CN103837879B - The method of hi-Fix is realized based on the civilian combination carrier phase observation of dipper system - Google Patents

Abstract

The invention discloses a kind of method realizing hi-Fix based on the civilian combination carrier phase observation of dipper system, comprising: calculate initial user position, and utilize initial user position calculation GEO super-wide-lane integer ambiguity; Measure whole to GEO super-wide-lane combination observation, calculate GEO wide lane integer ambiguity calculate GEO super-wide-lane combination double difference error, determine the wide lane ambiguity hunting zone of GEO; To GEO wide lane integer ambiguity dimensionality reduction search obtains the wide lane ambiguity exact value of GEO; Choose a MEO/IGSO satellite and its wide lane integer ambiguity of primary Calculation; The wide lane ambiguity exact value of MEO/IGSO is obtained by search; The blur level syntagmatic in super-wide-lane and wide lane is utilized to calculate two difference values of ambiguity on B1, B2 and S frequency; The carrier phase that two difference values of ambiguity on B1, B2 and S frequency that utilization calculates and receiver are measured, carries out two poor location, satellite-based, calculates the high precision position of user.Utilize the present invention, reach the object of Big Dipper carrier phase quick high accuracy location.

Description

The method of hi-Fix is realized based on the civilian combination carrier phase observation of dipper system

Technical field

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

Background technology

Along with the development of global GNSS technology, carrier phase single epoch high-precision applications demand has driven the fast development of carrier phase hi-Fix.The key that carrier phase hi-Fix resolves is Carrier Phase Ambiguity Resolution.For Fast integer Ambiguity Resolution, most widely used method has least square blur level decorrelation adjustment algorithm (LAMBDA method) in recent years, TCAR (ThreeCarrierAmbiguityResolution), CAR (CascadeIntegerResolution) etc.Wherein TCAR is a kind of three frequency Ambiguity Solution Methods.The method will employ three frequency composition super-wide-lane and the combination of wide lane cleverly, first record initial position by pseudo-range measurements, recycle the method rounded and calculate super-wide-lane integer ambiguity, then wide lane ambiguity is pushed away by rounding super-wide-lane measured value, finally solve the integer ambiguity that there emerged a frequency, complete carrier phase simple epoch solution.

But the hi-Fix Theories and methods at present based on carrier phase measurement is is mainly all researched and developed based on GPS, is directly used in dipper system and also there is certain inadaptability, be in particular in:

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

Two is that dipper system regional service only provides two frequencies to civilian users at L-band, and three frequency combination carrier phase observation high-precision location technique can not be directly used in the civilian service of the Big Dipper.But dipper system regional service is while providing L-band B1/B2 frequency RNSS navigation signal, and also provide RDSS service in S-band, its exit signal has the potentiality being used to carrier phase hi-Fix equally.

Therefore, it is a problem demanding prompt solution that the signal how fully utilizing 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 realizing hi-Fix based on the civilian combination carrier phase observation of dipper system, by fully utilizing the advantage of the civilian three frequency signals of the Big Dipper RNSS and RDSS and special constellation, capture the limitation that Big Dipper GEO satellite geo-stationary is motionless, and Big Dipper RNSS signal only has two civil signal to be difficult to realize two crucial problem of Fast Carrier Phase Ambiguity Resolution, realize single epoch ambiguity of carrier phase to 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 realizing 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, calculates 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 GEO super-wide-lane integer ambiguity;

Step 3: measure whole to the GEO super-wide-lane combination observation calculating integer ambiguity, calculates the wide lane integer ambiguity of GEO

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

Step 5: the GEO calculated with step 3 wide lane integer ambiguity for the initial value of search, in the wide lane ambiguity hunting zone of GEO that step 4 is determined, carry out least square search, obtain the wide lane ambiguity exact value of GEO;

Step 6: choose a MEO/IGSO satellite and its wide lane integer ambiguity of primary Calculation;

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

Step 8: the integer ambiguity calculated with step 6 is the initial value of search, carries out least square search, obtain the wide lane ambiguity exact value of MEO/IGSO in the wide lane ambiguity hunting zone that step 7 is determined;

Step 9: utilize the blur level syntagmatic in super-wide-lane and wide lane to calculate two difference values of ambiguity on B1, B2 and S frequency;

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

In such scheme, described step 1 comprises:

A) by pseudorange double difference observation substitute into linearization pseudorange two difference observation equation wherein, represent two gap from, represent two difference measurements error;

B) use linearization additive process to this linearization pseudorange two difference observation equation 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 system of linear equations, least square method is utilized 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 GEO super-wide-lane integer ambiguity wherein, super-wide-lane integer ambiguity, λ _eWLsuper-wide-lane combination frequency wavelength, that the satellite utilizing user's initial position and co-ordinates of satellite to solve calculates distances to the two poor of user, be super-wide-lane two difference carrier phase value, round represents round.

In such scheme, described step 3 comprises: by the GEO super-wide-lane integer ambiguity calculated substitute into following formula, calculate GEO wide lane integer ambiguity; wherein, λ _wL, represent two difference complete cycle numbers, wavelength and two poor carrier phase that wide lane is combined respectively.

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 satellite, and subscript u, c represent user and reference station; Wherein, represent two difference carrier-phase measurement, Δ φ ⁱ, Δ φ ^jrepresent the poor carrier-phase measurement of list of two satellites, λ represents the carrier wavelength of this frequency, (x _u, y _u, z _u) represent the three-dimensional position of user relative to 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 difference ionosphere delay, represent two difference tropospheric delay, be four non-poor integer ambiguities, represent two difference integer ambiguity, with according to the user of the initial user position calculation distance to two satellites, with the distance of reference station to two satellites, represent initial two gap from, represent two difference measurements noise;

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 super-wide-lane combined carriers double difference error, this error mainly comprises Ionosphere Residual Error, troposphere residual error, wide lane combination observation noise, multipath; Then, the complete cycle search in blur level territory or two-dimensional position territory is carried out 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 within 2 meters; Utilize three GEO the TV star can 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 preferred ranging by measuring carrier phase value and corresponding satellite calculate minimum one group of positional distance to user and determine these three stars corresponding wide lane carrier wave complete cycle number; Wherein, min represents and gets minimum value, represent the two gap distance values drawn according to the customer location calculated and satellite position; Residue GEO satellite directly utilizes calculated x, y and initial z value to substitute into formula determine the wide lane ambiguity exact value of GEO.

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

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

In such scheme, described step 8 comprises: for each alternative blur level combination, carry out three-dimensional localization and calculate more accurate x, y, z value, then preferably ranging by measuring carrier phase value and corresponding satellite determine this star corresponding wide lane carrier wave complete cycle number to minimum one group of user distance, 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 this coordinate is utilized directly to calculate the complete cycle number of other visual MEO or IGSO.

In such scheme, described step 9 comprises: the GEO wide lane integer ambiguity calculated according to step 3 utilize the mode rounded to calculate certain frequency two difference integer ambiguity values, this frequency two difference integer ambiguity values calculated is substituted into the blur level syntagmatic in super-wide-lane and wide lane, calculate the values of ambiguity of other frequency.

In such scheme, the mode that described utilization rounds calculates certain frequency two difference integer ambiguity values, this frequency two difference integer ambiguity values calculated is substituted into the blur level syntagmatic in super-wide-lane and wide lane, calculates the values of ambiguity of other frequency, comprising:

First calculate two difference integer ambiguity values of B1 frequency:

Will substitute into the blur level syntagmatic in super-wide-lane and wide lane,

${\▿\mathrm{\ΔN}}_{\mathrm{WL}}={\▿\mathrm{\ΔN}}_1-{\▿\mathrm{\ΔN}}_2{\▿\mathrm{\ΔN}}_{\mathrm{EWL}}={\▿\mathrm{\ΔN}}_S=2{\▿\mathrm{\ΔN}}_2$

The values of ambiguity of other frequency can be calculated;

Wherein, with represent two difference integer ambiguity values of B2 and S frequency respectively.

In such scheme, described step 10 comprises:

A) two difference integer ambiguity values of the combined carriers phase place of a certain frequency calculated and the double-differential carrier phase measured value of corresponding frequency are substituted into linearization double-differential carrier phase observation equation to obtain ${\▿\mathrm{\Δ\φ}}^{\mathrm{ij}}\·\mathrm{\λ}=\left[\begin{array}{ccc}{\▿l}_u^i& {\▿m}_u^i& {\▿n}_u^i\end{array}\right]\·\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]-{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\ρ}}^{\mathrm{ij}}+{\▿\mathrm{\Δ\ϵ}}^{\′},$ Wherein represent two difference measurements residual error;

B) the multiple linearization observation equation of simultaneous, utilizes least square method to calculate the position of user relative 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 that user is relative to the three-dimensional position vector of reference station, then have 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:

${\∂\mathrm{\ρ}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}{\▿l}_u^i& {\▿m}_u^i& {\▿n}_u^i\end{array}\right]\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]+{\widetilde{\mathrm{\ϵ}}}_{\mathrm{ur}}^{\mathrm{ij}};$

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

$\left[\begin{array}{c}{\∂\mathrm{\ρ}}^1\\ {\∂\mathrm{\ρ}}^2\\ .\\ .\\ .\\ {\∂\mathrm{\ρ}}^3\end{array}\right]=\left[\begin{array}{ccc}{\▿l}_u^1& {\▿m}_u^1& {\▿n}_u^1\\ {\▿l}_u^2& {\▿m}_u^2& {\▿n}_u^2\\ .& .& .\\ .& .& .\\ .& .& .\\ {\▿l}_u^3& {\▿m}_u^3& {\▿n}_u^3\end{array}\right]\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]$

Order $\∂\mathrm{\ρ}=\left[\begin{array}{c}{\∂\mathrm{\ρ}}^1\\ {\∂\mathrm{\ρ}}^2\\ .\\ .\\ .\\ {\∂\mathrm{\ρ}}^3\end{array}\right],$ $A=\left[\begin{array}{ccc}{\▿l}_u^1& {\▿m}_u^1& {\▿n}_u^1\\ {\▿l}_u^2& {\▿m}_u^2& {\▿n}_u^2\\ .& .& .\\ .& .& .\\ .& .& .\\ {\▿l}_u^3& {\▿m}_u^3& {\▿n}_u^3\end{array}\right],$ $\mathrm{\δx}=\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]$

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 choosing changing coordinates point substitutes into solving equations and goes out least square method is utilized to solve $\mathrm{\δx}=A^{-1}\·\∂\mathrm{\ρ}$

If equation number is greater than 3, formula becomes

What δ x obtained is the coordinate of customer location relative to base station and the difference of original estimated coordinate;

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 substitute into above-mentioned formula again to calculate, 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, predetermined value certain described in step B6 is 0.001 meter.

(3) beneficial effect

As can be seen from technique scheme, the present invention has following beneficial effect:

First, the method realizing hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention, by fully utilizing the advantage of the civilian three frequency signals of the Big Dipper RNSS and RDSS and special constellation, capture the limitation that Big Dipper GEO satellite geo-stationary is motionless, and Big Dipper RNSS signal only has two civil signal to be difficult to realize two crucial problem of Fast Carrier Phase Ambiguity Resolution, achieve single epoch ambiguity of carrier phase to resolve, and finally reach the object of Big Dipper carrier phase quick high accuracy location.

Second, the method realizing 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 RNSS civil frequency signal, propose RDSS+RNSS Combination for High Precision location thinking first, expand three application of technology in dipper system frequently, also expand Big Dipper RDSS systematic difference field simultaneously.

3rd, the method realizing hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention, for RDSS+RNSS combination civilian three frequently, the TCAR (three frequency ambiguity resolution) proposing a kind of improvement resolves thinking, describe in detail whole solution process, in conjunction with current multi-frequency combination method, single epoch Carrier Phase Ambiguity Resolution under Short baseline can be realized.Consider the ionospheric model under Long baselines again, the method can be used for realizing the quick high accuracy location of dipper system medium-long baselines even under overlength baseline.

4th, the method realizing hi-Fix based on the civilian combination carrier phase observation of dipper system provided by the invention, proposes three-dimensional and turns two dimensional processing methods.Based on the disposal route of dimensionality reduction, can search volume be reduced, reduce the search number in blur level territory or three-dimensional position territory, providing new approaches for realizing carrier phase single epoch Carrier Phase Ambiguity Resolution.

Accompanying drawing explanation

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

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

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

Fig. 4 provided by the inventionly to realize in the method for hi-Fix the three-dimensional schematic diagram turning two-dimensional position dimension-reduction treatment analysis result based on the civilian combination carrier phase observation of dipper system.

Embodiment

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

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

The feature of dipper system there is provided RDSS and RNSS two kinds service.RDSS provides radiodetermination-satellite service (RadioDeterminationSatelliteService), and RNSS provides radio location service (RadioNavigationSatelliteSystem).In the file submitted in International Telecommunication Union (ITU) according to China, COMPASS/BeiDou-2 will send three frequencies of 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 only serves authorized user.So the RNSS of the Big Dipper only uses two civil frequency, three frequency Carrier Phase Ambiguity Resolution cannot be carried out.

RDSS is that dipper system provides the 3rd civil frequency, and its frequency provided from satellite to user segment is S-band, concentrates on 2491.75MHz.The application being introduced as three frequency high precision technology of S-band the 3rd frequency resource of RDSS creates condition, simultaneously for quick even single epoch integer ambiguity determines to provide feasibility, and RDSS frequency is in S-band, there is better distance accuracy, can be used fully;

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

The signal transmission path of Big Dipper RNSS and RDSS is different, and Big Dipper RNSS signal transmission path is that namely S-> U, similar with GPS, Glonass, Galileo directly from satellite (S) to user (U).The transmission path of RDSS active Subscriber Location Report service is actual is through satellite to user, come and go (C-> S-> U-> S-> C from central station (C), round trip), complete positioning reporting to user by central station; But for RDSS passive user, its signal transmission path is only forward again to user (C-> S-> U, one way) from central station to satellite.

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 difference of the star that misses the stop, after being through in fact between station single poor process, RDSS signal this transmission path part from central station to satellite is eliminated completely, that is after poor process single between missing the stop, RDSS and RNSS transmission path is completely the same, may be used 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, a kind of TCAR method proposing improvement resolves integer ambiguity.To medium-long baselines, consider ionosphere effect, utilize ionospheric model, quick integer ambiguity can be realized equally and determine, improve the success ratio that integer ambiguity calculates.

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

The TCAR method of the improvement that the present invention proposes first calculates GEO super-wide-lane integer ambiguity according to pseudorange positioning result, then according to super-wide-lane Fast integer Ambiguity Resolution wide lane integer ambiguity.This Bu Kuan lane Carrier Phase Ambiguity Resolution result success ratio is not high, improves its calculation accuracy by dimensionality reduction search.FeiGEOKuan lane integer ambiguity is pushed away again according to the wide lane integer ambiguity of GEO.The quick integer ambiguity completed on this basis based on Big Dipper carrier phase is determined.

The present invention makes full use of dipper system composition and civil frequency resources characteristic thereof, RDSS is introduced on RNSS basis, in conjunction with current three frequency combined carriers high-precision location technique, a kind of quick high accuracy localization method based on the civilian three frequency combination carrier phase observations of RNSS+RDSS is proposed.Instant invention overcomes the limitation that RDSS with RNSS signal transmission path is different, propose RDSS+RNSS multi-frequency combination high precision Application way.Frequently occur over just on GEO satellite for the 3rd simultaneously, and the PDOP of GEO satellite (positiondilutionofprecision) is larger, namely GPS relative positioning is not too desirable, and the limitation that geo-stationary is motionless again, propose the three-dimensional dimension-reduction treatment method turning two dimension.Propose, based on the Fast Carrier Phase Ambiguity Resolution method of the civilian three frequency carrier phases of dipper system, to can be used for the application of Big Dipper carrier phase hi-Fix on this basis.

1, RDSS+RNSS combined system is formed

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

As shown in Figure 1, Fig. 1 is the schematic diagram of the integrated positioning principle that the present invention adopts.Big Dipper RNSS signal transmission path is that namely S-> U, similar with GPS, Glonass, Galileo directly from satellite (S) to user (U).The transmission path of RDSS active Subscriber Location Report service is actual is through satellite to user, come and go (C-> S-> U-> S-> C from central station (C), round trip), complete positioning reporting to user by central station; But for RDSS passive user, its signal transmission path is only forward again to user (C-> S-> U, one way) from central station to satellite.

What RDSS+RNSS integrated positioning of the present invention utilized is RDSS passive signal, namely from this one way path of C-> S-> U.First the feasibility of RNSS+RDSS combination is analyzed: both space-time datum is consistent, for RDSS+RNSS integrated positioning is provided convenience condition.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 difference of the star that misses the stop, after being through in fact between station single poor process, RDSS signal this transmission path part from central station to satellite is eliminated completely, that is after poor process single between missing the stop, RDSS and RNSS transmission path is completely the same, may be used for multi-frequency combination carrier phase hi-Fix.

2, RDSS+RNSS civilian three combined method frequently

The present invention is directed to dipper system design civilian three frequently combination integer ambiguity fast solution method are the improvement to TCAR method, be combined to form optimum Kuan Xiang by utilizing the Big Dipper three civil frequency, the combination of wide lane progressively solve integer ambiguity.

Three civil frequency of dipper system, each frequency corresponding wavelength and measurement precision analysis (measurement noises presses 1% estimation of wavelength here) are as shown in the table:

Table 1 Big Dipper civil frequency the Resources list

Utilize three frequencies above can form many super-wide-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 ionosphere delay impact so that utilize three frequently technology realize determining fast of integer ambiguity values.

Here the most frequently used combination optimization algorithm is utilized, specifically:

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

N _c＝iN ₁+jN ₂+kN _s(1)

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

f _c＝if ₁+jf ₂+kf _s(3)

φ _c＝αφ ₁+βφ ₂+γφ _s(4)

Here, N, λ, f, φ, represent integer ambiguity respectively, carrier wavelength, carrier frequency and carrier-phase measurement, and subscript 1,2, S, c represents the frequency signal after corresponding B1, B2 and S frequency signal and combination.I, j, k are integers, represent 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.Because i, j, k are integers, therefore blur level integer characteristic still retains.

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

A., under supposing three suitable situations of frequency measurement noise, ionosphere delay is:

I _c＝R _i，j，kI ₁

$R_{i,j,k}=\frac{i+{\mathrm{jf}}_1/f_2+{\mathrm{kf}}_1/f_S}{i+{\mathrm{jf}}_2/f_1+{\mathrm{kf}}_S/f_1}---\left(5\right)$

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., under supposing three suitable situations of frequency measurement noise equally, observation noise is:

σ _c＝A _i，j，kσ ₀，

$A_{i,j,k}=\sqrt{{\mathrm{\α}}^2+{\mathrm{\β}}^2+{\mathrm{\γ}}^2}---\left(1\right)$

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 noises coefficient of benchmark.

Utilize formula above, the wavelength of combination frequency corresponding to various combination coefficient, ionosphere delay and noise variance can be calculated.With long wavelength, the delay of light current absciss layer and low observation noise standard, computation and analysis screening is enumerated to the performance that different frequency combines, determine super-wide-lane and the combination of wide lane.

To three civil frequency of the Big Dipper, the two groups of better super-wide-lane utilizing above-mentioned account form to draw and wide lane combination parameter are as shown in table 2 and table 3:

Table 2 liang group super-wide-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 super-wide-lane combination, according to table 2, according to above-mentioned standard, preferred compositions coefficient is the multiple measurement value of (0 ,-2,1) here, and namely S-2B2 is combined to form EWL signal.

Combine for 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 namely B1-B2 is combined to form WL signal.

3, three frequency composite signals are utilized to solve integer ambiguity

As shown in Figure 2, Fig. 2 is the schematic diagram of the GEO+IGSO constellation configuration that the present invention adopts.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 have 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 because the 3rd occurs over just on GEO frequently, TCAR method computation success traditional is on the other hand lower.So the present invention utilizes the special constellation of dipper system, a series of improvement is done to traditional TCAR method, devised the Big Dipper civilian three combination integer ambiguity fast solution method frequently.Solving of integer ambiguity combines three-dimensional turn two-dimentional dimensionality reduction searching method: first determine GEO super-wide-lane integer ambiguity by pseudorange two difference result, turn two-dimensional search method according to three-dimensional again to determine GEO wide lane integer ambiguity and then calculate other FeiGEOKuan lane integer ambiguity, finally determine the complete cycle number of each frequency of B1, B2, S.

As shown in Figure 3, Fig. 3 is the method flow diagram 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, calculates pseudo range difference position location, and using this pseudo range difference position location as initial user position.

A () is by pseudorange double difference observation substitute into linearization pseudorange two difference observation equation:

${\mathrm{\ρ}}_{\mathrm{ur}}^{\mathrm{ij}}=r_{\mathrm{ur}}^{\mathrm{ij}}+{\mathrm{\ϵ}}_{\mathrm{ur}}^{\mathrm{ij}}---\left(7\right)$

Wherein, represent two gap from, represent two difference measurements error.

B () carries out linearization by linearization additive process to formula (7),

${\∂\mathrm{\ρ}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}\frac{x_u-x_i}{R_{\mathrm{ui}}}-\frac{x_u-x_j}{R_{\mathrm{uj}}}& \frac{y_u-y_i}{R_{\mathrm{ui}}}-\frac{y_u-y_j}{R_{\mathrm{uj}}}& \frac{z_u-z_i}{R_{\mathrm{ui}}}-\frac{z_u-z_j}{R_{\mathrm{uj}}}\end{array}\right]\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]+{\widetilde{\mathrm{\ϵ}}}_{\mathrm{ur}}^{\mathrm{ij}}---\left(8\right)$

Wherein, represent the residual error after linearization.

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

Step 2, the pseudo range difference position location utilizing step 1 to calculate calculate GEO super-wide-lane integer ambiguity

This is the first step utilizing TCAR method, solves super-wide-lane integer ambiguity.Wherein, super-wide-lane integer ambiguity, λ _eWLsuper-wide-lane combination frequency wavelength, that the satellite utilizing user's initial position and co-ordinates of satellite to solve calculates distances to the two poor of user, be super-wide-lane two difference carrier phase value, round represents round.For Short baseline situation, utilize pseudo range difference to locate and be easy to obtain the user initial position of positioning precision error at 1 ~ 2m.Be combined as example with S-2B2 ultra-wide item, its wavelength is 3.87 meters, and it calculates the half that distance error is less than WL wavelength, therefore utilizes the mode rounded directly can calculate GEOEWL integer ambiguity.

Step 3, similar step 2, measure whole to the GEO super-wide-lane combination observation calculating integer ambiguity, calculates the wide lane integer ambiguity of GEO the GEO super-wide-lane integer ambiguity that step 2 is calculated substitute into following formula, solve GEO wide lane integer ambiguity.

Wherein, λ _wL, represent two difference complete cycle numbers, wavelength and two poor carrier phase that wide lane is combined respectively.Because B1, B2 frequency is very close in this step, the success ratio that the method that utilization rounds resolves blur level is very low.Therefore to carry out search to obtain and be worth more accurately.

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

Double-differential carrier phase observation equation is:

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

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

(11)

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

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

Only need the two difference carrier phase value on a frequency and two difference complete cycle number owing to resolving two difference linearization positioning equation, therefore in (11) formula, do not introduce the upper subscript representing frequency.In above formula, use subscript i, j represents different satellite, and subscript u, c represent user and reference station.Wherein, represent two difference carrier-phase measurement, Δ φ ⁱ, Δ φ ^jrepresent the poor carrier-phase measurement of list of two satellites, λ represents the carrier wavelength of this frequency.(x _u, y _u, z _u) represent the three-dimensional position of user relative to 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 difference ionosphere delay, represent two difference tropospheric delay, be four non-poor integer ambiguities, represent two difference integer ambiguity, with according to the user of the initial user position calculation distance to two satellites, with the distance of reference station to two satellites, represent initial two gap from, represent two difference measurements noise.

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

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

$=\left[\begin{array}{cc}{\▿l}_u^i& {\▿m}_u^i\end{array}\right]\·\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\end{array}\right]-{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\ρ}}^{\mathrm{ij}}+[\▿\mathrm{\Δ\δI}+\▿\mathrm{\Δ\δT}+\▿\mathrm{\Δ\ϵ}+{\▿n}_u^i\·{\mathrm{\δz}}_u]---\left(12\right)$

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

Wherein, represent residual error with noise, comprise Ionosphere Residual Error, other remainder error of troposphere residual sum.By to coefficient in formula (12) analyze, Z axis changes the noise that causes within 1/50, if Z-direction error dz is within 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 super-wide-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 super-wide-lane example, its Ionosphere Residual Error not considering in Modifying model situation is about troposphere residual error is constant, and measurement noises is about 0.085m.Under Short baseline (within 20km), this error effect is substantially in a wavelength coverage of B1-B2 wide lane example.Then, the complete cycle search in blur level territory or two-dimensional position territory can be carried out based on D geometric modeling.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 when not adopting any search volume to reduce strategy, and its search alternative combinations number totally 27 groups.

Step 5, the GEO wide lane integer ambiguity calculated with step 3 for the initial value of search, in the wide lane ambiguity hunting zone of GEO that step 4 is determined, 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 within 2 meters.Utilize three GEO the TV star can set up two two eikonal equations, utilize formula (12) that more accurate x, y value can be calculated.Then according to formula (13) below preferably ranging by measuring carrier phase value and corresponding satellite calculate minimum one group of positional distance to user and determine these three stars corresponding wide lane carrier wave complete cycle number, that is:

$\min \left(\underset{i=1}{\overset{3}{\mathrm{\Σ}}}\right|{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\φ}}^{\mathrm{ij}}\·\mathrm{\λ}-{\▿\mathrm{\ΔR}}^{\mathrm{ij}}\left|\right)---\left(13\right)$

Wherein, min represents and gets minimum value, represent the two gap distance values drawn according to the customer location calculated and satellite position.Residue GEO satellite directly utilizes calculated x, y and initial z value to substitute into (13) formula determination integer ambiguity

Step 6, choose a MEO/IGSO satellite and its wide lane integer ambiguity of primary Calculation;

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

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

Centered by this complete cycle number, its uncertain error mainly z-axis position out of true causes, and uncertainty is 3 (2m/0.8m), and search volume is ± and 3.Even if when not adopting any search volume to reduce strategy, its search alternative combinations number totally 7 groups.

Step 8, the integer ambiguity that calculates with step 6 are for the initial value of search, and in the wide lane ambiguity hunting zone that step 7 is determined, carry out least square search, preferred best blur level combination, obtains the blur level syntagmatic in super-wide-lane and wide lane;

For each alternative blur level combination, carry out three-dimensional localization and calculate more accurate x, y, z value, then preferred ranging by measuring carrier phase value and corresponding satellite determine this star corresponding wide lane carrier wave complete cycle number to minimum one group of user distance, that is:

$\min \left(\right|{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\φ}}^{\mathrm{ij}}\·\mathrm{\λ}-{\▿\mathrm{\ΔR}}^{\mathrm{ij}}\left|\right)---\left(14\right)$

Then this coordinate is utilized 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, the blur level syntagmatic in super-wide-lane and wide lane is utilized to calculate two difference values of ambiguity on B1, B2 and S frequency.

A () is according to the wide lane ambiguity angle value of two difference calculated in preceding step utilize the mode rounded to calculate certain frequency two difference integer ambiguity values, such as first calculate B1 frequency, two poor blur level is

B () will substitute into the blur level syntagmatic in super-wide-lane and wide lane, the values of ambiguity of other frequency can be calculated.

${\▿\mathrm{\ΔN}}_{\mathrm{EWL}}={\▿\mathrm{\ΔN}}_1={2\▿\mathrm{\ΔN}}_S---\left(16\right)$

${\▿\mathrm{\ΔN}}_{\mathrm{WL}}={\▿\mathrm{\ΔN}}_1-{\▿\mathrm{\ΔN}}_2---\left(17\right)$

Wherein, with represent two difference values of ambiguity of B2 and S frequency respectively.

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

A two difference integer ambiguity values of the combined carriers phase place of a certain frequency calculated and the double-differential carrier phase measured value of corresponding frequency are substituted into linearization double-differential carrier phase observation equation and obtain by ():

${\▿\mathrm{\Δ\φ}}^{\mathrm{ij}}\·\mathrm{\λ}=\left[\begin{array}{ccc}{\▿l}_u^i& {\▿m}_u^i& {\▿n}_u^i\end{array}\right]\·\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]-{\▿\mathrm{\ΔN}}^{\mathrm{ij}}\·\mathrm{\λ}+{\▿\mathrm{\Δ\ρ}}^{\mathrm{ij}}+{\▿\mathrm{\Δ\ϵ}}^{\′}---\left(18\right)$

Wherein represent two difference measurements residual error.

B the multiple linearization observation equation of () simultaneous, utilizes least square method can calculate the position of user relative 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 that user is relative to the three-dimensional position vector of reference station, then have relative positioning computing formula: x _u=x _r+ x _ur, so just can calculate accurate customer location x _u.

Described utilize least square method to solve linearization two difference positioning equation to solve the concrete steps of customer location as follows:

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

${\∂\mathrm{\ρ}}_{\mathrm{ur}}^{\mathrm{ij}}=\left[\begin{array}{ccc}{\▿l}_u^i& {\▿m}_u^i& {\▿n}_u^i\end{array}\right]\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]+{\widetilde{\mathrm{\ϵ}}}_{\mathrm{ur}}^{\mathrm{ij}}---\left(19\right)$

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

$\left[\begin{array}{c}{\∂\mathrm{\ρ}}^1\\ {\∂\mathrm{\ρ}}^2\\ .\\ .\\ .\\ {\∂\mathrm{\ρ}}^3\end{array}\right]=\left[\begin{array}{ccc}{\▿l}_u^1& {\▿m}_u^1& {\▿n}_u^1\\ {\▿l}_u^2& {\▿m}_u^2& {\▿n}_u^2\\ .& .& .\\ .& .& .\\ .& .& .\\ {\▿l}_u^3& {\▿m}_u^3& {\▿n}_u^3\end{array}\right]\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]---\left(20\right)$

Order $\∂\mathrm{\ρ}=\left[\begin{array}{c}{\∂\mathrm{\ρ}}^1\\ {\∂\mathrm{\ρ}}^2\\ .\\ .\\ .\\ {\∂\mathrm{\ρ}}^3\end{array}\right],$ $A=\left[\begin{array}{ccc}{\▿l}_u^1& {\▿m}_u^1& {\▿n}_u^1\\ {\▿l}_u^2& {\▿m}_u^2& {\▿n}_u^2\\ .& .& .\\ .& .& .\\ .& .& .\\ {\▿l}_u^3& {\▿m}_u^3& {\▿n}_u^3\end{array}\right],$ $\mathrm{\δx}=\left[\begin{array}{c}{\mathrm{\δx}}_u\\ {\mathrm{\δy}}_u\\ {\mathrm{\δz}}_u\end{array}\right]$

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

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

The estimated value choosing changing coordinates point substitutes into solving equations and goes out least square method is utilized to solve

$\mathrm{\δx}=A^{-1}\·\∂\mathrm{\ρ}---\left(21\right)$

If equation number is greater than 3, formula becomes

What δ x obtained is the coordinate of customer location relative to base station and the difference of original estimated coordinate;

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 substitute into above-mentioned formula again to calculate, 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; be 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 amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (14)

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

Step 1: carry out pseudo range difference location according to pseudorange double difference observation, calculates 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 GEO super-wide-lane integer ambiguity;

Step 3: the GEO super-wide-lane combined carriers double difference calculating integer ambiguity is rounded, calculates the wide lane integer ambiguity of GEO

Step 4: calculate GEO super-wide-lane combined carriers double difference error, determine GEO wide lane searching for integer cycle scope;

Step 5: the GEO calculated with step 3 wide lane integer ambiguity for the initial value of search, within the scope of the GEO wide lane searching for integer cycle that step 4 is determined, carry out least square search, obtain GEO wide lane integer ambiguity exact value;

Step 6: choose a MEO/IGSO satellite and its wide lane integer ambiguity of primary Calculation;

Step 7: the MEO/IGSO satellite wide lane searching for integer cycle scope that determining step 6 calculates;

Step 8: the integer ambiguity calculated with step 6 is the initial value of search, carries out least square search, obtain MEO/IGSO satellite wide lane integer ambiguity exact value within the scope of the wide lane searching for integer cycle that step 7 is determined;

Step 9: utilize the blur level syntagmatic in super-wide-lane and wide lane to calculate two difference integer ambiguities on B1, B2 and S frequency;

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

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

A) by pseudorange double difference observation substitute into linearization pseudorange two difference observation equation wherein, represent two gap from, represent two difference measurements error;

B) use linearization additive process to this linearization pseudorange two difference observation equation carry out linearization:

Wherein, represent the residual error after linearization;

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

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

This pseudo range difference position location is utilized to calculate GEO super-wide-lane integer ambiguity wherein, super-wide-lane integer ambiguity, λ _eWLsuper-wide-lane combination frequency wavelength, that the satellite utilizing user's initial position and co-ordinates of satellite to solve calculates distances to the two poor of user, be super-wide-lane two difference carrier phase value, round represents round.

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

By the GEO super-wide-lane integer ambiguity calculated substitute into following formula, calculate GEO wide lane integer ambiguity wherein, λ _wL, represent two difference integer ambiguity, wavelength and two poor carrier phases that wide lane is combined respectively.

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

Double-differential carrier phase observation equation is:

In above formula, use subscript i, j represents different satellite, and subscript u, c represent user and reference station; Wherein, represent two difference carrier-phase measurement, Δ φ ⁱ, Δ φ ^jrepresent the poor carrier-phase measurement of list of two satellites, λ represents the carrier wavelength of this frequency, (x _u, y _u, z _u) represent the three-dimensional position of user relative to reference station, (x _i, y _i, z _i) and (x _j, y _j, z _j) represent the three-dimensional position of satellite i and satellite j, represent two difference ionosphere delay, represent two difference tropospheric delay, be four non-poor integer ambiguities, represent two difference integer ambiguity, with according to the user of the initial user position calculation distance to two satellites, with the distance of reference station to two satellites, represent initial two gap from, represent two difference measurements noise;

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

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 super-wide-lane combined carriers double difference error, this error mainly comprises Ionosphere Residual Error, troposphere residual error, wide lane combination observation noise, multipath; Then, the complete cycle search in blur level territory or two-dimensional position territory is carried out based on D geometric modeling.

6. the method realizing hi-Fix based on the civilian combination carrier phase observation of dipper system according to claim 5, it 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 within 2 meters; Utilize three GEO the TV star can 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 preferred ranging by measuring carrier phase value and corresponding satellite calculate minimum one group of positional distance to user and determine these three stars corresponding wide lane carrier wave complete cycle number; Wherein, min represents and gets minimum value, represent the two gap distance values drawn according to the customer location calculated and satellite position; Residue GEO satellite directly utilizes calculated x, y and initial z value to substitute into formula determine GEO wide lane integer ambiguity exact value.

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

Choose a MEO or IGSO satellite, utilize accurately x, y after GEO two-dimensional localization and initial z coordinate, by the wide lane integer ambiguity of this MEO or IGSO satellite of mode primary Calculation rounded.

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

Centered by the wide lane integer ambiguity of calculated MEO or IGSO satellite, its uncertain error is that z-axis position out of true causes, and uncertainty is 3, search volume is ± and 3.

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

For each alternative blur level combination, carry out three-dimensional localization and calculate more accurate x, y, z value, then preferred ranging by measuring carrier phase value and corresponding satellite determine this star corresponding wide lane carrier wave complete cycle number to minimum one group of user distance, that is:

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

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

According to the GEO wide lane integer ambiguity that step 3 calculates utilize the mode rounded to calculate certain frequency two difference integer ambiguity values, this frequency two difference integer ambiguity values calculated is substituted into the blur level syntagmatic in super-wide-lane and wide lane, calculate the values of ambiguity of other frequency.

11. methods realizing 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 calculates certain frequency two difference integer ambiguity values, this frequency two difference integer ambiguity values calculated is substituted into the blur level syntagmatic in super-wide-lane and wide lane, calculate the values of ambiguity of other frequency, comprising:

First calculate two difference integer ambiguity values of B1 frequency:

Will substitute into the blur level syntagmatic in super-wide-lane and wide lane,

The values of ambiguity of other frequency can be calculated;

Wherein, with represent two difference integer ambiguity values of B2 and S frequency respectively.

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

A) two difference integer ambiguity values of the combined carriers phase place of a certain frequency calculated and the double-differential carrier phase measured value of corresponding frequency are substituted into linearization double-differential carrier phase observation equation to obtain wherein represent two difference measurements residual error;

B) the multiple linearization observation equation of simultaneous, utilizes least square method to calculate the position of user relative 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 that user is relative to the three-dimensional position vector of reference station, then have relative positioning computing formula: x _u=x _r+ x _ur, just can calculate accurate customer location x _u.

13. methods realizing 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:

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

Order

Write above-mentioned linear matrix equation as matrix form:

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

The estimated value choosing changing coordinates point substitutes into solving equations and goes out least square method is utilized to solve

If equation number is greater than 3, formula becomes

What δ x obtained is the coordinate of customer location relative to base station and the difference of original estimated coordinate;

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 substitute into above-mentioned formula again to calculate, 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.

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