CN103487821A - Baseline vector solution method - Google Patents
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- CN103487821A CN103487821A CN201210192144.2A CN201210192144A CN103487821A CN 103487821 A CN103487821 A CN 103487821A CN 201210192144 A CN201210192144 A CN 201210192144A CN 103487821 A CN103487821 A CN 103487821A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
Abstract
The invention discloses a baseline vector solution method. The method comprises the step of storing baseline observation data collected by a receiver according to a standard format, the step of respectively preprocessing the baseline observation data according to the types of systems, the step of respectively establishing system double-difference observation equations which are consistent in rule according to the preprocessing result and the types of the systems to generate a baseline float solution, and the step of generating a baseline fixed solution according to the fixed ambiguity of the baseline float solution. By means of the baseline vector solution method, BeiDou system data are introduced, the multi-system combination baseline vector solution is achieved, the accuracy, integrity and reliability of the baseline solution result are improved, and the baseline solution quality is obviously improved. In addition, the method that the independent subsystem processing is carried out at first and then the multi-system combination solution is carried out is adopted, the unified operational rule is followed, any different systems can be selected to be combined at random, the achieving method does not need to be changed, and the solution process is clear in flow path, easy to achieve, stable and reliable.
Description
Technical field
The present invention relates to the satellite navigation positioning field, relate in particular to a kind of baseline vector calculation method.
Background technology
The baseline vector resolves (baseline vector solution) and refers in satnav, use GNSS relative positioning technology, be placed in respectively the two-end-point place of baseline with two receivers, the GPS(Global Positioning System that simultaneous observation is identical), GLONASS(Global Navigation Satellite System), BeiDou(BeiDou Navigation Satellite System), GALILEO(Galileo Navigation Satellite System) satellite, then solve relative position or the baseline vector of baseline two-end-point.
It is the important component part of control survey that the baseline vector resolves, after all baselines of netting in control all complete and resolve, coordinate that again can controlled each website of net by the computing of net adjustment, therefore, baseline vector resolving mass has directly determined to control the final precision of each website coordinate of net.
Existing baseline vector resolves scheme and is directly resolved according to the single system method, or directly combine and resolve, resolve in process and need to process respectively for different system datas in combination, disposal route difference due to different system, in closing, have minute, first the data of different system are not followed to unified operation rule and process in advance, make combination resolve process and become particularly complicated.
For example, when relying on the GPS/GLONASS system in combination to resolve, the GLONASS system is subparticipation.Because the GLONASS system adopts the frequency division multiple access technology, blur level is fixing exists very large difference with gps system, and with gps system, larger difference is all arranged on coordinate system and time system.Therefore, the singularity of GLONASS system on ambiguity resolution, the effect that makes combination resolve is compared single gps system and is not resolved not obviously lifting, and the method that combination is resolved is more complicated also.
In addition, while relying on single gps system or the combination of GPS/GLONASS dual system to resolve, do not introduce the BeiDou system data.And only utilize gps system or GPS/GLONASS dual system to carry out the baseline vector while resolving, few at some observation period Observable number of satellite, and be vulnerable to buildings etc. and block and disturb, make baseline vector resolving mass be affected.
Summary of the invention
Technical matters to be solved by this invention is, a kind of baseline vector calculation method is provided, the baseline observation data of BeiDou system can be participated in combining in the process of resolving to the baseline vector, realize that GPS, GLONASS, BeiDou, GALILEO multisystem combination baseline vector resolve, and significantly improve the Baselines quality.
In order to solve the problems of the technologies described above, the invention provides a kind of baseline vector calculation method, comprise: the baseline observation data gathered according to consolidation form storing received machine, the data type of described baseline observation data comprises GPS observation data, GLONASS observation data, BeiDou observation data; The GALILEO observation data, according to system type, respectively described baseline observation data is carried out to pre-service, described system type comprises gps system, GLONASS system, BeiDou system, GALILEO system; According to described pretreated result, set up respectively according to described system type the two poor observation equations of system that rule is consistent, the generation baseline floats and separates; Float and separate fixedly blur level according to described baseline, generate the baseline static solution.
As the improvement of such scheme, the step of the described baseline observation data according to the collection of consolidation form storing received machine comprises: obtain the described baseline observation data that receiver gathers; Resolve described baseline observation data according to the data layout of described baseline observation data, described data layout comprises scale-of-two message format and Rinex form; Baseline observation data after resolving is unified to identical coordinate frame and time system; Unified extremely identical coordinate frame and the baseline observation data of time system are stored.
As the improvement of such scheme, describedly respectively the baseline observation data is carried out to pretreated step according to system type and comprises: by the cutting of described baseline observation data for independently resolving the period; Resolve in the period described, according to system type, select respectively reference satellite; Resolve in the period described, according to system type, set up respectively initial two poor observation equation; Resolve in the period described, according to system type, carry out respectively detecting and repairing of cycle slips, generate the integer ambiguity list.
As the improvement of such scheme, the initial two poor observation equations of described basis carry out detecting and repairing of cycle slips, and the step that generates the integer ambiguity list comprises: according to described initial two poor observation equations, carry out Detection of Cycle-slip; Judge that can described cycle slip repair, while being judged as YES, repair described cycle slip, generate integer ambiguity, while being judged as NO, generate the outer integer ambiguity that draws; Draw integer ambiguity outside described integer ambiguity is reached and be combined into the integer ambiguity list.
As the improvement of such scheme, described generation baseline floats while separating, and adopts least square method.
As the improvement of such scheme, described while according to baseline, float separating fixedly blur level, employing Lambda algorithm is fixed.
Implementing beneficial effect of the present invention is: introduced the BeiDou system data, the baseline observation data of BeiDou system is participated in combining in the process of resolving to the baseline vector, realized that GPS, GLONASS, BeiDou, GALILEO multisystem combination baseline vector resolve.The use of BeiDou data has increased the baseline vector and has resolved needed amount of redundant information, in the situation that GPS and GLONASS number of satellite are on the low side, has improved accuracy, integrity and the reliability of Baselines result, can significantly improve the Baselines quality.
In resolving process, the baseline vector adopts first subsystem independent processing, the mode that the multisystem combination is resolved again, carrying out the observation data storage, selecting reference satellite, be all that subsystem is independently carried out while setting up the initial pair of computing such as poor observation equation, Detection of Cycle-slip and reparations, there is no association between each system, just according to unified integer ambiguity list, form equation until solve when baseline floats solution, according to least square method, combine and resolve.When subsystem is independently processed, follow unified operation rule.During storage baseline observation data, the coordinate time system of three systems is unified identical coordinate system and time system all, makes the follow-up reunification that work does not need to consider the coordinate time system of resolving.
Due in whole system Baselines process using each system as one independently submodule processed, finally be combined into integral body, and each submodule is followed unified operation rule.Therefore, can select arbitrarily different systems to be combined, implementation method without any need for change.In resolving process clear process, be easy to realize, reliable and stable, be suitable for being resolved according to different navigational system array modes.
The accompanying drawing explanation
Fig. 1 is the first embodiment schematic flow sheet of a kind of baseline vector of the present invention calculation method;
Fig. 2 is the second embodiment schematic flow sheet of a kind of baseline vector of the present invention calculation method;
Fig. 3 is the 3rd embodiment schematic flow sheet of a kind of baseline vector of the present invention calculation method;
Fig. 4 is the 4th embodiment schematic flow sheet of a kind of baseline vector of the present invention calculation method.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 1 is the first embodiment schematic flow sheet of a kind of baseline vector of the present invention calculation method, comprising:
S100, the baseline observation data gathered according to consolidation form storing received machine.
Described baseline observation data is obtained by the receiver Real-time Collection, and the data type of described baseline observation data comprises GPS observation data, GLONASS observation data, BeiDou observation data, GALILEO observation data.Wherein, the GPS observation data is provided by gps system, the GLONASS observation data by the GLONASS system provide, the BeiDou observation data by the BeiDou system provide, the GALILEO observation data provides by the GALILEO system.
S101, carry out pre-service to described baseline observation data respectively according to system type.
Described system type comprises gps system, GLONASS system, BeiDou system, GALILEO system.
It should be noted that, pre-service comprises the detecting and repairing of selecting reference satellite, setting up initial two poor observation equation, cycle slip, finally forms the integer ambiguity list.During pre-service, need to be a plurality of resolving the period by the cutting of baseline observation data, and, in different resolving in the period, according to system type, carry out respectively pretreatment operation.
For example, according to the actual requirements the cutting of baseline observation data being two resolves the period, be respectively A period and B period, further, according to the system type Further Division, be 8 submodules, be respectively: the gps system of A period, the GLONASS system of A period, the BeiDou system of A period, the GALILEO system of A period, the gps system of B period, the GLONASS system of B period, the BeiDou system of B period, the GALILEO system of B period.Accordingly, described 8 submodules are carried out respectively to pre-service, comprise the detecting and repairing of selecting reference satellite, setting up initial two poor observation equation, cycle slip, finally form the integer ambiguity list.
S102, according to described pretreated result, set up respectively according to described system type the two poor observation equations of system that rule is consistent, and the generation baseline floats and separates.
It should be noted that, after pre-service completes, according to pretreated result, according to system type, set up respectively the two poor observation equations of system, wherein the unknown parameter of equation is the integer ambiguity list that baseline coordinate difference and pretreatment stage obtain.
Gps system, GLONASS system, BeiDou system, GALILEO system are all according to the two poor observation equations of unified operation rule independence establishment system, unconnected each other.Wherein, gps system, BeiDou system, GALILEO system all adopt CDMA (Code Division Multiple Access), and the equation of establishment is similar, and the GLONASS system is due to the singularity of its frequency division multiple access technology, the blur level part is not integer, therefore need to carry out special processing, by its blur level decomposed be with the two poor blur leveles of an integer and the poor blur level of reference satellite list and, wherein the poor blur level of reference satellite list can first be obtained by Pseudo-range Observations, being re-used as independent special correction member is corrected double difference observation, and the two poor blur leveles of integer can be equal to gps system, the BeiDou system, the two poor blur level of GALILEO system is processed, therefore, after this conversion, the two poor observation equations of the system of GLONASS system also with gps system, the BeiDou system, the systematic observation equation rule of GALILEO system is consistent, can unify to be processed.
Then, the two poor observation equations of consistent system according to rule, adopt least square method to generate baseline and float and separate.
S103, float and separate fixedly blur level according to described baseline, generates the baseline static solution.
After obtaining the unsteady solution of baseline, the unsteady solution of blur level and the corresponding variance battle array extracted in the unsteady solution of baseline are fixed, if fix unsuccessfully, reject optimum solution and suboptimal solution and differ maximum blur level, and the continuation search is until fix successfully.Then fixing blur level back substitution is entered to the two poor observation equations of system, obtain the baseline static solution.
More preferably, fixedly during blur level, adopt the Lambda algorithm to be fixed.
Fig. 2 is the second embodiment schematic flow sheet of a kind of baseline vector of the present invention calculation method, comprising:
S200, obtain the described baseline observation data that receiver gathers.
The data type of described baseline observation data comprises GPS observation data, GLONASS observation data, BeiDou observation data, GALILEO observation data.Wherein, the GPS observation data is provided by gps system, the GLONASS observation data by the GLONASS system provide, the BeiDou observation data by the BeiDou system provide, the GALILEO observation data provides by the GALILEO system.
In some observation period, because GPS, GLONASS number of satellite are few, and being vulnerable to buildings etc. blocks and disturbs, make the Baselines quality be affected, after introducing the BeiDou observation data, increase the amount of redundant information that Baselines needs, improved accuracy, integrity and the reliability of Baselines.
S201, resolve described baseline observation data according to the data layout of described baseline observation data.
It should be noted that, described data layout comprises scale-of-two message format and Rinex form.The scale-of-two message format need to be resolved according to the message format of corresponding mainboard manufacturer, and the Rinex form is resolved according to standard Rinex form.
S202 is unified to identical coordinate frame and time system by the baseline observation data after resolving.
Preferably, can, by the baseline observation data unification after resolving to WGS84 coordinate frame and GPST time system, make the follow-up reunification that work does not need to consider the coordinate time system of resolving.
S203, stored unified extremely identical coordinate frame and the baseline observation data of time system.
S204, carry out pre-service to described baseline observation data respectively according to system type.
Described system type comprises gps system, GLONASS system, BeiDou system, GALILEO system.
It should be noted that, pre-service comprises the detecting and repairing of selecting reference satellite, setting up initial two poor observation equation, cycle slip, finally forms the integer ambiguity list.During pre-service, need to be a plurality of resolving the period by the cutting of baseline observation data, and, in different resolving in the period, according to system type, carry out respectively pretreatment operation.
S205, according to described pretreated result, set up respectively according to described system type the two poor observation equations of system that rule is consistent, and the generation baseline floats and separates.
It should be noted that, after pre-service completes, according to pretreated result, according to system type, set up respectively the two poor observation equations of system that rule is consistent, wherein the unknown parameter of equation is the integer ambiguity list that baseline coordinate difference and pretreatment stage obtain.Then, the two poor observation equations of consistent system according to rule, adopt least square method to generate baseline and float and separate.
S206, float and separate fixedly blur level according to described baseline, generates the baseline static solution.
After obtaining the unsteady solution of baseline, extract unsteady the solution and corresponding variance battle array of blur level in the unsteady solution of baseline, adopt the Lambda algorithm to be fixed, if fix unsuccessfully, reject optimum solution and suboptimal solution and differ maximum blur level, continue search until fix successfully.Then fixing blur level back substitution is entered to the two poor observation equations of system, obtain the baseline static solution.
Fig. 3 is the 3rd embodiment schematic flow sheet of a kind of baseline vector of the present invention calculation method, comprising:
S300, obtain the described baseline observation data that receiver gathers.
The data type of described baseline observation data comprises GPS observation data, GLONASS observation data, BeiDou observation data, GALILEO observation data.
S301, resolve described baseline observation data according to the data layout of described baseline observation data.
It should be noted that, described data layout comprises scale-of-two message format and Rinex form.The scale-of-two message format need to be resolved according to the message format of corresponding mainboard manufacturer, and the Rinex form is resolved according to standard Rinex form.
S302 is unified to identical coordinate frame and time system by the baseline observation data after resolving.
Preferably, can, by the baseline observation data unification after resolving to WGS84 coordinate frame and GPST time system, make the follow-up reunification that work does not need to consider the coordinate time system of resolving.
S303, stored unified extremely identical coordinate frame and the baseline observation data of time system.
S304, by the cutting of described baseline observation data for independently resolving the period.
Preferably, from starting observation time, start to resolve the period and carry out cutting according within every 4 hours, being one.
S305, resolve in the period described, according to system type, selects respectively reference satellite.
Described system type comprises gps system, GLONASS system, BeiDou system, GALILEO system.
For example, if the cutting of baseline observation data is two, resolve the period, be respectively A period and B period.Further, according to the system type Further Division, be 8 submodules, be respectively: the gps system of A period, the GLONASS system of A period, the BeiDou system of A period, the GALILEO system of A period, the gps system of B period, the GLONASS system of B period, the BeiDou system of B period, the GALILEO system of B period.Accordingly, select respectively applicable reference satellite for described 8 submodules.
S306, resolve in the period described, according to system type, sets up respectively initial two poor observation equation.
For example, if the cutting of baseline observation data is three, resolve the period, be respectively A period, B period and C period.Further, according to the system type Further Division, be 12 submodules, be respectively: the gps system of A period, the GLONASS system of A period, the BeiDou system of A period, the GALILEO system of A period, the gps system of B period, the GLONASS system of B period, the BeiDou system of B period, the GALILEO system of B period, the gps system of C period, the GLONASS system of C period, the BeiDou system of C period, the GALILEO system of C period.Accordingly, set up respectively initial two poor observation equation for described 12 selected reference satellites of submodule.
S307, resolve in the period described, according to system type, carries out respectively detecting and repairing of cycle slips, generates the integer ambiguity list.
Initial two poor observation equations according to having set up, carry out respectively detecting and repairing of cycle slips, according to repairing combination producing integer ambiguity list as a result.
S308, according to described pretreated result, set up respectively according to described system type the two poor observation equations of system that rule is consistent, and the generation baseline floats and separates.
It should be noted that, after pre-service completes, according to the integer ambiguity list, according to system type, set up respectively the two poor observation equations of system that rule is consistent, wherein the unknown parameter of equation is the integer ambiguity list that baseline coordinate difference and pretreatment stage obtain.Then, the two poor observation equations of consistent system according to rule, adopt least square method to generate baseline and float and separate.
S309, float and separate fixedly blur level according to described baseline, generates the baseline static solution.
After obtaining the unsteady solution of baseline, extract unsteady the solution and corresponding variance battle array of blur level in the unsteady solution of baseline, adopt the Lambda algorithm to be fixed, if fix unsuccessfully, reject optimum solution and suboptimal solution and differ maximum blur level, continue search until fix successfully.Then fixing blur level back substitution is entered to the two poor observation equations of system, obtain the baseline static solution.
Fig. 4 is the 4th embodiment schematic flow sheet of a kind of baseline vector of the present invention calculation method, comprising:
S400, obtain the described baseline observation data that receiver gathers.
The data type of described baseline observation data comprises GPS observation data, GLONASS observation data, BeiDou observation data, GALILEO observation data.
S401, resolve described baseline observation data according to the data layout of described baseline observation data.
It should be noted that, described data layout comprises scale-of-two message format and Rinex form.The scale-of-two message format need to be resolved according to the message format of corresponding mainboard manufacturer, and the Rinex form is resolved according to standard Rinex form.
S402 is unified to identical coordinate frame and time system by the baseline observation data after resolving.
Preferably, can, by the baseline observation data unification after resolving to WGS84 coordinate frame and GPST time system, make the follow-up reunification that work does not need to consider the coordinate time system of resolving.
S403, stored unified extremely identical coordinate frame and the baseline observation data of time system.
S404, by the cutting of described baseline observation data for independently resolving the period.
Preferably, from starting observation time, start to resolve the period and carry out cutting according within every 4 hours, being one.
S405, resolve in the period described, according to system type, selects respectively reference satellite.
Described system type comprises gps system, GLONASS system, BeiDou system, GALILEO system.
S406, resolve in the period described, according to system type, sets up respectively initial two poor observation equation.
For example, if the cutting of baseline observation data is three, resolve the period, be respectively A period, B period and C period.Further, according to the system type Further Division, be 12 submodules, be respectively: the gps system of A period, the GLONASS system of A period, the BeiDou system of A period, the GALILEO system of A period, the gps system of B period, the GLONASS system of B period, the BeiDou system of B period, the GALILEO system of B period, the gps system of C period, the GLONASS system of C period, the BeiDou system of C period, the GALILEO system of C period.Accordingly, for described 12 submodules applicable reference satellite respectively, according to selected reference satellite, set up respectively initial two poor observation equations.
S407, carry out Detection of Cycle-slip according to described initial two poor observation equations.
S408, judge that can described cycle slip repair.While being judged as YES, repair described cycle slip, generate integer ambiguity.While being judged as NO, generate the outer integer ambiguity that draws.
S409, draw integer ambiguity outside described integer ambiguity is reached and be combined into the integer ambiguity list.
S410, according to described pretreated result, set up respectively according to described system type the two poor observation equations of system that rule is consistent, and the generation baseline floats and separates.
After pre-service completes, according to the integer ambiguity list, according to system type, set up respectively the two poor observation equations of system that rule is consistent, wherein the unknown parameter of equation is the integer ambiguity list that baseline coordinate difference and pretreatment stage obtain.Then, according to rule, the two poor observation equations of consistent system, can unify to be processed, and adopts least square method to generate baseline and float and separate.
It should be noted that, in the storage of carrying out observation data, select reference satellite, set up initial two poor observation equations, be all respectively according to different system types or resolve the period and independently carry out during the computing such as Detection of Cycle-slip and reparation, there is no association between each system, just according to unified parameter list, form equation until finally solve when baseline floats solution, according to least square method, combine and resolve.
S411, float and separate fixedly blur level according to described baseline, generates the baseline static solution.
After obtaining the unsteady solution of baseline, extract unsteady the solution and corresponding variance battle array of blur level in the unsteady solution of baseline, adopt the Lambda algorithm to be fixed, if fix unsuccessfully, reject optimum solution and suboptimal solution and differ maximum blur level, continue search until fix successfully.Then fixing blur level back substitution is entered to the two poor observation equations of system, obtain the baseline static solution.
As from the foregoing, the baseline observation data of BeiDou system is participated in combining in the process of resolving to the baseline vector, realized that GPS, GLONASS, BeiDou, GALILEO multisystem combination baseline vector resolve.The use of BeiDou data has increased the baseline vector and has resolved needed amount of redundant information, in the situation that GPS and GLONASS number of satellite are on the low side, can significantly improve the Baselines quality.In resolving process, the baseline vector adopts first subsystem independent processing, the mode that the multisystem combination is resolved again, carrying out observation data storage, selection reference satellite, being all that subsystem is independently carried out while setting up the initial pair of computing such as poor observation equation, Detection of Cycle-slip and reparations, until solve when baseline is unsteady to be separated, just according to unified integer ambiguity list formation equation, combine and resolve.When subsystem is independently processed, follow unified operation rule.During storage baseline observation data, the coordinate time system of three systems is unified identical coordinate system and time system all, makes the follow-up reunification that work does not need to consider the coordinate time system of resolving.When the two poor observation equation of establishment system, the GLONASS system data was advanced to special processing, make the two poor observation equations of system of three systems follow unified operation rule.Due in whole system Baselines process using each system as one independently submodule processed, finally be combined into integral body.Therefore, can select arbitrarily different systems to be combined, implementation method without any need for change.In resolving process clear process, be easy to realize, reliable and stable, be suitable for being resolved according to different navigational system array modes.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also are considered as protection scope of the present invention.
Claims (6)
1. a baseline vector calculation method, is characterized in that, comprising:
The baseline observation data gathered according to consolidation form storing received machine, the data type of described baseline observation data comprises GPS observation data, GLONASS observation data, BeiDou observation data, GALILEO observation data;
Respectively described baseline observation data is carried out to pre-service according to system type, described system type comprises gps system, GLONASS system, BeiDou system, GALILEO system;
According to described pretreated result, set up respectively according to described system type the two poor observation equations of system that rule is consistent, the generation baseline floats and separates;
Float and separate fixedly blur level according to described baseline, generate the baseline static solution.
2. baseline vector calculation method as claimed in claim 1, is characterized in that, the step of the described baseline observation data according to the collection of consolidation form storing received machine comprises:
Obtain the described baseline observation data that receiver gathers;
Resolve described baseline observation data according to the data layout of described baseline observation data, described data layout comprises scale-of-two message format and Rinex form;
Baseline observation data after resolving is unified to identical coordinate frame and time system;
Unified extremely identical coordinate frame and the baseline observation data of time system are stored.
3. baseline as claimed in claim 1 vector calculation method, is characterized in that, describedly respectively the baseline observation data carried out to pretreated step according to system type and comprise:
By the cutting of described baseline observation data for independently resolving the period;
Resolve in the period described, according to system type, select respectively reference satellite;
Resolve in the period described, according to system type, set up respectively initial two poor observation equation;
Resolve in the period described, according to system type, carry out respectively detecting and repairing of cycle slips, generate the integer ambiguity list.
4. baseline vector calculation method as claimed in claim 3, is characterized in that, the initial two poor observation equations of described basis carry out detecting and repairing of cycle slips, and the step that generates the integer ambiguity list comprises:
Carry out Detection of Cycle-slip according to described initial two poor observation equations;
Judge that can described cycle slip repair,
While being judged as YES, repair described cycle slip, generate integer ambiguity,
While being judged as NO, generate the outer integer ambiguity that draws;
Draw integer ambiguity outside described integer ambiguity is reached and be combined into the integer ambiguity list.
5. baseline vector calculation method as claimed in claim 1, is characterized in that, described generation baseline floats while separating, and adopts least square method.
6. baseline as claimed in claim 1 vector calculation method, is characterized in that, describedly according to baseline, floats while separating fixedly blur level, and employing Lambda algorithm is fixed.
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