthen information, user is located to carrier phase and Pseudo-range Observations is refined;

Step 3, according to region ground, strengthen the fixing three-step approach of Static Precise Point Positioning user's blur level and resolve fast He Wu ionosphere, Qi Kuan lane combinational fuzzy degree;

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

CA/P1 Pseudo-range Observations after step 3.1, utilization are refined with the Hou Kuan lane carrier phase observation data of refining form single poor joint observation equation between star, as shown in formula (2), by single poor wide lane ambiguity between LAMBDA algorithm search star and be aided with RATIO check and judge the fixedly validity of result of 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, for single poor result between the star of survey station inter-satellite geometric distance, for single poor satellite clock correction between star, for single poor reduction between the star of CA/P1 pseudorange, wide lane phase observations value, λ _wLwei Kuan lane phase observations value wavelength;

Step 3.2, the Hou Kuan lane carrier phase observation data of refining with refine after without ionosphere combined carriers phase observations value form single poor joint observation equation between star, as shown in formula (3), calculate without single poor blur level between the corresponding star of ionosphere combination observation value according to formula (4), calculate the floating-point solution of single poor L1 blur level between star

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

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

Wherein, for 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 between star according to formula (5), calculate the approximate value of single poor L1 blur level between star and the virtual observation equation addition method equation during using it as L1 ambiguity resolution;

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

Wherein, f _wLthe frequency of Wei Kuan lane observed reading, for single poor L1 observed reading between the user satellite after refining, for on duty for the week the 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;

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

The precision that error threshold e strengthens information by observation noise and region ground determines, e=0.5;

Utilize blur level according to formula (7), calculate and obtain without single poor blur level between the corresponding star of ionosphere combination observation value 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 region according to claim 1 ground strengthens PPP-RTK blur level list fixing means epoch, it is characterized in that: the implementation method of described step 1.2 is: suppose that certain region ground strengthens the Observable n of a base station place satellite, it is sorted from high to low according to survey station place elevation of satellite, and satellite list is S ₁, S ₂..., S _n-1, S _nbecause elevation of satellite is with tiltedly path direction tropospheric delay mapping function is directly related, for any satellites in view, it is single poor to select with immediate another satellite composition of its elevation angle, now between the star of tropospheric delay mapping function, single poor result is minimum, 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 according to following principle, the fixedly feasibility of single poor blur level between alternative star sorted, selected:

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) from whole alternative blur leveles, choosing single poor blur level between one group of separate star 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 is from high to low: S ₁oS ₂, S ₂oS ₃..., S _n-1oS _n.