CN103675873B - A kind of bimodulus four frequency integer ambiguity is in the method resolved of navigating - Google Patents

Abstract

The invention discloses a kind of bimodulus four frequency integer ambiguity in the method resolved of navigating, when the satellite having enough integer ambiguities to fix, the observed quantity of the satellite fixed according to integer ambiguity is set up first carrier observation equation and is obtained relative position intermediate value between receiver and base station; Observation data after coupling is obtained to the coupling needing the satellite resolving integer ambiguity to carry out observation data, setting up the second carrier observations equation according to the observation data after coupling and the relative position intermediate value between described receiver and base station, obtaining by solving the second carrier observations equation the integer ambiguity needing to resolve the satellite of integer ambiguity.By sane auxiliary strategy, effectively can improve the success ratio of bimodulus four combination integer ambiguity on-line search frequently, and the success ratio that a period of time intercarrier resolves can be improved, improve the effect of carrier wave calculation method under the environment such as static, navigation dynamically and under high dynamic condition, location, survey appearance and target following.

Description

A kind of bimodulus four frequency integer ambiguity is in the method resolved of navigating

Technical field

The present invention relates to a kind of bimodulus four frequency integer ambiguity at boat calculation method, be mainly used in bimodulus four frequently the resolving in boat of carrier wave two difference integer ambiguity of satellite navigation system in situation, for traditional algorithm provides sane observation data and integer ambiguity processing policy, improve computation success.

Background technology

Carrier phase measurement is the main method utilizing satellite navigation and location system (as GPS, BD) to carry out hi-Fix, and its prerequisite first to calculate the integer ambiguity of phase place and the complete cycle phase place of initial epoch.Once integer ambiguity is correctly resolved, carrier phase observation data can be converted into high-precision survey phase pseudorange, thus realizes the centimetre-sized even hi-Fix of inferior centimeter order.

But due to the existence of observational error, it is very difficult for correctly will resolving integer ambiguity, sometimes even may.Therefore, resolving to fast and reliable integer ambiguity is the most critical issue utilizing carrier phase to realize in hi-Fix.In two more than ten years in past, domestic and international many scholars are studied this problem, propose many methods resolving integer ambiguity, as THE AMBIGUITY FUNCTION METHOD USED, least square search procedure and the quick resolving Algorithm of blur level etc.These methods can realize resolving of integer ambiguity, and carrier phase measurement is played a significant role in the field such as geodetic surveying, deformation monitoring.

Along with the continuous expansion of satellite navigation system range of application, the research of the Kinematic Positioning Techniques fast such as rapid static, navigation dynamically and under high dynamic condition, location, survey appearance and target following has become the important directions in satellite navigation system field.These application propose the demand that integer ambiguity resolves in boat (OTF).Then, in the Carrier Phase Ambiguity Resolution method of the field widespread uses such as geodetic surveying owing to there are some general restraining factors and defects, it is not fully up to expectations that it resolves effect in boat (OTF), is difficult to the requirement reaching practical application.Resolving in boat (OTF) of integer ambiguity becomes larger challenge.

Resolving in boat (OTF) of integer ambiguity needs to consider very complicated use and star condition condition, carrier dynamically, block, precision that the factor such as multipath not only can reduce observed quantity, and there will be satellites in view frequent turnover, the carrier cycle slip even problem such as signal interruption.These problems make the resolving application be very limited in boat (OTF) of traditional Carrier Phase Ambiguity Resolution method.

Existing Carrier Phase Ambiguity Resolution method obtains integer ambiguity result by utilizing the observation data of a period of time, is called as initialization time during this period of time.Usually require that the precision comparison of observation data is high, and more stable, otherwise initialization time can be long, and initialization time is the principal element resolved in boat (OTF) restricting integer ambiguity.As shown in Figure 1, after integer ambiguity is fixing, if satellites in view changes or carrier observations amount worsens, integer ambiguity all can be made to reinitialize.These problems can cause resolving in application process in boat (OTF), often occur the disabled situation of integer ambiguity solution, thus cannot provide the result of carrier phase measurement.Can be used as by the available rate (success ratio) of integer ambiguity solution in a period of time the index evaluating Carrier Phase Ambiguity Resolution method, describe Carrier Phase Ambiguity Resolution method resolves application effect in boat (OTF).

Summary of the invention

Technical matters to be solved by this invention is: provide a kind of bimodulus four frequency integer ambiguity in the method resolved of navigating, the observation data that enough Carrier Phase Ambiguity Resolution require can be obtained fast, thus shorten the initialization time of integer ambiguity, also can improve the success ratio improving Carrier Phase Ambiguity Resolution in a period of time.

Technical scheme of the present invention is:

Bimodulus four frequently complete cycle integer ambiguity, in the method resolved of navigating, comprises the steps:

(1) judging whether according to the observed quantity of all usable satellites of current epoch acquisition the satellite needing to resolve integer ambiguity, when there being the satellite needing to resolve integer ambiguity, proceeding to step (2); When not needing the satellite resolving integer ambiguity, proceed to step (5);

(2) judge when the satellite having enough integer ambiguities to fix, to proceed to step (3) by the satellite whether current epoch has enough integer ambiguities and fixed; When the satellite not having enough integer ambiguities to fix, proceed to step (4);

(3) observed quantity of the satellite fixed according to integer ambiguity is set up first carrier observation equation and is obtained relative position intermediate value between receiver and base station; Observation data after coupling is obtained to the coupling needing the satellite resolving integer ambiguity to carry out observation data, sets up the second carrier observations equation according to the observation data after coupling and the relative position intermediate value between described receiver and base station; The integer ambiguity needing to resolve the satellite of integer ambiguity is obtained by solving the second carrier observations equation; Then step (5) is proceeded to;

(4) all usable satellites are carried out to the observation data after the coupling acquisition coupling of observation data, set up integer ambiguity floating-point solve an equation according to the observation data after coupling, solve an equation obtain the integer ambiguity floating-point solution of all satellites by solving integer ambiguity floating-point; Integer ambiguity floating-point is solved an equation and is comprised carrier observations equation and pseudorange observation equation; Then step (5) is proceeded to;

(5) preserve and export the integer ambiguity of all usable satellites of current epoch.

The coupling of described observation data comprises the steps:

(2.1) for each usable satellite that current epoch receiver receives, the observed quantity combination of this usable satellite is obtained according to the type of its observed quantity; Described observed quantity combination comprises pseudorange, weights, carrier wave and corresponding state variable; Carry out classifying to the observed quantity of all available gps satellites combination and obtain the gps satellite list possessing single-frequency observation condition and observed quantity combination, the gps satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch receiver receives; Carry out classifying to the observed quantity of all available big-dipper satellites combination and obtain the BD satellite list possessing single-frequency observation condition and observed quantity combination, the BD satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch receiver receives;

(2.2) for each usable satellite that current epoch base station receives, the observed quantity combination of this usable satellite is obtained according to the type of its observed quantity; Described observed quantity combination comprises pseudorange, weights, carrier wave and corresponding state variable; Carry out classifying to the observed quantity of all available gps satellites combination and obtain the gps satellite list possessing single-frequency observation condition and observed quantity combination, the gps satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch base station receives; Carry out classifying to the observed quantity of all available big-dipper satellites combination and obtain the BD satellite list possessing single-frequency observation condition and observed quantity combination, the BD satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch base station receives;

(2.3) satellite list obtained step (2.1) and step (2.2) and observed quantity are combined into row filter, obtain the public satellite list of GPS and observed quantity combination, the public satellite list of GPS possessing Dual Frequency Observation condition and observed quantity combination, the public satellite list of BD possessing single-frequency observation condition and observed quantity combination, the public satellite list of BD possessing Dual Frequency Observation condition and observed quantity combination that current epoch possesses single-frequency observation condition;

(2.4) public satellite list and the observed quantity combination of a upper epoch was judged whether,

If had, then the public satellite list of current epoch and observed quantity are combined and be combined into row filter with the public satellite list of a upper epoch and observed quantity, obtain the public data available between these two epoch; Public data available between these two epoch carry out Sequential processing obtain described matching treatment after observation data;

If no, then the public satellite list of current epoch and observed quantity are combined as the observation data after described matching treatment.

The present invention compared with prior art, tool has the following advantages: after satellite carrier integer ambiguity is fixing, when occurring needing the satellite of Carrier Phase Ambiguity Resolution, by will the satellite having fixed integer ambiguity be utilized to carry out the strategy of assisting, for needing the satellite of Carrier Phase Ambiguity Resolution to provide more data information, thus the fixing speed of its integer ambiguity can be accelerated.By sane auxiliary strategy, effectively can improve the success ratio of bimodulus four combination integer ambiguity on-line search frequently, and the success ratio that a period of time intercarrier resolves can be improved, improve the effect of carrier wave calculation method under the environment such as static, navigation dynamically and under high dynamic condition, location, survey appearance and target following.

Accompanying drawing explanation

Fig. 1 tradition Carrier Phase Ambiguity Resolution process flow diagram;

The Carrier Phase Ambiguity Resolution implementation that Fig. 2 the present invention describes;

Fig. 3 observation data matching process data staging classification schematic diagram.

Embodiment

Along with Beidou satellite navigation system comes into operation, carry out integer ambiguity for the combination of multisystem multifrequency point and more and more paid attention in boat (OTF) research of resolving.Utilizing multisystem multifrequency to bring the advantage enriching observed quantity to improve integer ambiguity in boat (OTF) success ratio resolved also is starting point of the present invention.

Integer ambiguity can be examined or check by two kinds of situations again in the success ratio resolved of navigating, and the first is the success ratio of integer ambiguity initialization first, and the second is within a period of time, ensure that integer ambiguity continues the success ratio of fixing.Current Carrier Phase Ambiguity Resolution method does not take into full account the service condition under multimode multi-frequency condition, the present invention is to the effect that based on current Carrier Phase Ambiguity Resolution method, in conjunction with the feature that observed quantity data under multimode multi-frequency condition are more, propose the method that all kinds data carry out mating and assisting, improve integer ambiguity in the success ratio resolved of navigating.

As shown in Figure 2, (bimodulus: GPS/BD, four frequently: L1/L2/B1/B2) combine integer ambiguity at boat calculation method, comprise the steps: frequently for bimodulus four of the present invention

(1) judging whether according to the observed quantity of all usable satellites of current epoch acquisition the satellite needing to resolve integer ambiguity, when there being the satellite needing to resolve integer ambiguity, proceeding to step (2); When not needing the satellite resolving integer ambiguity, proceed to step (5).

(2) judge when the satellite having enough integer ambiguities to fix, to proceed to step (3) by the satellite whether current epoch has enough integer ambiguities and fixed; When the satellite not having enough integer ambiguities to fix, proceed to step (4).

(3) observed quantity of the satellite fixed according to integer ambiguity is set up first carrier observation equation and is obtained relative position intermediate value between receiver and base station.

The mathematical model of first carrier observation equation is as follows:

$\left[\begin{array}{c}{\mathrm{\λ}}_{L1}\·\mathrm{\Δ}\▿{\mathrm{\φ}}_{12}^{L_{1}12}\\ .\\ .\\ .\\ {\mathrm{\λ}}_{L1}\·\mathrm{\Δ}\▿{\mathrm{\φ}}_{12}^{L_{1}1(M-1)}\\ {\mathrm{\λ}}_{B1}\·\mathrm{\Δ}\▿{\mathrm{\φ}}_{12}^{B_{1}12}\\ .\\ .\\ .\\ {\mathrm{\λ}}_{B1}\·\mathrm{\Δ}\▿{\mathrm{\φ}}_{12}^{B_{1}1(N-1)}\\ {\mathrm{\λ}}_{B2}\·\mathrm{\Δ}\▿{\mathrm{\φ}}_{12}^{B_{2}12}\\ .\\ .\\ .\\ {\mathrm{\λ}}_{B2}\·\mathrm{\Δ}\▿{\mathrm{\φ}}_{12}^{B_{2}1(K-1)}\end{array}\right]=\left[\begin{array}{ccc}{a}_0^{L_{1}12}& b_0^{L_{1}12}& c_0^{L_{1}12}\\ .& .& .\\ .& .& .\\ .& .& .\\ a_0^{L_{1}1(M-1)}& b_0^{L_{1}1(M-1)}& c_0^{L_{1}1(M-1)}\\ a_0^{B_{1}12}& b_0^{B_{1}12}& c_0^{B_{1}12}\\ .& .& .\\ .& .& .\\ .& .& .\\ a_0^{B_{2}1(N-1)}& b_0^{B_{2}1(N-1)}& c_0^{B_{2}1(N-1)}\\ a_0^{B_{2}12}& b_0^{B_{2}12}& c_0^{B_{2}12}\\ .& .& .\\ .& .& .\\ .& .& .\\ a_0^{B_{2}1(K-1)}& b_0^{B_{2}1(K-1)}& c_0^{B_{2}1(K-1)}\end{array}\right]\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\end{array}\right]+\left[\begin{array}{c}{\mathrm{\λ}}_{L1}\·\mathrm{\Δ}\▿N_{12}^{L_{1}12}\\ .\\ .\\ .\\ {\mathrm{\λ}}_{L1}\·\mathrm{\Δ}\▿N_{12}^{L_{1}1(M-1)}\\ {\mathrm{\λ}}_{B1}\·\mathrm{\Δ}\▿N_{12}^{B_{1}12}\\ .\\ .\\ .\\ {\mathrm{\λ}}_{B1}\·\mathrm{\Δ}\▿N_{12}^{B_{1}1(N-1)}\\ {\mathrm{\λ}}_{B2}\·\mathrm{\Δ}\▿N_{12}^{B_{2}12}\\ .\\ .\\ .\\ {\mathrm{\λ}}_{B2}\·\mathrm{\Δ}\▿N_{12}^{B_{2}1(K-1)}\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}\▿{\mathrm{\ϵ}}_{12}^{L_{1}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\ϵ}}_{12}^{L_{1}1(M-1)}\\ \mathrm{\Δ}\▿{\mathrm{\ϵ}}_{12}^{B_{1}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\ϵ}}_{12}^{B_{1}1(N-1)}\\ \mathrm{\Δ}\▿{\mathrm{\ϵ}}_{12}^{B_{2}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\ϵ}}_{12}^{B_{2}1(K-1)}\end{array}\right]---\left(1\right)$

Wherein,

Symbol describe the two difference of carrier wave of current public usable satellite, superscript describes signal frequency point and the satellite call number in public usable satellite list, and subscript represents receiver and base station.With for example: superscript L1 represents that the two difference of this carrier wave belongs to L1 frequency signal, and the 1st star that superscript 12 represents the public usable satellite list of GPS subtracts the 2nd star, and subscript 12 represents receiver data and subtracts base station data;

M, N and K represent L1 frequency public usable satellite number, B1 frequency public usable satellite number and the public usable satellite number of B2 frequency respectively;

Before fixing blur level also belong to unknown quantity, represent the ambiguity of carrier in full period of current public usable satellite, its superscript and lower footnote and symbol superscript symbol implication is consistent;

λ _l1, λ _b1, λ _b2the carrier wavelength of L1, B1, B2 frequency respectively;

$\left[\begin{array}{ccc}{a}_0^{L_{1}12}& b_0^{L_{1}12}& c_0^{L_{1}12}\end{array}\right]$ Represent receiver and intersatellite radial vector.Its superscript and symbol superscript symbol implication is consistent;

$\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\end{array}\right]$ For the Relative position vector between receiver and base station, i.e. described relative position intermediate value;

represent the error term of equation, its superscript and lower footnote and symbol superscript symbol implication is consistent.

For convenience of description, above formula is reduced to:

Φ=AX+BY+n _φ（2）

Wherein:

Φ describes the two difference vector of carrier wave of current public usable satellite;

A describes receiver and intersatellite radial vector matrix;

X describes the Relative position vector between receiver and base station;

B describes the ambiguity of carrier in full period coefficient relevant to carrier wavelength;

Y describes ambiguity of carrier in full period;

N _φerror vector is described.

Obtain the observation data after coupling to the coupling needing the satellite resolving integer ambiguity to carry out observation data, set up the second carrier observations equation according to the relative position intermediate value between described receiver and base station, the mathematical model of the second carrier observations equation is as follows:

Y=ROUND(B ^-1Φ-B ^-1AX) （3）

In equation, unknown quantity is Y, describes the ambiguity of carrier in full period of current public usable satellite composition;

A describes receiver and intersatellite radial vector matrix;

X describes the Relative position vector between receiver and base station;

B describes the ambiguity of carrier in full period coefficient relevant to carrier wavelength;

ROUND () describes round operation.

The integer ambiguity needing to resolve the satellite of integer ambiguity is obtained by solving the second carrier observations equation; Then step (5) is proceeded to.

(4) all usable satellites are carried out to the observation data after the coupling acquisition coupling of observation data, set up integer ambiguity floating-point according to the observation data after coupling and solve an equation.Solve an equation obtain the integer ambiguity of all satellites by solving integer ambiguity floating-point.Integer ambiguity floating-point is solved an equation and is combined foundation by carrier observations equation and pseudorange observation equation and obtain;

Wherein, pseudorange observation equation is:

$\left[\begin{array}{c}\mathrm{\Δ}\▿{\mathrm{\ρ}}_{12}^{L_{1}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\ρ}}_{12}^{L_{1}1M}\\ \mathrm{\Δ}\▿{\mathrm{\ρ}}_{12}^{B_{1}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\ρ}}_{12}^{B_{1}1N}\\ \mathrm{\Δ}\▿{\mathrm{\ρ}}_{12}^{B_{2}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\ρ}}_{12}^{B_{2}1K}\end{array}\right]=\left[\begin{array}{ccc}{a}_0^{L_{1}12}& b_0^{L_{1}12}& c_0^{L_{1}12}\\ .& .& .\\ .& .& .\\ .& .& .\\ a_0^{L_{1}1M}& b_0^{L_{1}1M}& c_0^{L_{1}1M}\\ a_0^{B_{1}12}& b_0^{B_{1}12}& c_0^{B_{1}12}\\ .& .& .\\ .& .& .\\ .& .& .\\ a_0^{B_{2}1N}& b_0^{B_{2}1N}& c_0^{B_{2}1N}\\ a_0^{B_{2}12}& b_0^{B_{2}12}& c_0^{B_{2}12}\\ .& .& .\\ .& .& .\\ .& .& .\\ a_0^{B_{2}1K}& b_0^{B_{2}1K}& c_0^{B_{2}1K}\end{array}\right]\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}\▿{\mathrm{\σ}}_{12}^{L_{1}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\σ}}_{12}^{L_{1}1M}\\ \mathrm{\Δ}\▿{\mathrm{\σ}}_{12}^{B_{1}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\σ}}_{12}^{B_{1}1N}\\ \mathrm{\Δ}\▿{\mathrm{\σ}}_{12}^{B_{2}12}\\ .\\ .\\ .\\ \mathrm{\Δ}\▿{\mathrm{\σ}}_{12}^{B_{2}1K}\end{array}\right]---\left(4\right)$

Wherein, $\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\end{array}\right]$ Relative position vector between receiver and base station is described;

Symbol describe the two difference of pseudorange of current public usable satellite, superscript describes signal frequency point and the satellite call number in public usable satellite list, and subscript represents receiver and base station.With for example: L1 represents that the two difference of this pseudorange belongs to L1 frequency signal, the 1st star that superscript 12 represents the public usable satellite list of GPS subtracts the 2nd star, and subscript 12 represents receiver data and subtracts base station data;

$\left[\begin{array}{ccc}{a}_0^{L_{1}12}& b_0^{L_{1}12}& c_0^{L_{1}12}\end{array}\right]$ Represent receiver and intersatellite radial vector.Its superscript and symbol superscript symbol implication is consistent;

represent the error term of equation, its superscript and lower footnote and symbol superscript symbol implication is consistent.

For convenience of description, above formula is reduced to:

ρ=AX+n _ρ（5）

ρ describes the two difference vector of pseudorange of current public usable satellite composition;

A describes receiver and intersatellite radial vector matrix;

X describes the Relative position vector between receiver and base station;

N _ρerror vector is described.

Observation model is set up in the combination of pseudorange and carrier wave:

$\left[\begin{array}{cc}2A^T\mathrm{PA}& A^T\mathrm{PB}\\ B^T\mathrm{PA}& B_T\mathrm{PB}\end{array}\right]\left[\begin{array}{c}X\\ Y\end{array}\right]=\left[\begin{array}{c}{A}^T\mathrm{P\Φ}+A^T\mathrm{P\ρ}\\ B^T\mathrm{P\Φ}\end{array}\right]---\left(6\right)$

Φ describes the two difference vector of carrier wave of current public usable satellite;

ρ describes the two difference vector of pseudorange of current public usable satellite composition;

A describes receiver and intersatellite radial vector matrix;

B describes the ambiguity of carrier in full period coefficient relevant to carrier wavelength;

X describes the Relative position vector between receiver and base station;

Y describes ambiguity of carrier in full period;

P describes the power battle array between carrier wave and pseudorange, with n _φand n _ρrelevant;

Formula (6) is integer ambiguity floating-point and solves an equation.

Then step (5) is proceeded to.

(5) preserve and export the integer ambiguity of all usable satellites of current epoch.

Above-mentionedly set up carrier observations equation and integer ambiguity floating-point is solved an equation, and the method obtaining unknown quantity of solving an equation is all prior art.

The observed quantity that carrier wave resolves process is abundanter and changeable, observation data to be processed is needed each epoch to comprise base station and rover station two kinds, the data of each website comprise again the multi-satellite data of GPS and BD two systems, and each satellite is divided into two frequency bins, each frequency comprises three observed quantities.Therefore, every satellite will process six observed quantities, for gps satellite, comprising:

L1 frequency C code pseudorange (L1C_Pr), L1 frequency P code pseudorange (L1P_Pr), L1 frequency carrier wave (L1_Carr),

L2 frequency C code pseudorange (L2C_Pr), L2 frequency P code pseudorange (L2P_Pr), L2 frequency carrier wave (L2_Carr).

Wherein, carrier wave is necessary input observed quantity, and in order to accelerate the initialization time of Carrier Phase Ambiguity Resolution, pseudo-range information can be used for resolving of auxiliary integer ambiguity.But the type of each observed quantity is different with quality, before using it for and resolving, need reasonably to mate above-mentioned Various types of data.

The matching process of described step (3) and (4) middle observation data adopts classification processing mode from bottom to top, is divided into level Four (as shown in Figure 3).As follows to the concrete operation step of data:

(2.1) for each usable satellite that current epoch receiver receives, the observed quantity combination of this usable satellite is obtained according to the type of its observed quantity.

For gps satellite, the possible observed quantity of single satellite comprises:

PrL1C:L1 frequency C code pseudo range observed quantity

PrL1P:L1 frequency P code pseudo range observed quantity

CarrL1:L1 frequency carrier observations amount

PrL2P:L2 frequency P code pseudo range observed quantity

CarrL2:L2 frequency carrier observations amount

Described observed quantity combination comprises the pseudorange preferably, weights and carrier wave, and corresponding state variable; Be not that every available gps satellite has above five variablees, possible combination has three kinds:

I) Double drift region combination: [prL1P carrL1 prL2P carrL2 w _l1Pw _l2Pstate]

II) single-frequency P code combination: [prL1P carrL1 w _l1Pstate]

III) Single Frequency C code combination: [prL1C carrL1 w _l1Cstate]

Wherein, w _l1C, w _l1P, w _l2Pthe weights that prL1C, prL1P and prL2P are corresponding respectively;

State identifies the state of this group observations current, and possible value is: L1, L1L2.

Carry out classifying to the observed quantity of all available gps satellites combination and obtain the gps satellite list possessing single-frequency observation condition and observed quantity combination, the gps satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch receiver receives; Carry out classifying to the observed quantity of all available big-dipper satellites combination and obtain the BD satellite list possessing single-frequency observation condition and observed quantity combination, the BD satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch receiver receives; For description aspect, the usable satellite that current epoch rover station of illustrating here receives comprises:

GPS single-frequency L1 satellite list: [sv1 sv3 sv6]

GPS double frequency L1L2 satellite list: [sv12 sv17 sv22 sv25]

BD single-frequency B1 satellite list: [sv1 sv6]

BD single-frequency B2 satellite list: [sv2 sv5]

BD double frequency B1B2 satellite list: [sv3 sv4 sv7 sv8]

(2.2) for each usable satellite that current epoch base station receives, the observed quantity combination of this usable satellite is obtained according to the type of its observed quantity; Described observed quantity combination comprises pseudorange, weights and carrier wave, and corresponding state variable; Carry out classifying to the observed quantity of all available gps satellites combination and obtain the gps satellite list possessing single-frequency observation condition and observed quantity combination, the gps satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch base station receives; Carry out classifying to the observed quantity of all available big-dipper satellites combination and obtain the BD satellite list possessing single-frequency observation condition and observed quantity combination, the BD satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch base station receives; Here the usable satellite that current epoch base station of illustrating receives comprises:

GPS single-frequency L1 satellite list: [sv1 sv3]

GPS double frequency L1L2 satellite list: [sv6 sv12 sv17 sv22 sv25 sv31 sv32]

BD single-frequency B1 satellite list: [sv6]

BD single-frequency B2 satellite list: nothing

BD double frequency B1B2 satellite list: [sv1 sv2 sv3 sv4 sv5 sv8]

(2.3) satellite list obtained step (2.1) and step (2.2) and observed quantity are combined into row filter, obtain the public satellite list of GPS and observed quantity combination, the public satellite list of GPS possessing Dual Frequency Observation condition and observed quantity combination, the public satellite list of BD possessing single-frequency observation condition and observed quantity combination, the public satellite list of BD possessing Dual Frequency Observation condition and observed quantity combination that current epoch possesses single-frequency observation condition.According to citing above, can be combined as follows:

GPS single-frequency L1 satellite list: [sv1 sv3]

GPS double frequency L1L2 satellite list: [sv12 sv17 sv22 sv25]

BD single-frequency B1 satellite list: [sv6]

BD single-frequency B2 satellite list: nothing

BD double frequency B1B2 satellite list: [sv3 sv4 sv8]

(2.4) public satellite list and the observed quantity combination of a upper epoch was judged whether,

If had, then the public satellite list of current epoch and observed quantity are combined and be combined into row filter with the public satellite list of a upper epoch and observed quantity, obtain the public data available between these two epoch; Public data available between these two epoch carry out Sequential processing obtain described matching treatment after observation data; Matching process is identical with step (2.3).

If no, then the public satellite list of current epoch and observed quantity are combined as the observation data after described matching treatment.

Bimodulus four frequently can provide and accurate observation data more abundanter than single-frequency in situation, but precision difference between data and consistance difference can affect data fusion.By processing these observation datas, the optimum match method of different observation data can be found, obtaining rapidly carrying out the fixing observation data of integer ambiguity.

Claims (1)

1. bimodulus four frequency integer ambiguity is in the method resolved of navigating, and comprises the steps:

(1) judging whether according to the observed quantity of all usable satellites of current epoch acquisition the satellite needing to resolve integer ambiguity, when there being the satellite needing to resolve integer ambiguity, proceeding to step (2); When not needing the satellite resolving integer ambiguity, proceed to step (5);

(2) judge when the satellite having enough integer ambiguities to fix, to proceed to step (3) by the satellite whether current epoch has enough integer ambiguities and fixed; When the satellite not having enough integer ambiguities to fix, proceed to step (4);

(3) observed quantity of the satellite fixed according to integer ambiguity is set up first carrier observation equation and is obtained relative position intermediate value between receiver and base station; Observation data after coupling is obtained to the coupling needing the satellite resolving integer ambiguity to carry out observation data, setting up the second carrier observations equation according to the observation data after coupling and the relative position intermediate value between described receiver and base station, obtaining by solving the second carrier observations equation the integer ambiguity needing to resolve the satellite of integer ambiguity; Then step (5) is proceeded to;

(4) all usable satellites are carried out to the observation data after the coupling acquisition coupling of observation data, set up integer ambiguity floating-point solve an equation according to the observation data after coupling, solve an equation obtain the integer ambiguity of all satellites by solving integer ambiguity floating-point; Integer ambiguity floating-point is solved an equation and is comprised carrier observations equation and pseudorange observation equation; Then step (5) is proceeded to;

(5) preserve and export the integer ambiguity of all usable satellites of current epoch;

The coupling of described observation data comprises the steps:

(2.1) for each usable satellite that current epoch receiver receives, the observed quantity combination of this usable satellite is obtained according to the type of its observed quantity; Described observed quantity combination comprises pseudorange, weights, carrier wave and corresponding state variable; Carry out classifying to the observed quantity of all available gps satellites combination and obtain the gps satellite list possessing single-frequency observation condition and observed quantity combination, the gps satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch receiver receives; Carry out classifying to the observed quantity of all available big-dipper satellites combination and obtain the BD satellite list possessing single-frequency observation condition and observed quantity combination, the BD satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch receiver receives;

(2.2) for each usable satellite that current epoch base station receives, the observed quantity combination of this usable satellite is obtained according to the type of its observed quantity; Described observed quantity combination comprises pseudorange, weights, carrier wave and corresponding state variable; Carry out classifying to the observed quantity of all available gps satellites combination and obtain the gps satellite list possessing single-frequency observation condition and observed quantity combination, the gps satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch base station receives; Carry out classifying to the observed quantity of all available big-dipper satellites combination and obtain the BD satellite list possessing single-frequency observation condition and observed quantity combination, the BD satellite list possessing Dual Frequency Observation condition and observed quantity combination that current epoch base station receives;

(2.3) satellite list obtained step (2.1) and step (2.2) and observed quantity are combined into row filter, obtain the public satellite list of GPS and observed quantity combination, the public satellite list of GPS possessing Dual Frequency Observation condition and observed quantity combination, the public satellite list of BD possessing single-frequency observation condition and observed quantity combination, the public satellite list of BD possessing Dual Frequency Observation condition and observed quantity combination that current epoch possesses single-frequency observation condition;

(2.4) public satellite list and the observed quantity combination of a upper epoch was judged whether,

If had, then the public satellite list of current epoch and observed quantity are combined and be combined into row filter with the public satellite list of a upper epoch and observed quantity, obtain the public data available between these two epoch; Public data available between these two epoch carry out Sequential processing obtain described matching treatment after observation data;

If no, then the public satellite list of current epoch and observed quantity are combined as the observation data after described matching treatment.