CN103837879A - Method for realizing high-precision location based on Big Dipper system civil carrier phase combination - Google Patents

Abstract

The invention discloses a kind of methods for realizing high accuracy positioning based on the civilian combination carrier phase observation of dipper system, comprising: calculates initial user position, and calculates GEO super-wide-lane integer ambiguity using initial user position; It is whole to the measurement of GEO super-wide-lane combination observation, calculate the lane GEO wide integer ambiguity It calculates GEO super-wide-lane and combines double difference error, determine GEO wide lane ambiguity search range; To the lane GEO wide integer ambiguity Dimensionality reduction is searched for obtain GEO wide lane ambiguity exact value; Choose a MEO/IGSO satellite simultaneously its wide lane integer ambiguity of primary Calculation; MEO/IGSO wide lane ambiguity exact value is obtained by search; The double difference values of ambiguity on B1, B2 and S frequency point is calculated using the fuzziness syntagmatic of super-wide-lane and wide lane; Using the carrier phase of double difference values of ambiguity and receiver measurement on calculated B1, B2 and S frequency point, the positioning of star base double difference is carried out, the high precision position of user is calculated. Using the present invention, achieve the purpose that Beidou carrier phase quick high accuracy positions.

Description

Realize the method for hi-Fix based on the civilian combination carrier phase observation of dipper system

Technical field

The present invention relates to satellite navigation hi-Fix technical field, is a kind ofly to realize the even method of centimetre-sized hi-Fix of decimeter grade based on the civilian combination carrier phase observation of dipper system specifically.

Background technology

Along with the development of global GNSS technology, carrier phase list high-precision applications epoch demand has driven the fast development of carrier phase hi-Fix.The key that carrier phase hi-Fix resolves is Carrier Phase Ambiguity Resolution.Solve for integer ambiguity, most widely used method has least square blur level decorrelation adjustment algorithm (LAMBDA method) in recent years, TCAR (Three CarrierAmbiguityResolution), CAR (Cascade Integer Resolution) etc.Wherein TCAR is a kind of three frequency Ambiguity Solution Methods.The method will have been used three frequency composition Chao Kuan Xiang Hekuan lane combinations cleverly, first record initial position by pseudo-range measurements, the method that recycling rounds is calculated Chao Kuan lane integer ambiguity, then round and push away wide lane ambiguity by Dui Chaokuan lane measured value, finally solve integer ambiguity that there emerged a frequency, complete carrier phase list and resolve epoch.

But the high-precision fixed potential theory based on carrier phase measurement and method, mainly all based on GPS research and development, are directly used in dipper system and also have certain inadaptability at present, are in particular in:

The one, the constellation configuration that dipper system is special, especially in constellation, the locus of GEO (GeostationaryOrbit) satellite is relatively fixing, the existing integer ambiguity proposing based on gps system is determined method, be difficult to be directly used in GEO satellite and realize resolving fast of its integer ambiguity, need to propose new method and solve this problem.

The 2nd, dipper system regional service only provides two frequencies to civilian users at L-band, and three frequency combination carrier phase observation hi-Fix technology can not be directly used in the civilian service of the Big Dipper.But dipper system regional service, when L-band B1/B2 frequency RNSS navigation signal is provided, also provides RDSS service in S-band, its exit signal has the potentiality that are used to carrier phase hi-Fix equally.

Therefore it is a problem demanding prompt solution that the signal that, how to fully utilize B1/B2/S frequency carries out Big Dipper carrier phase hi-Fix.

Summary of the invention

(1) technical matters that will solve

In view of this, fundamental purpose of the present invention is to provide a kind of method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system, by the advantage of comprehensive utilization Big Dipper RNSS and the civilian three frequency signals of RDSS and special constellation, capture the relatively actionless limitation of Big Dipper GEO satellite, and Big Dipper RNSS signal only has two civil signal to be difficult to realize two crucial difficult problems of Fast Carrier Phase Ambiguity Resolution, realize list ambiguity of carrier phase epoch and resolve, and finally reach the object of Big Dipper carrier phase quick high accuracy location.

(2) technical scheme

For achieving the above object, the invention provides a kind of method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system, the method comprises:

Step 1: carry out pseudo range difference location according to pseudorange double difference observation, calculate pseudo range difference position location, and using this pseudo range difference position location as initial user position;

Step 2: utilize this pseudo range difference position location to calculate GEOChao Kuan lane integer ambiguity;

Step 3: measure wholely to calculating integer ambiguity GEOChao Kuan lane combination observation, calculate GEOKuan lane integer ambiguity

Step 4: calculate GEOChao Kuan lane combination double difference error, determine the wide lane ambiguity of GEO hunting zone;

Step 5: calculate GEOKuan lane integer ambiguity with step 3

for the initial value of search, in the wide lane ambiguity of the definite GEO of step 4 hunting zone, carry out least square search, obtain the wide lane ambiguity exact value of GEO;

Step 6: choose a MEO/IGSO satellite primary Calculation Qi Kuan lane integer ambiguity;

Step 7: the wide lane ambiguity of the MEO/IGSO satellite hunting zone that determining step 6 is calculated;

Step 8: the integer ambiguity calculating take step 6 is the initial value of search, carries out least square search in the wide lane ambiguity hunting zone of determining in step 7, obtains the wide lane ambiguity exact value of MEO/IGSO;

Step 9: utilize the blur level syntagmatic in Chao Kuan Xiang Hekuan lane to calculate the two poor values of ambiguity on B1, B2 and S frequency;

Step 10: the carrier phase that the two poor values of ambiguity on B1, the B2 that utilization calculates and S frequency and receiver are measured, carry out two differences location, satellite-based, calculate user's high precision position.

In such scheme, described step 1 comprises:

A) by pseudorange double difference observation

the two poor observation equations of substitution linearization pseudorange

wherein, represent two gaps from, represent two difference measurements errors;

B) use linearization additive process to the two poor observation equations of this linearization pseudorange

carry out linearization:

${\∂\mathrm{\ρ}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}\frac{x_u-x_i}{R_{\mathrm{ui}}}-\frac{x_u-x_j}{R_{\mathrm{uj}}}& \frac{y_u-y_i}{R_{\mathrm{ui}}}-\frac{y_u-y_j}{R_{\mathrm{uj}}}& \frac{z_u-z_i}{R_{\mathrm{ui}}}-\frac{z_u-z_j}{R_{\mathrm{uj}}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]+{\widetilde{\mathrm{\ϵ}}}_{\mathrm{ur}}^{\mathrm{ij}}$

Wherein,

represent the residual error after linearization;

C) by multiple linearization observation equation simultaneous composition systems of linear equations, utilize least square method to solve pseudo range difference position location, and using this pseudo range difference position location as initial user position.

In such scheme, described step 2 comprises: utilize this pseudo range difference position location to calculate GEOChao Kuan lane integer ambiguity

wherein,

shi Chaokuan lane integer ambiguity, λ _eWLshi Chaokuan lane combination frequency wavelength,

to utilize the satellite that user's initial position and co-ordinates of satellite solve to calculate distance to two differences of user, the two poor carrier phase values in Shi Chaokuan lane, round represents round.

In such scheme, described step 3 comprises: will calculate GEOChao Kuan lane integer ambiguity

substitution following formula, calculates GEOKuan lane integer ambiguity;

wherein,

λ _wL,

represent respectively two poor complete cycle number, wavelength and two poor carrier phase of the combination of wide lane.

In such scheme, described step 4 comprises:

Double-differential carrier phase observation equation is:

${\▿\mathrm{\Δ\φ}}^{\mathrm{ij}}\·\mathrm{\λ}={\mathrm{\Δ\φ}}^i\·\mathrm{\λ}-{\mathrm{\Δ\φ}}^j\·\mathrm{\λ}$

$=\left[\begin{array}{ccc}\frac{x_u-x_i}{R_{\mathrm{ui}}}-\frac{x_u-x_j}{R_{\mathrm{uj}}}& \frac{y_u-y_i}{R_{\mathrm{ui}}}-\frac{y_u-y_j}{R_{\mathrm{uj}}}& \frac{z_u-z_i}{R_{\mathrm{ui}}}-\frac{z_u-z_j}{R_{\mathrm{uj}}}\end{array}\right]\·\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]$

$-\mathrm{\λ}\·[N_u^i-N_c^i-(N_u^j-N_c^j)]+\▿\mathrm{\Δ\δI}+\▿\mathrm{\Δ\δT}+[{\mathrm{\ρ}}_{u0}^i-{\mathrm{\ρ}}_c^i-({\mathrm{\ρ}}_{u0}^j-{\mathrm{\ρ}}_c^j)]+\▿\mathrm{\Δ\ϵ}$

$=\left[\begin{array}{ccc}{\▿l}_u^i& {\▿m}_u^i& {\▿n}_u^i\end{array}\right]\·\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]-{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\ρ}}^{\mathrm{ij}}+\▿\mathrm{\Δ\δI}+\▿\mathrm{\Δ\δT}+\▿\mathrm{\Δ\ϵ}$

In above formula, use subscript i, j represents different satellites, subscript u, and c represents user and reference station; Wherein,

represent two poor carrier phase measurement values, Δ φ ⁱ, Δ φ ^jthe poor carrier phase measurement value of list that represents two satellites, λ represents the carrier wavelength of this frequency, (x _u, y _u, z _u) represent that user is with respect to the three-dimensional position of reference station, (x _i, y _i, z _i) and (x _j, y _i, z _j) represent the three-dimensional position of satellite i and satellite j, $R_{\mathrm{ui}}=\sqrt{{(x_u-x_i)}^2+{(y_u-y_i)}^2+{(z_u-z_i)}^2},$ $R_{\mathrm{uj}}=\sqrt{{(x_u-x_j)}^2+{(y_u-y_j)}^2+{(z_u-z_j)}^2},$

represent two poor ionosphere delays, represent two poor tropospheric delay,

be four non-poor integer ambiguities,

represent two poor integer ambiguities,

with

according to the distance of the user to two of an initial user position calculation satellite, with

the distance of reference station to two satellite,

represent initial two gaps from,

represent two difference measurements noises;

Above-mentioned double-differential carrier phase observation equation is converted to two-dimentional double-differential carrier phase observation equation:

${\▿\mathrm{\Δ\φ}}^{\mathrm{ij}}\·\mathrm{\λ}={\mathrm{\Δ\φ}}^i\·\mathrm{\λ}-{\mathrm{\Δ\φ}}^j\·\mathrm{\λ}$

$=\left[\begin{array}{cc}{\▿l}_u^i& {\▿m}_u^i\end{array}\right]\·\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\end{array}\right]-{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\ρ}}^{\mathrm{ij}}+[\▿\mathrm{\Δ\δI}+\▿\mathrm{\Δ\δT}+\▿\mathrm{\Δ\ϵ}+{\▿n}_u^i\·{\mathrm{\δz}}_u]$

$=\left[\begin{array}{cc}{\▿l}_u^i& {\▿m}_u^i\end{array}\right]\·\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\end{array}\right]-{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\ρ}}^{\mathrm{ij}}+\mathrm{noise}$

Wherein, represent residual error with noise, comprise Ionosphere Residual Error, other remainder error of troposphere residual sum; Determine wide lane searching for integer cycle scope by Chao Kuan lane combined carriers double difference error, this error mainly comprises Ionosphere Residual Error, troposphere residual error, wide lane combination observation noise, multipath; Then, carry out the complete cycle search in blur level territory or two-dimensional position territory based on D geometric modeling.

In such scheme, described step 5 comprises: choosing the pseudo range difference elements of a fix is customer location initial value, and its positioning error is in 2 meters; Utilize three GEO the TV star to set up two two eikonal equations, utilize described two-dimentional double-differential carrier phase observation equation to calculate more accurate x, y value; Then according to formula

preferably carrier phase distance measurement value and corresponding satellite are determined the corresponding wide lane of these three stars carrier wave complete cycle number to user's calculating location apart from a group of minimum; Wherein, min represents to get minimum value,

represent the two poor distance values that draw according to the customer location calculating and satellite position; Residue GEO satellite directly utilizes calculated x, y and initial z value substitution formula

determine the wide lane ambiguity exact value of GEO.

In such scheme, described step 6 comprises: choose a MEO or IGSO satellite, utilize the accurately x after GEO two-dimensional localization, y and initial z coordinate, by this MEO of mode primary Calculation or the IGSO satellite Kuan lane complete cycle number that round.

In such scheme, described step 7 comprises: centered by this complete cycle number, its uncertain error is that z shaft position out of true causes, uncertainty is 3, search volume is ± and 3; Even if do not adopting any search volume to reduce tactful in the situation that, totally 7 groups of its search alternative combinations numbers.

In such scheme, described step 8 comprises: for each alternative blur level combination, carry out the more accurate x of three-dimensional localization calculating, y, z value, then preferably carrier phase distance measurement value and corresponding satellite are determined the corresponding wide lane of this star carrier wave complete cycle number to a group of user distance minimum, that is:

$\min \left(\right|{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\φ}}^{\mathrm{ij}}\·\mathrm{\λ}-{\▿\mathrm{\ΔR}}^{\mathrm{ij}}\left|\right)$

Then utilize this coordinate directly to calculate the complete cycle number of other visual MEO or IGSO.

In such scheme, described step 9 comprises: calculate GEOKuan lane integer ambiguity according to step 3

the mode that utilization rounds is calculated the two poor integer ambiguity values of certain frequency, by the blur level syntagmatic in the two poor integer ambiguity value substitution Chao Kuan Xiang Hekuan of this frequency calculating lane, calculates the values of ambiguity of other frequency.

In such scheme, the mode that described utilization rounds is calculated the two poor integer ambiguity values of certain frequency, by the blur level syntagmatic in the two poor integer ambiguity value substitution Chao Kuan Xiang Hekuan of this frequency calculating lane, calculates the values of ambiguity of other frequency, comprising:

First calculate the two poor integer ambiguity value of B1 frequency:

Will

the blur level syntagmatic in substitution Chao Kuan Xiang Hekuan lane,

${\&dtri;\mathrm{\&Delta;N}}_{\mathrm{WL}}={\&dtri;\mathrm{\&Delta;N}}_1-{\&dtri;\mathrm{\&Delta;<figure-callout\; id="2"\; label="N"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">N</figure-callout>}}_2{\&dtri;\mathrm{\&Delta;N}}_{\mathrm{EWL}}={\&dtri;\mathrm{\&Delta;N}}_S=2{\&dtri;\mathrm{\&Delta;<figure-callout\; id="2"\; label="N"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">N</figure-callout>}}_2$

Can calculate the values of ambiguity of other frequency;

Wherein,

with

represent respectively the two poor integer ambiguity value of B2 and S frequency.

In such scheme, described step 10 comprises:

A) two poor integer ambiguity values of the combined carriers phase place of a certain frequency calculating and the double-differential carrier phase measured value substitution linearization double-differential carrier phase observation equation of corresponding frequency are obtained ${\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}=\left[\begin{array}{ccc}{\&dtri;l}_u^i& {\&dtri;m}_u^i& {\&dtri;n}_u^i\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]-{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+{\&dtri;\mathrm{\&Delta;\&epsiv;}}^{\&prime;},$ Wherein

represent two difference measurements residual errors;

B) the multiple linearization observation equations of simultaneous, utilize least square method to calculate the position of user with respect to reference station; Use x _urepresent user's three-dimensional position vector, x _rrepresent reference station three-dimensional position vector, x _ur=(x _u, y _u, z _u) represent the three-dimensional position vector of user with respect to reference station, there is relative positioning computing formula: x _u=x _r+ x _ur, just can calculate accurate customer location x _u.

In such scheme, described step B) comprising:

Step B1: linearization observation equation is written as:

${\&PartialD;\mathrm{\&rho;}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}{\&dtri;l}_u^i& {\&dtri;m}_u^i& {\&dtri;n}_u^i\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]+{\widetilde{\mathrm{\&epsiv;}}}_{\mathrm{ur}}^{\mathrm{ij}};$

Step B2: the linear matrix equation of the multiple above-mentioned system of equations of simultaneous:

$\left[\begin{array}{c}{\&PartialD;\mathrm{\&rho;}}^1\\ {\&PartialD;\mathrm{\&rho;}}^2\\ .\\ .\\ .\\ {\&PartialD;\mathrm{\&rho;}}^3\end{array}\right]=\left[\begin{array}{ccc}{\&dtri;\mathrm{<figure-callout\; id="1"\; label="l\; u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">l</figure-callout>}}_u^{}& {\&dtri;m}_{\mathrm{<figure-callout\; id="1"\; label="u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">u</figure-callout>}}^1& {\&dtri;\mathrm{<figure-callout\; id="1"\; label="n\; u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">n</figure-callout>}}_u^{}\\ {\&dtri;\mathrm{<figure-callout\; id="2"\; label="l\; u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_u^{}& {\&dtri;m}_{\mathrm{<figure-callout\; id="2"\; label="u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">u</figure-callout>}}^2& {\&dtri;\mathrm{<figure-callout\; id="2"\; label="n\; u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">n</figure-callout>}}_u^{}\\ .& .& .\\ .& .& .\\ .& .& .\\ {\&dtri;l}_u^3& {\&dtri;m}_u^3& {\&dtri;n}_u^3\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]$

Order $\&PartialD;\mathrm{\&rho;}=\left[\begin{array}{c}{\&PartialD;\mathrm{\&rho;}}^1\\ {\&PartialD;\mathrm{\&rho;}}^2\\ .\\ .\\ .\\ {\&PartialD;\mathrm{\&rho;}}^3\end{array}\right],$ $A=\left[\begin{array}{ccc}{\&dtri;\mathrm{<figure-callout\; id="1"\; label="l\; u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">l</figure-callout>}}_u^{}& {\&dtri;m}_{\mathrm{<figure-callout\; id="1"\; label="u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">u</figure-callout>}}^1& {\&dtri;\mathrm{<figure-callout\; id="1"\; label="n\; u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">n</figure-callout>}}_u^{}\\ {\&dtri;\mathrm{<figure-callout\; id="2"\; label="l\; u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_u^{}& {\&dtri;m}_{\mathrm{<figure-callout\; id="2"\; label="u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">u</figure-callout>}}^2& {\&dtri;\mathrm{<figure-callout\; id="2"\; label="n\; u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">n</figure-callout>}}_u^{}\\ .& .& .\\ .& .& .\\ .& .& .\\ {\&dtri;l}_u^3& {\&dtri;m}_u^3& {\&dtri;n}_u^3\end{array}\right],$ $\mathrm{\&delta;x}=\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]$

Write above-mentioned linear matrix equation as matrix form:

Step B3: solve δ x by least square method _u, δ y _u, δ z _u;

The estimated value substitution solving equations of choosing current coordinate points goes out

utilize least square method to solve $\mathrm{\&delta;x}=A^{-1}\&CenterDot;\&PartialD;\mathrm{\&rho;}$

If equation number is greater than 3, formula becomes

What δ x obtained is the difference of customer location with respect to coordinate and the initial estimation coordinate of base station;

Step B4: revise original estimated value and obtain new customer location x _u', i.e. x _u'=x _u+ δ x;

Step B5: utilize the x after revising _u' again calculate as initial coordinate

the above-mentioned formula of substitution calculates again, the δ x that solution makes new advances, and again revise;

Step B6: repeatedly computing until

be less than certain predetermined value, now think that the coordinate of receiver user is exactly real receiver user position coordinates.

In such scheme, described in step B6, certain predetermined value is 0.001 meter.

(3) beneficial effect

Can find out from technique scheme, the present invention has following beneficial effect:

First, the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention, by the advantage of comprehensive utilization Big Dipper RNSS and the civilian three frequency signals of RDSS and special constellation, capture the relatively actionless limitation of Big Dipper GEO satellite, and Big Dipper RNSS signal only has two civil signal to be difficult to realize two crucial difficult problems of Fast Carrier Phase Ambiguity Resolution, realize single epoch ambiguity of carrier phase and resolved, and finally reached the object of Big Dipper carrier phase quick high accuracy location.

Second, the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention, introduce Big Dipper RDSS signal, in conjunction with the civilian frequency signal of RNSS, RDSS+RNSS Combination for High Precision location thinking has been proposed first, expand three application of technology in dipper system frequently, also expanded the application of Big Dipper RDSS system simultaneously.

The 3rd, the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention, combine civilian three frequently for RDSS+RNSS, propose a kind of improved TCAR (three frequency ambiguity resolution) and resolved thinking, describe the whole process of resolving in detail, in conjunction with current multi-frequency combination method, can realize short baseline Carrier Phase Ambiguity Resolution epoch that places an order.Consider again the ionospheric model under long baseline, the method can be used for realizing long baseline in dipper system even the quick high accuracy under overlength baseline locate.

The 4th, the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention, has proposed three-dimensional and has turned two-dimensional process method.Based on the disposal route of dimensionality reduction, can reduce search volume, reduce the search number in blur level territory or three-dimensional position territory, provide new approaches for realizing carrier phase list Carrier Phase Ambiguity Resolution epoch.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of the integrated positioning principle that adopts of the present invention;

Fig. 2 is the schematic diagram of the GEO+IGSO constellation configuration that adopts of the present invention;

Fig. 3 is the method flow diagram of realizing hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention;

Fig. 4 is the three-dimensional schematic diagram that turns two-dimensional position dimension-reduction treatment analysis result in the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention.

Embodiment

For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.

Be double frequency for the civilian frequency of Big Dipper RNSS system, limit to the reliability of even single carrier phase epoch location fast, the present invention makes full use of the frequency configuration in dipper system feature and civilian service, proposes first RNSS+RDSS multifrequency carrier combination quick high accuracy method.

The feature of dipper system has been to provide RDSS and two kinds of services of RNSS.RDSS provides radiodetermination-satellite service (Radio Determination Satellite Service), and RNSS provides radio location service (Radio Navigation Satellite System).In the file of submitting in International Telecommunication Union (ITU) according to China, COMPASS/BeiDou-2 is by three frequencies of transmitted signal, concentrate on 1,589.742MHz (B1-OS) He 1,561.089MHz (B1-AS), 1,207.14Mhz (B2) and 1,268.52MHz (B3).But one of them frequency is only served authorized user.So the RNSS of the Big Dipper only uses two civilian frequencies, cannot carry out three frequency Carrier Phase Ambiguity Resolution.

RDSS provides the 3rd civilian frequency for dipper system, and its frequency providing from satellite to user segment is S-band, concentrates on 2491.75MHz.The S-band of RDSS the 3rd frequently three application of high precision technology frequently that are introduced as of resource has been created condition, simultaneously for even single epoch fast integer ambiguity determine feasibility be provided, and RDSS frequency, in S-band, has better distance accuracy, can be used fully;

Different with RDSS signal transmission path for RNSS, the present invention utilizes RDSS passive signal, from this one way path of C-> S-> U, both space-time datums are consistent, are the RDSS+RNSS integrated positioning condition of providing convenience.

Big Dipper RNSS is different from the signal transmission path of RDSS, and Big Dipper RNSS signal transmission path is directly from satellite (S) to user (U), i.e. S-> U is similar with GPS, Glonass, Galileo.The transmission path of the active Subscriber Location Report service of RDSS is actual be from central station (C) through satellite to coming and going (C-> S-> U-> S-> C user, round trip), complete positioning reporting to user by central station; But without source user, its signal transmission path is only to forward again to user (C-> S-> U, one way) from central station to satellite for RDSS.

Although two kinds of signal transmission path differences, concerning all users, from central station to satellite, (C-> S) this section of path is on all four.Therefore, after the two differences of the star that misses the stop, in fact that RDSS signal this transmission path part from central station to satellite is eliminated completely after single poor processing between missing the stop, that is to say that RDSS and RNSS transmission path are in full accord after single poor processing between missing the stop, can be for multi-frequency combination carrier phase hi-Fix;

Occur over just on GEO satellite for RDSS frequency, but GEO satellite geometry configuration is bad, the problem that calculation accuracy is not high, the present invention utilizes the special constellation of dipper system, turn two-dimensional position dimension-reduction treatment method based on three-dimensional, propose a kind of improved TCAR method and resolve integer ambiguity.The long baseline of centering, considers ionosphere effect, utilizes ionospheric model, can realize equally quick integer ambiguity and determine, improves the success ratio that integer ambiguity calculates.

The theoretical foundation of dimension-reduction treatment is in CGS2000 coordinate system, is starkly lower than x along the axial error coefficient magnitude of z, y direction of principal axis, its Z-direction site error δ z _ucarrier wave observed quantity complete cycle number is solved and becomes not impact.So resolving equation, three-dimensional position can be converted to two dimension.This dimensionality reduction resolves and can bring reducing and the reduction of calculated amount of search volume.Can carry out dimensionality reduction search to wide lane ambiguity accordingly and improve its precision.

The improved TCAR method that the present invention proposes is first calculated GEOChao Kuan lane integer ambiguity according to pseudorange positioning result, then solves wide lane integer ambiguity according to Chao Kuan lane integer ambiguity.This Bu Kuan lane Carrier Phase Ambiguity Resolution result success ratio is not high, can be searched for and be improved its calculation accuracy by dimensionality reduction.Push away FeiGEOKuan lane integer ambiguity according to GEOKuan lane integer ambiguity again.The quick integer ambiguity completing on this basis based on Big Dipper carrier phase is determined.

The present invention makes full use of dipper system composition and civilian frequency resource feature thereof, on RNSS basis, introduce RDSS, in conjunction with three current frequency combined carriers hi-Fix technology, propose a kind of based on the RNSS+RDSS civilian three quick high accuracy localization method of combination carrier phase observations frequently.The present invention has overcome the RDSS limitation different with RNSS signal transmission path, proposes RDSS+RNSS multi-frequency combination high precision and utilizes method.Frequently occur over just on GEO satellite for the 3rd simultaneously, and the PDOP of GEO satellite (position dilution of precision) is larger, be that GPS relative positioning is not too desirable, and relatively actionless limitation again, the three-dimensional two-dimentional dimension-reduction treatment method that turns has been proposed.On this basis, propose, based on the dipper system civilian three Fast Carrier Phase Ambiguity Resolution method of carrier phase frequently, to can be used for the application of Big Dipper carrier phase hi-Fix.

1, RDSS+RNSS combined system forms

Dipper system provides RDSS, two kinds of services of RNSS, and both space-time datums are consistent, and RDSS can provide the 3rd civilian frequency resource for RNSS simultaneously, and these favourable resources are located potentiality are provided for RDSS+RNSS Combination for High Precision.But both combinations also exist certain problem, one of key is exactly that RDSS is different with the transmission path of RNSS signal.

As shown in Figure 1, Fig. 1 is the schematic diagram of the integrated positioning principle that adopts of the present invention.Big Dipper RNSS signal transmission path is directly from satellite (S) to user (U), i.e. S-> U is similar with GPS, Glonass, Galileo.The transmission path of the active Subscriber Location Report service of RDSS is actual be from central station (C) through satellite to coming and going (C-> S-> U-> S-> C user, round trip), complete positioning reporting to user by central station; But without source user, its signal transmission path is only to forward again to user (C-> S-> U, one way) from central station to satellite for RDSS.

RDSS+RNSS integrated positioning of the present invention utilization be RDSS passive signal, from this one way path of C-> S-> U.First analyzing the feasibility of RNSS+RDSS combination: both space-time datums are consistent, is the RDSS+RNSS integrated positioning condition of providing convenience.Although two kinds of signal transmission path differences, concerning all users, from central station to satellite, (C-> S) this section of path is on all four.Therefore, after the two differences of the star that misses the stop, in fact that RDSS signal this transmission path part from central station to satellite is eliminated completely after single poor processing between missing the stop, that is to say that RDSS and RNSS transmission path are in full accord after single poor processing between missing the stop, can be for multi-frequency combination carrier phase hi-Fix.

2, RDSS+RNSS civilian three combined method frequently

The present invention is directed to civilian three of dipper system design, frequently to combine integer ambiguity rapid solving method be the improvement to TCAR method, and by utilizing, three civilian combination of frequencies of the Big Dipper form optimum Kuan Xiang, wide lane is combined and progressively solved integer ambiguity.

Three civilian frequencies of dipper system, each frequency corresponding wavelength and measurement precision analysis (measuring noise here by 1% estimation of wavelength) are as shown in the table:

The civilian frequency resource list of table 1 Big Dipper

Utilize three frequencies above can form many Chao Kuan lane (EWL:> 2.93m), wide lane (WL:0.75～2.93m) combination, wherein have long wavelength, light current absciss layer, low noise linear combination can effectively weaken the impact of ionosphere delay so that utilize three frequently technology realize determining fast of integer ambiguity value.

Here utilize the most frequently used combinatorial optimization algorithm, specifically:

The multiple measurement parameter forming after three frequency signal combinations of Big Dipper civilian users can be expressed as follows:

N _c＝iN ₁+jN ₂+kN _s (1)

${\mathrm{\&lambda;}}_c=\frac{{\mathrm{\&lambda;}}_1{\mathrm{\&lambda;}}_2{\mathrm{\&lambda;}}_s}{{\mathrm{i\&lambda;}}_2{\mathrm{\&lambda;}}_s+{\mathrm{j\&lambda;}}_1{\mathrm{\&lambda;}}_s+{\mathrm{k\&lambda;}}_1{\mathrm{\&lambda;}}_2}---\left(2\right)$

f _c＝if ₁+jf ₂+kf _s (3)

φ _c＝αφ ₁+βφ ₂+γφ _s (4)

Here, N, λ, f, φ, represents respectively integer ambiguity, carrier wavelength, carrier frequency and carrier phase measurement value, subscript 1,2, S, c represents the frequency signal after corresponding B1, B2 and S frequency signal and combination.I, j, k is integer, represents combination of frequency coefficient.α=i λ in formula (4) _c/ λ ₁, β=j λ _c/ λ ₂, γ=k λ _c/ λ _s, alpha+beta+γ=1.Due to i, j, k is integer, therefore blur level integer characteristic still retains.

Analyze the characteristics of signals after combination, first tropospheric delay is constant, but change has all occurred for ionosphere delay and observation noise:

A. suppose that in three suitable situations of frequency measurement noise, ionosphere delay is:

I _c＝R _i，j，kI ₁

$R_{i,j,k}=\frac{i+{\mathrm{<figure-callout\; id="1"\; label="jf"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">jf</figure-callout>}}_1/{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">f</figure-callout>}}_2+{\mathrm{<figure-callout\; id="1"\; label="kf"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">kf</figure-callout>}}_1/f_S}{i+{\mathrm{<figure-callout\; id="2"\; label="jf"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">jf</figure-callout>}}_2/{\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">f</figure-callout>}}_1+{\mathrm{kf}}_S/f_1}---\left(5\right)$

Here I, _crepresent the ionosphere delay of combination frequency, I ₁for B ₁the ionospheric delay of frequency, R _{i, j, k}for with I ₁for the normalization ionosphere delay coefficient of benchmark.

B. suppose equally that in three suitable situations of frequency measurement noise, observation noise is:

σ _c＝A _i，j，kσ ₀，

$A_{i,j,k}=\sqrt{{\mathrm{\&alpha;}}^2+{\mathrm{\&beta;}}^2+{\mathrm{\&gamma;}}^2}---\left(1\right)$

Here σ, _cfor the observation noise standard deviation of combination frequency, σ _cfor the observation noise standard deviation of single frequency, A _{i, j, k}for with σ ₀for the measurement noise figure of benchmark.

Utilize formula above, can calculate wavelength, ionosphere delay and the noise variance of the combination frequency that various combination coefficient is corresponding.With long wavelength, weak ionosphere delay and low observation noise standard, the performance of different frequency combination is enumerated and calculated and Analysis and Screening, determine the combination of Chao Kuan Xiang Hekuan lane.

To three of the Big Dipper civilian frequencies, two groups of better Chao Kuan Xiang Hekuan lane combination parameters that utilize above-mentioned account form to draw are as shown in table 2 and table 3:

Table 2 Liang Zuchaokuan lane composite behaviour parameter

Sequence number	i	j	k	λ	R i，j，k	σ c
							1.	0	-2	1	3.872467	39.49463	0.085092
2.	4	-1	-2	5.581188	42.22116	0.285605

Table 3 Liang Zukuan lane composite behaviour parameter

Sequence number	i	j	k	λ	R i，j，k	σ c
							1.	1	-1	0	0.847558	1.29322	0.010593
2.	1	1	-1	1.085038	9.410547	0.021843

For the combination of Chao Kuan lane, according to table 2, according to above-mentioned standard, preferred compositions coefficient is the multiple measurement value of (0 ,-2,1) here, and S-2B2 is combined to form EWL signal.

For the combination of wide lane, according to table 3, according to above-mentioned standard, preferred compositions coefficient is the multiple measurement value of (1 ,-1,0) here, and B1-B2 is combined to form WL signal.

3, utilize three frequency composite signals to solve integer ambiguity

As shown in Figure 2, Fig. 2 is the schematic diagram of the GEO+IGSO constellation configuration that adopts of the present invention.Dipper system regional service Constellation Design is 5GEO+3IGSO+4MEO, and wherein 5 GEO satellites are in same orbital plane, and 3 IGSO satellites are in same orbital plane.For China and surrounding area, generally there are 3～5 GEO satellites and 2～3 IGSO satellites simultaneously visual.GEO satellite is in same orbital plane, and locus is relatively fixing, is unfavorable for that in the short time, integer ambiguity is determined.

On the one hand frequently to occur over just GEO upper due to the 3rd, and to resolve success ratio lower for traditional TCAR method on the other hand.So the present invention utilizes the special constellation of dipper system, traditional TCAR method has been done to a series of improvement, design the Big Dipper civilian three and combined integer ambiguity rapid solving method frequently.Solving in conjunction with three-dimensional of integer ambiguity turns two-dimentional dimensionality reduction searching method: first determine GEOChao Kuan lane integer ambiguity by the two poor results of pseudorange, turn two-dimensional search method according to three-dimensional again and determine GEOKuan lane integer ambiguity and then calculate other FeiGEOKuan lane integer ambiguity, finally determine the complete cycle number of B1, B2, the each frequency of S.

As shown in Figure 3, Fig. 3 is the method flow diagram of realizing hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention, and the method comprises the following steps:

Step 1: carry out pseudo range difference location according to pseudorange double difference observation, calculate pseudo range difference position location, and using this pseudo range difference position location as initial user position.

(a) by pseudorange double difference observation the two poor observation equations of substitution linearization pseudorange:

${\mathrm{\&rho;}}_{\mathrm{ur}}^{\mathrm{ij}}=r_{\mathrm{ur}}^{\mathrm{ij}}+{\mathrm{\&epsiv;}}_{\mathrm{ur}}^{\mathrm{ij}}---\left(7\right)$

Wherein,

represent two gaps from,

represent two difference measurements errors.

(b) by linearization additive process, formula (7) is carried out to linearization,

${\&PartialD;\mathrm{\&rho;}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}\frac{x_u-x_i}{R_{\mathrm{ui}}}-\frac{x_u-x_j}{R_{\mathrm{uj}}}& \frac{y_u-y_i}{R_{\mathrm{ui}}}-\frac{y_u-y_j}{R_{\mathrm{uj}}}& \frac{z_u-z_i}{R_{\mathrm{ui}}}-\frac{z_u-z_j}{R_{\mathrm{uj}}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]+{\widetilde{\mathrm{\&epsiv;}}}_{\mathrm{ur}}^{\mathrm{ij}}---\left(8\right)$

Wherein,

represent the residual error after linearization.

(c) by multiple linearization observation equation simultaneous composition systems of linear equations, utilize least square method to solve pseudo range difference position location, and using this pseudo range difference position location as initial user position.

Step 2, calculating GEOChao Kuan lane, the pseudo range difference position location integer ambiguity that utilizes step 1 to calculate

This is the first step of utilizing TCAR method, solves Chao Kuan lane integer ambiguity.Wherein,

shi Chaokuan lane integer ambiguity, λ _eWLshi Chaokuan lane combination frequency wavelength,

to utilize the satellite that user's initial position and co-ordinates of satellite solve to calculate distance to two differences of user,

the two poor carrier phase values in Shi Chaokuan lane, round represents round.For short baseline case, utilize pseudo range difference location to be easy to obtain the user initial position of positioning precision error at 1～2m.Be combined as example with super wide of S-2B2, its wavelength is 3.87 meters, and it calculates the half that distance error is less than WL wavelength, therefore utilize the mode rounding directly can calculate GEO EWL integer ambiguity.

Step 3, similar step 2, measure wholely to calculating integer ambiguity GEOChao Kuan lane combination observation, calculates GEOKuan lane integer ambiguity step 2 is calculated to GEOChao Kuan lane integer ambiguity

substitution following formula, solves GEOKuan lane integer ambiguity.

Wherein,

λ _wL,

represent respectively two poor complete cycle number, wavelength and two poor carrier phase of the combination of wide lane.In this step, because B1, B2 frequency are very approaching, utilize the method rounding to resolve the success ratio of blur level very low.Therefore to carry out search and obtain value more accurately.

Step 4, calculating GEOChao Kuan lane combination double difference error, determine the wide lane ambiguity of GEO hunting zone.

Double-differential carrier phase observation equation is:

${\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}={\mathrm{\&Delta;\&phi;}}^i\&CenterDot;\mathrm{\&lambda;}-{\mathrm{\&Delta;\&phi;}}^j\&CenterDot;\mathrm{\&lambda;}$

$=\left[\begin{array}{ccc}\frac{x_u-x_i}{R_{\mathrm{ui}}}-\frac{x_u-x_j}{R_{\mathrm{uj}}}& \frac{y_u-y_i}{R_{\mathrm{ui}}}-\frac{y_u-y_j}{R_{\mathrm{uj}}}& \frac{z_u-z_i}{R_{\mathrm{ui}}}-\frac{z_u-z_j}{R_{\mathrm{uj}}}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]$

(11)

$-\mathrm{\&lambda;}\&CenterDot;[N_u^i-N_c^i-(N_u^j-N_c^j)]+\&dtri;\mathrm{\&Delta;\&delta;I}+\&dtri;\mathrm{\&Delta;\&delta;T}+[{\mathrm{\&rho;}}_{u0}^i-{\mathrm{\&rho;}}_c^i-({\mathrm{\&rho;}}_{u0}^j-{\mathrm{\&rho;}}_c^j)]+\&dtri;\mathrm{\&Delta;\&epsiv;}$

$=\left[\begin{array}{ccc}{\&dtri;l}_u^i& {\&dtri;m}_u^i& {\&dtri;n}_u^i\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]-{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+\&dtri;\mathrm{\&Delta;\&delta;I}+\&dtri;\mathrm{\&Delta;\&delta;T}+\&dtri;\mathrm{\&Delta;\&epsiv;}$

Only need two poor carrier phase value and the two poor complete cycle number on a frequency owing to resolving two poor linearization positioning equations, therefore do not introduce the upper subscript that represents frequency in (11) formula.In above formula, use subscript i, j represents different satellites, subscript u, and c represents user and reference station.Wherein, represent two poor carrier phase measurement values, Δ φ ⁱ, Δ φ ^jthe poor carrier phase measurement value of list that represents two satellites, λ represents the carrier wavelength of this frequency.(x _u, y _u, z _u) represent that user is with respect to the three-dimensional position of reference station, (x _i, y _i, z _i) and (x _j, y _i, z _j) represent the three-dimensional position of satellite i and satellite j, $R_{\mathrm{ui}}=\sqrt{{(x_u-x_i)}^2+{(y_u-y_i)}^2+{(z_u-z_i)}^2},$ $R_{\mathrm{uj}}=\sqrt{{(x_u-x_j)}^2+{(y_u-y_j)}^2+{(z_u-z_j)}^2},$

represent two poor ionosphere delays, represent two poor tropospheric delay,

be four non-poor integer ambiguities,

represent two poor integer ambiguities,

with

according to the distance of the user to two of an initial user position calculation satellite,

with

the distance of reference station to two satellite,

represent initial two gaps from,

represent two difference measurements noises.

As shown in Figure 4, Fig. 4 is the three-dimensional schematic diagram that turns two-dimensional position dimension-reduction treatment analysis result in the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention.Can find out from Fig. 4 simulation result, under CGS2000 system, be starkly lower than x along the axial coefficient magnitude of z, y direction of principal axis, specifically much smaller than 1/50.Analyze thus, initially resolve under the prerequisite that coordinate meets certain precision its Z-direction site error δ z user _ucarrier wave observed quantity complete cycle number is solved and becomes not impact.Therefore the three-dimensional station two eikonal equations (11) of star can be converted to two dimension:

${\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}={\mathrm{\&Delta;\&phi;}}^i\&CenterDot;\mathrm{\&lambda;}-{\mathrm{\&Delta;\&phi;}}^j\&CenterDot;\mathrm{\&lambda;}$

$=\left[\begin{array}{cc}{\&dtri;l}_u^i& {\&dtri;m}_u^i\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\end{array}\right]-{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+[\&dtri;\mathrm{\&Delta;\&delta;I}+\&dtri;\mathrm{\&Delta;\&delta;T}+\&dtri;\mathrm{\&Delta;\&epsiv;}+{\&dtri;n}_u^i\&CenterDot;{\mathrm{\&delta;z}}_u]---\left(12\right)$

$=\left[\begin{array}{cc}{\&dtri;l}_u^i& {\&dtri;m}_u^i\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\end{array}\right]-{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+\mathrm{noise}$

Wherein, represent residual error with noise, comprise Ionosphere Residual Error, other remainder error of troposphere residual sum.By to coefficient in formula (12)

analyze, Z axis changes the noise causing in 1/50, establishes Z-direction error dz in 2 meters, therefore noise is 2/50=0.04, much smaller than wide lane wavelength 0.847558m.Determine wide lane searching for integer cycle scope by Chao Kuan lane combined carriers double difference error, this error mainly comprises Ionosphere Residual Error, troposphere residual error, wide lane combination observation noise, multipath etc.For B1-2S Chao Kuan lane example, its Ionosphere Residual Error not considering in model correction situation is approximately troposphere residual error is constant, measures noise and is about 0.085m.Under short baseline (in 20km), this error effect is substantially in a wavelength coverage of the wide lane of B1-B2 example.Then, can carry out based on D geometric modeling the complete cycle search in blur level territory or two-dimensional position territory.Such as based on blur level territory, by its hunting zone of above-mentioned analysis in ± 1.Choosing three can the TV star, even if do not adopting any search volume to reduce tactful in the situation that, and totally 27 groups of its search alternative combinations numbers.

Step 5, calculate GEOKuan lane integer ambiguity with step 3 for the initial value of search, in the wide lane ambiguity of the definite GEO of step 4 hunting zone, carry out least square search, obtain the wide lane ambiguity exact value of GEO.

Search concrete grammar is: choosing the pseudo range difference elements of a fix is customer location initial value, and its positioning error is in 2 meters.Utilize three GEO the TV star to set up two two eikonal equations, utilize formula (12) can calculate more accurate x, y value.Then according to formula (13) below preferably carrier phase distance measurement value and corresponding satellite determine the corresponding wide lane of these three stars carrier wave complete cycle number to user's calculating location apart from a group of minimum, that is:

$\min \left(\underset{i=1}{\overset{3}{\mathrm{\&Sigma;}}}\right|{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}-{\&dtri;\mathrm{\&Delta;R}}^{\mathrm{ij}}\left|\right)---\left(13\right)$

Wherein, min represents to get minimum value,

represent the two poor distance values that draw according to the customer location calculating and satellite position.Residue GEO satellite directly utilizes calculated x, and y and initial z value substitution (13) formula are determined integer ambiguity

Step 6, choose a MEO/IGSO satellite primary Calculation Qi Kuan lane integer ambiguity;

Choose measuring accuracy higher, and can form best three-dimensional geometry together with other GEO satellites, be MEO or the IGSO satellite of PDOP minimum, utilize the accurately x after GEO two-dimensional localization, y and initial z coordinate, can tentatively calculate this MEO or IGSO satellite Kuan lane complete cycle number by the mode rounding.

The wide lane ambiguity of the MEO/IGSO satellite hunting zone that step 7, determining step 6 are calculated;

Centered by this complete cycle number, its uncertain error is mainly that z shaft position out of true causes, uncertainty is 3 (2m/0.8m), search volume is ± and 3.Even if do not adopting any search volume to reduce tactful in the situation that, totally 7 groups of its search alternative combinations numbers.

Step 8, the integer ambiguity that calculates take step 6, as the initial value of search, are carried out least square search in the wide lane ambiguity hunting zone of determining in step 7, and preferred best blur level combination obtains the blur level syntagmatic in Chao Kuan Xiang Hekuan lane;

For each alternative blur level combination, carry out the more accurate x of three-dimensional localization calculating, y, z value, then preferred carrier phase distance measurement value and corresponding satellite are determined the corresponding wide lane of this star carrier wave complete cycle number to a group of user distance minimum, that is:

$\min \left(\right|{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}-{\&dtri;\mathrm{\&Delta;R}}^{\mathrm{ij}}\left|\right)---\left(14\right)$

Then utilize this coordinate directly to calculate the complete cycle number of other visual MEO or IGSO.So far, the wide lane ambiguity exact value of all GEO and non-GEO satellite obtains.

Step 9, utilize the blur level syntagmatic in Chao Kuan Xiang Hekuan lane to calculate the two poor values of ambiguity on B1, B2 and S frequency.

(a) according to the two poor wide lane ambiguity value calculating in preceding step

the mode that utilization rounds is calculated the two poor integer ambiguity values of certain frequency, and such as first calculating B1 frequency, two poor blur leveles are

(b) will

the blur level syntagmatic in substitution Chao Kuan Xiang Hekuan lane, can calculate the values of ambiguity of other frequency.

${\&dtri;\mathrm{\&Delta;N}}_{\mathrm{EWL}}={\&dtri;\mathrm{\&Delta;<figure-callout\; id="1"\; label="N"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">N</figure-callout>}}_1={2\&dtri;\mathrm{\&Delta;N}}_S---\left(16\right)$

${\&dtri;\mathrm{\&Delta;N}}_{\mathrm{WL}}={\&dtri;\mathrm{\&Delta;N}}_1-{\&dtri;\mathrm{\&Delta;N}}_2---\left(17\right)$

Wherein,

with

represent respectively the two poor values of ambiguity of B2 and S frequency.

Step 10, the carrier phase that the two poor values of ambiguity on B1, the B2 that utilization calculates and S frequency and receiver are measured, carries out two differences location, satellite-based, calculates user's high precision position.Concrete steps are:

(a) two poor integer ambiguity values of the combined carriers phase place of a certain frequency calculating and the double-differential carrier phase measured value substitution linearization double-differential carrier phase observation equation of corresponding frequency are obtained:

${\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}=\left[\begin{array}{ccc}{\&dtri;l}_u^i& {\&dtri;m}_u^i& {\&dtri;n}_u^i\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]-{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+{\&dtri;\mathrm{\&Delta;\&epsiv;}}^{\&prime;}---\left(18\right)$

Wherein

represent two difference measurements residual errors.

(b) the multiple linearization observation equations of simultaneous, utilize least square method can calculate the position of user with respect to reference station.

Use x _urepresent user's three-dimensional position vector, x _rrepresent reference station three-dimensional position vector, x _ur=(x _u, y _u, z _u) represent the three-dimensional position vector of user with respect to reference station, there is relative positioning computing formula: x _u=x _r+ x _ur, so just can calculate accurate customer location x _u.

It is described that to utilize least square method to solve the concrete steps that the two poor positioning equations of linearization solve customer location as follows:

Step 1: linearization positioning equation (8) and (18) can be written as:

${\&PartialD;\mathrm{\&rho;}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}{\&dtri;l}_u^i& {\&dtri;m}_u^i& {\&dtri;n}_u^i\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]+{\widetilde{\mathrm{\&epsiv;}}}_{\mathrm{ur}}^{\mathrm{ij}}---\left(19\right)$

Step 2: the multiple equations of simultaneous can form linear matrix equation:

$\left[\begin{array}{c}{\&PartialD;\mathrm{\&rho;}}^1\\ {\&PartialD;\mathrm{\&rho;}}^2\\ .\\ .\\ .\\ {\&PartialD;\mathrm{\&rho;}}^3\end{array}\right]=\left[\begin{array}{ccc}{\&dtri;\mathrm{<figure-callout\; id="1"\; label="l\; u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">l</figure-callout>}}_u^{}& {\&dtri;m}_{\mathrm{<figure-callout\; id="1"\; label="u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">u</figure-callout>}}^1& {\&dtri;\mathrm{<figure-callout\; id="1"\; label="n\; u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">n</figure-callout>}}_u^{}\\ {\&dtri;\mathrm{<figure-callout\; id="2"\; label="l\; u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_u^{}& {\&dtri;m}_{\mathrm{<figure-callout\; id="2"\; label="u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">u</figure-callout>}}^2& {\&dtri;\mathrm{<figure-callout\; id="2"\; label="n\; u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">n</figure-callout>}}_u^{}\\ .& .& .\\ .& .& .\\ .& .& .\\ {\&dtri;l}_u^3& {\&dtri;m}_u^3& {\&dtri;n}_u^3\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]---\left(20\right)$

Order $\&PartialD;\mathrm{\&rho;}=\left[\begin{array}{c}{\&PartialD;\mathrm{\&rho;}}^1\\ {\&PartialD;\mathrm{\&rho;}}^2\\ .\\ .\\ .\\ {\&PartialD;\mathrm{\&rho;}}^3\end{array}\right],$ $A=\left[\begin{array}{ccc}{\&dtri;\mathrm{<figure-callout\; id="1"\; label="l\; u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">l</figure-callout>}}_u^{}& {\&dtri;m}_{\mathrm{<figure-callout\; id="1"\; label="u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">u</figure-callout>}}^1& {\&dtri;\mathrm{<figure-callout\; id="1"\; label="n\; u"\; filenames="HDA00002471850900011.png,HDA00002471850900021.png"\; state="\{\{state\}\}">n</figure-callout>}}_u^{}\\ {\&dtri;\mathrm{<figure-callout\; id="2"\; label="l\; u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_u^{}& {\&dtri;m}_{\mathrm{<figure-callout\; id="2"\; label="u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">u</figure-callout>}}^2& {\&dtri;\mathrm{<figure-callout\; id="2"\; label="n\; u"\; filenames="HDA00002471850900021.png,HDA00002471850900032.png"\; state="\{\{state\}\}">n</figure-callout>}}_u^{}\\ .& .& .\\ .& .& .\\ .& .& .\\ {\&dtri;l}_u^3& {\&dtri;m}_u^3& {\&dtri;n}_u^3\end{array}\right],$ $\mathrm{\&delta;x}=\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]$

Just formula (21) can be write as to matrix form:

Step 3: solve δ x by least square method _u, δ y _u, δ z _u

The estimated value substitution solving equations of choosing current coordinate points goes out

utilize least square method to solve

$\mathrm{\&delta;x}=A^{-1}\&CenterDot;\&PartialD;\mathrm{\&rho;}---\left(21\right)$

If equation number is greater than 3, formula becomes

What δ x obtained is the difference of customer location with respect to coordinate and the initial estimation coordinate of base station;

Step 4: revise original estimated value and obtain new customer location x _u', that is:

x _u′＝x _u+δx (22)

Step 5: utilize the x after revising _u' again calculate as initial coordinate

the above-mentioned formula of substitution calculates again, the δ x that solution makes new advances, and again revise.

Step 6: repeatedly computing until

be less than certain predetermined value, as 0.001 meter, now can think that the coordinate of receiver user is exactly real receiver user position coordinates.

Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (14)

1. a method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system, is characterized in that, the method comprises:

Step 1: carry out pseudo range difference location according to pseudorange double difference observation, calculate pseudo range difference position location, and using this pseudo range difference position location as initial user position;

Step 2: utilize this pseudo range difference position location to calculate GEOChao Kuan lane integer ambiguity;

Step 3: measure wholely to calculating integer ambiguity GEOChao Kuan lane combination observation, calculate GEOKuan lane integer ambiguity

Step 4: calculate GEOChao Kuan lane combination double difference error, determine the wide lane ambiguity of GEO hunting zone;

Step 5: calculate GEOKuan lane integer ambiguity with step 3

for the initial value of search, in the wide lane ambiguity of the definite GEO of step 4 hunting zone, carry out least square search, obtain the wide lane ambiguity exact value of GEO;

Step 6: choose a MEO/IGSO satellite primary Calculation Qi Kuan lane integer ambiguity;

Step 7: the wide lane ambiguity of the MEO/IGSO satellite hunting zone that determining step 6 is calculated;

Step 8: the integer ambiguity calculating take step 6 is the initial value of search, carries out least square search in the wide lane ambiguity hunting zone of determining in step 7, obtains the wide lane ambiguity exact value of MEO/IGSO satellite;

Step 9: utilize the blur level syntagmatic in Chao Kuan Xiang Hekuan lane to calculate the two poor values of ambiguity on B1, B2 and S frequency;

Step 10: the carrier phase that the two poor values of ambiguity on B1, the B2 that utilization calculates and S frequency and receiver are measured, carry out two differences location, satellite-based, calculate user's high precision position.

2. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 1, is characterized in that, described step 1 comprises:

A) by pseudorange double difference observation

the two poor observation equations of substitution linearization pseudorange

wherein,

represent two gaps from,

represent two difference measurements errors;

B) use linearization additive process to the two poor observation equations of this linearization pseudorange carry out linearization:

${\&PartialD;\mathrm{\&rho;}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}\frac{x_u-x_i}{R_{\mathrm{ui}}}-\frac{x_u-x_j}{R_{\mathrm{uj}}}& \frac{y_u-y_i}{R_{\mathrm{ui}}}-\frac{y_u-y_j}{R_{\mathrm{uj}}}& \frac{z_u-z_i}{R_{\mathrm{ui}}}-\frac{z_u-z_j}{R_{\mathrm{uj}}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]{\widetilde{\mathrm{\&epsiv;}}}_{\mathrm{ur}}^{\mathrm{ij}}$

Wherein, represent the residual error after linearization;

C) by multiple linearization observation equation simultaneous composition systems of linear equations, utilize least square method to solve pseudo range difference position location, and using this pseudo range difference position location as initial user position.

3. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 1, is characterized in that, described step 2 comprises:

Utilize this pseudo range difference position location to calculate GEOChao Kuan lane integer ambiguity

wherein,

shi Chaokuan lane integer ambiguity, λ _eWLshi Chaokuan lane combination frequency wavelength,

to utilize the satellite that user's initial position and co-ordinates of satellite solve to calculate distance to two differences of user,

the two poor carrier phase values in Shi Chaokuan lane, round represents round.

4. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 1, is characterized in that, described step 3 comprises: will calculate GEOChao Kuan lane integer ambiguity

substitution following formula, calculates GEOKuan lane integer ambiguity

wherein,

λ _wL,

represent respectively two poor complete cycle number, wavelength and two poor carrier phase of the combination of wide lane.

5. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 1, is characterized in that, described step 4 comprises:

Double-differential carrier phase observation equation is:

$\&dtri;\mathrm{\&Delta;}{\mathrm{\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}={\mathrm{\&Delta;\&phi;}}^i\&CenterDot;\mathrm{\&lambda;}-{\mathrm{\&Delta;\&phi;}}^j\&CenterDot;\mathrm{\&lambda;}$

$=\left[\begin{array}{ccc}\frac{x_u-x_i}{R_{\mathrm{ui}}}-\frac{x_u-x_j}{R_{\mathrm{uj}}}& \frac{y_u-y_i}{R_{\mathrm{ui}}}-\frac{y_u-y_j}{R_{\mathrm{uj}}}& \frac{z_u-z_i}{R_{\mathrm{ui}}}-\frac{z_u-z_j}{R_{\mathrm{uj}}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]$

$-\mathrm{\&lambda;}\&CenterDot;[N_u^i-N_c^i-(N_u^i-N_c^j)]+\&dtri;\mathrm{\&Delta;\&delta;I}+\&dtri;\mathrm{\&Delta;\&delta;T}+[{\mathrm{\&rho;}}_{u0}^i-{\mathrm{\&rho;}}_c^i-({\mathrm{\&rho;}}_{u0}^j-{\mathrm{\&rho;}}_c^j)]+\&dtri;\mathrm{\&Delta;\&epsiv;}$

$=\left[\begin{array}{ccc}\&dtri;l_u^i& \&dtri;m_u^i& \&dtri;n_u^i\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]-\&dtri;\mathrm{\&Delta;}{N}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+\&dtri;\mathrm{\&Delta;\&delta;I}+\&dtri;\mathrm{\&Delta;\&delta;T}+\&dtri;\mathrm{\&Delta;\&epsiv;}$

In above formula, use subscript i, j represents different satellites, subscript u, and c represents user and reference station; Wherein,

represent two poor carrier phase measurement values,

the poor carrier phase measurement value of list that represents two satellites, λ represents the carrier wavelength of this frequency, (x _u, y _u, z _u) represent that user is with respect to the three-dimensional position of reference station, (x _i, y _i, z _i) and (x _i, y _i, z _j) represent the three-dimensional position of satellite i and satellite j, $R_{\mathrm{ui}}=\sqrt{{(x_u-x_i)}^2+{(y_u-y_i)}^2+{(z_u-z_i)}^2},$ $R_{\mathrm{uj}}=\sqrt{{(x_u-x_j)}^2+{(y_u-y_j)}^2+{(z_u-z_j)}^2},$

represent two poor ionosphere delays,

represent two poor tropospheric delay,

be four non-poor integer ambiguities, represent two poor integer ambiguities, with

according to the distance of the user to two of an initial user position calculation satellite,

with

the distance of reference station to two satellite,

represent initial two gaps from,

represent two difference measurements noises;

Above-mentioned double-differential carrier phase observation equation is converted to two-dimentional double-differential carrier phase observation equation:

$\&dtri;\mathrm{\&Delta;}{\mathrm{\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}={\mathrm{\&Delta;\&phi;}}^i\&CenterDot;\mathrm{\&lambda;}-{\mathrm{\&Delta;\&phi;}}^j\&CenterDot;\mathrm{\&lambda;}$

$=\left[\begin{array}{cc}{\&dtri;l}_u^i& {\&dtri;m}_u^i\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\end{array}\right]-\&dtri;\mathrm{\&Delta;}{N}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+[\&dtri;\mathrm{\&Delta;\&delta;I}+\&dtri;\mathrm{\&Delta;\&delta;T}+\&dtri;\mathrm{\&Delta;\&epsiv;}+{\&dtri;n}_u^i\&CenterDot;{\mathrm{\&delta;z}}_u]$

$=\left[\begin{array}{cc}{\&dtri;l}_u^i& {\&dtri;m}_u^i\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\end{array}\right]-{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+\mathrm{noise}$

Wherein, represent residual error with noise, comprise Ionosphere Residual Error, other remainder error of troposphere residual sum; Determine wide lane searching for integer cycle scope by Chao Kuan lane combined carriers double difference error, this error mainly comprises Ionosphere Residual Error, troposphere residual error, wide lane combination observation noise, multipath; Then, carry out the complete cycle search in blur level territory or two-dimensional position territory based on D geometric modeling.

6. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 5, is characterized in that, described step 5 comprises:

Choosing the pseudo range difference elements of a fix is customer location initial value, and its positioning error is in 2 meters; Utilize three GEO the TV star to set up two two eikonal equations, utilize described two-dimentional double-differential carrier phase observation equation to calculate more accurate x, y value; Then according to formula

preferably carrier phase distance measurement value and corresponding satellite are determined the corresponding wide lane of these three stars carrier wave complete cycle number to user's calculating location apart from a group of minimum; Wherein, min represents to get minimum value,

represent the two poor distance values that draw according to the customer location calculating and satellite position; Residue GEO satellite directly utilizes calculated x, y and initial z value substitution formula $\left(\underset{i=1}{\overset{3}{\mathrm{\&Sigma;}}}\right|{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}-{\&dtri;\mathrm{\&Delta;R}}^{\mathrm{ij}}\left|\right)$ Determine the wide lane ambiguity exact value of GEO.

7. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 1, is characterized in that, described step 6 comprises:

Choose a MEO or IGSO satellite, utilize the accurately x after GEO two-dimensional localization, y and initial z coordinate, by this MEO of mode primary Calculation or the IGSO satellite Kuan lane complete cycle number that round.

8. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 7, is characterized in that, described step 7 comprises:

Centered by this complete cycle number, its uncertain error is that z shaft position out of true causes, uncertainty is 3, search volume is ± and 3.

9. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 8, is characterized in that, described step 8 comprises:

For each alternative blur level combination, carry out the more accurate x of three-dimensional localization calculating, y, z value, then preferred carrier phase distance measurement value and corresponding satellite are determined the corresponding wide lane of this star carrier wave complete cycle number to a group of user distance minimum, that is:

$\min \left(\right|{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}-{\&dtri;\mathrm{\&Delta;R}}^{\mathrm{ij}}\left|\right)$

Then utilize this coordinate directly to calculate the complete cycle number of other visual MEO or IGSO.

10. the method that realizes hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 9, is characterized in that, described step 9 comprises:

Calculate GEOKuan lane integer ambiguity according to step 3

the mode that utilization rounds is calculated the two poor integer ambiguity values of certain frequency, by the blur level syntagmatic in the two poor integer ambiguity value substitution Chao Kuan Xiang Hekuan of this frequency calculating lane, calculates the values of ambiguity of other frequency.

11. methods that realize hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 10, it is characterized in that, the mode that described utilization rounds is calculated the two poor integer ambiguity values of certain frequency, by the blur level syntagmatic in the two poor integer ambiguity value substitution Chao Kuan Xiang Hekuan of this frequency calculating lane, the values of ambiguity that calculates other frequency, comprising:

First calculate the two poor integer ambiguity value of B1 frequency:

will the blur level syntagmatic in substitution Chao Kuan Xiang Hekuan lane,

${\&dtri;\mathrm{\&Delta;N}}_{\mathrm{WL}}={\&dtri;\mathrm{\&Delta;N}}_1-{\&dtri;\mathrm{\&Delta;N}}_2$

${\&dtri;\mathrm{\&Delta;N}}_{\mathrm{EWL}}={\&dtri;\mathrm{\&Delta;N}}_S-2{\&dtri;\mathrm{\&Delta;N}}_2$

Can calculate the values of ambiguity of other frequency;

Wherein,

with

represent respectively the two poor integer ambiguity value of B2 and S frequency.

12. methods that realize hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 11, is characterized in that, described step 10 comprises:

A) two poor integer ambiguity values of the combined carriers phase place of a certain frequency calculating and the double-differential carrier phase measured value substitution linearization double-differential carrier phase observation equation of corresponding frequency are obtained ${\&dtri;\mathrm{\&Delta;\&phi;}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}=\left[\begin{array}{ccc}{\&dtri;l}_u^i& {\&dtri;m}_u^i& {\&dtri;n}_u^i\end{array}\right]\&CenterDot;\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]-{\&dtri;\mathrm{\&Delta;N}}^{\mathrm{ij}}\&CenterDot;\mathrm{\&lambda;}+{\&dtri;\mathrm{\&Delta;\&rho;}}^{\mathrm{ij}}+{\&dtri;\mathrm{\&Delta;\&epsiv;}}^{\&prime;},$ Wherein

represent two difference measurements residual errors;

B) the multiple linearization observation equations of simultaneous, utilize least square method to calculate the position of user with respect to reference station; Use x _urepresent user's three-dimensional position vector, x _rrepresent reference station three-dimensional position vector, x _ur=(x _u, y _u, z _u) represent the three-dimensional position vector of user with respect to reference station, there is relative positioning computing formula: x _u=x _r+ x _ur, just can calculate accurate customer location x _u.

13. methods that realize hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 12, is characterized in that described step B) comprising:

Step B1: linearization observation equation is written as:

${\&PartialD;\mathrm{\&rho;}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}{\&dtri;l}_u^i& {\&dtri;m}_u^i& {\&dtri;n}_u^i\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]+{\widetilde{\mathrm{\&epsiv;}}}_{\mathrm{ur}}^{\mathrm{ij}};$

Step B2: the linear matrix equation of the multiple above-mentioned system of equations of simultaneous:

$\left[\begin{array}{c}{\&PartialD;\mathrm{\&rho;}}^1\\ {\&PartialD;\mathrm{\&rho;}}^2\\ .\\ .\\ .\\ {\&PartialD;\mathrm{\&rho;}}^3\end{array}\right]=\left[\begin{array}{ccc}{\&dtri;l}_u^1& {\&dtri;l}_u^1& {\&dtri;l}_u^1\\ {\&dtri;l}_u^2& {\&dtri;l}_u^2& {\&dtri;l}_u^2\\ .& .& .\\ .& .& .\\ .& .& .\\ {\&dtri;l}_u^3& {\&dtri;l}_u^3& {\&dtri;l}_u^3\end{array}\right]\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]$ Order $\&PartialD;\mathrm{\&rho;}=\left[\begin{array}{c}{\&PartialD;\mathrm{\&rho;}}^1\\ {\&PartialD;\mathrm{\&rho;}}^2\\ .\\ .\\ .\\ {\&PartialD;\mathrm{\&rho;}}^3\end{array}\right],$ $A=\left[\begin{array}{ccc}{\&dtri;l}_u^1& {\&dtri;m}_u^1& {\&dtri;n}_u^1\\ {\&dtri;l}_u^2& {\&dtri;m}_u^2& {\&dtri;n}_u^2\\ .& .& .\\ .& .& .\\ .& .& .\\ {\&dtri;l}_u^3& {\&dtri;m}_u^3& {\&dtri;n}_u^3\end{array}\right],$ $\mathrm{\&delta;x}=\left[\begin{array}{c}{\mathrm{\&delta;x}}_u\\ {\mathrm{\&delta;y}}_u\\ {\mathrm{\&delta;z}}_u\end{array}\right]$

Write above-mentioned linear matrix equation as matrix form:

Step B3: solve δ xu by least square method _,δ y _u, δ z _u;

The estimated value substitution solving equations of choosing current coordinate points goes out utilize least square method to solve

$\mathrm{\&delta;x}=A^{-1}\&CenterDot;\&PartialD;\mathrm{\&rho;}$ If equation number is greater than 3, formula becomes

6 _xwhat obtain is the difference of customer location with respect to coordinate and the initial estimation coordinate of base station;

Step B4: revise original estimated value and obtain new customer location x _u', i.e. x _u'=x _u+ δ x;

Step B5: utilize the x after revising _uagain calculate as initial coordinate

the above-mentioned formula of substitution calculates again, the δ that solution makes new advances _x, and again revise;

Step B6: repeatedly computing until

be less than certain predetermined value, now think that the coordinate of receiver user is exactly real receiver user position coordinates.

14. methods that realize hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 13, is characterized in that, described in step B6, certain predetermined value is 0.001 meter.

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