CN104122567B - Positioning method with combination of pseudolites, GPS (global positioning system) and Beidou Navigation System - Google Patents

Positioning method with combination of pseudolites, GPS (global positioning system) and Beidou Navigation System Download PDF

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CN104122567B
CN104122567B CN201410365584.2A CN201410365584A CN104122567B CN 104122567 B CN104122567 B CN 104122567B CN 201410365584 A CN201410365584 A CN 201410365584A CN 104122567 B CN104122567 B CN 104122567B
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satellite
pseudolite
navigation
gps
pseudo
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CN104122567A (en
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甘兴利
蔚保国
王珏
李隽�
董立桥
赵娓
刘市
张志新
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CETC 54 Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a positioning method with combination of pseudolites, the GPS and the Beidou Navigation system. The method comprises that, firstly, a pseudolite signal transmitter generates pseudolite positioning differential signals, and a synchronous receiver and a user receiver receives the pseudolite positioning differential signals simultaneously; secondly, a pseudolite synchronous receiver simultaneously receives pseudolite signals, GPS satellite navigation signals and Beidou satellite navigation signals and computes satellite clock differential corrected values and navigation messages according to pseudolite ranging values and navigation satellite navigation ranging values, the messages are transmitted to the pseudolite signal transmitter, and the pseudolite signal transmitter transmits messages to the user receiver; thirdly, the user receiver corrects the satellite clock differential corrected values into a GPS satellite navigation measuring equation and a Beidou satellite navigation measuring equation to eliminate navigation satellite clock deviation, ephemeris errors, ionospheric errors and tropospheric errors in a differential mode, the GPS satellite navigation measuring equation and the Beidou satellite navigation measuring equation are combined with a pseudolite measuring equation to form a measuring equation set free from satellite clock differential influence, and pseudolite, Beidou and GPS combined differential positioning is formed through the least square method.

Description

The localization method of pseudo satellite, pseudolite, GPS and triones navigation system combination
Technical field
The present invention relates to satellite navigation foundation local strengthens technical field, particularly a kind of pseudo satellite, pseudolite, GPS and Beidou navigation The localization method of system in combination.
Background technology
At present, put into formal operation with Beidou satellite navigation system, increasing receiver user possesses GPS, north Many navigation system that struggles against integrated positioning ability, but this kind of integrated positioning mode needs known or calculates between multi-satellite navigation system Time deviation.Traditional solution is to add the unknown parameter of GPS and dipper system time deviation in positioning equation, leads to Cross solving equations direct solution, the shortcoming of this mode is that subscriber computer needs to receive at least 5 visible satellites simultaneously.Signal differential Pseudo satellite, pseudolite will efficiently solve drawbacks described above, realize not being subject to the GPS of system time deviation effects and triones navigation system high accuracy Combination Differential positioning.
Content of the invention
The purpose of the present invention is：For satellite navigation system cause under special geological surrounding or under applied environment visual The defect that aeronautical satellite number is not enough, the distribution of constellation geometry is not good, perpendicular positioning precision is not high, devises signal differential pseudo satellite, pseudolite system System, and propose the localization method of a kind of pseudo satellite, pseudolite, GPS and triones navigation system combination, effectively improve satellite navigation system Geometry distribution, increased nautical star quantity, improve positioning precision.
In order to achieve the above object, the technical solution used in the present invention is：
The localization method of pseudo satellite, pseudolite, GPS and triones navigation system combination is it is characterised in that comprise the following steps：
1. straight hair signal differential pseudolite systems are built；Described straight hair signal differential pseudolite systems include straight hair signal Difference pseudo satellite, pseudolite, receiver user, Beidou navigation satellite and GPS navigation satellite；Described straight hair signal differential pseudo satellite, pseudolite includes Pseudo satellite, pseudolite synchrodyne and Pseudolite signal emitter；
2. pseudo satellite, pseudolite synchrodyne receives the pseudo satellite, pseudolite navigation signal of Pseudolite signal emitter transmitting simultaneously, the Big Dipper is led The Beidou navigation signal of boat satellite launch and the GPS navigation signal of GPS navigation satellite transmitting；Surveyed according to pseudo satellite, pseudolite synchrodyne The pseudo satellite, pseudolite synchrodyne of amount and the pseudorange value of pseudo satellite, pseudolite transmitting antenna, pseudo satellite, pseudolite synchrodyne and Beidou navigation satellite The pseudorange value of pseudorange value, pseudo satellite, pseudolite synchrodyne and GPS navigation satellite, is calculated GPS navigation satellite differential corrections, north Bucket aeronautical satellite differential corrections and pseudo satellite, pseudolite differential corrections；Pseudo satellite, pseudolite synchrodyne is sent by pseudolite transmitter GPS navigation satellite differential corrections, Beidou navigation satellite difference corrected value become navigation message with pseudo satellite, pseudolite differential corrections layout, Pseudolite transmitter broadcasts the pseudo satellite, pseudolite navigation signal comprising navigation message to receiver user；
3. receiver user receives pseudo satellite, pseudolite navigation signal, GPS navigation signal and Beidou navigation signal simultaneously, and user receives Machine is by the pseudorange of the pseudorange value, receiver user and Beidou navigation satellite of the receiver user and the pseudo satellite, pseudolite transmitting antenna that measure GPS navigation satellite differential corrections in the pseudorange value of value, receiver user and GPS navigation satellite, with navigation message, the Big Dipper are led Navigating, satellite difference corrected value is corresponding with pseudo satellite, pseudolite differential corrections to do difference processing, obtains revised Beidou satellite navigation measurement Equation, revised GPS satellite navigation measurement equation and revised pseudo satellite, pseudolite measurement equation；
4. revised Beidou satellite navigation is measured equation, revised GPS satellite navigation measurement side by receiver user Journey and revised pseudo satellite, pseudolite measure equation and be combined into not to be affected by the time deviation of GPS navigation satellite and Beidou navigation satellite Measurement equation group, realizes the Differential positioning of GPS navigation satellite, Beidou navigation satellite and pseudo satellite, pseudolite combination using least square method.
Wherein, the computational methods of step 2. middle GPS navigation satellite differential corrections and Beidou navigation satellite difference corrected value It is：
Wherein, MjDifferential corrections for GPS or triones navigation system；For pseudo satellite, pseudolite synchrodyne to GPS navigation Satellite or the pseudorange value of Beidou navigation satellite；For pseudo satellite, pseudolite synchrodyne to GPS navigation satellite or Beidou navigation satellite Geometric distance；dtjStar clock deviation for GPS navigation satellite or Beidou navigation satellite；dtiClock correction for pseudo satellite, pseudolite synchrodyne； dρRFor ephemeris error；dρIFor ionospheric error；dρTFor tropospheric error；C is the light velocity；
The computational methods of pseudo satellite, pseudolite differential corrections are：
Wherein, MmDifferential corrections for pseudo satellite, pseudolite；For pseudo satellite, pseudolite synchrodyne to Pseudolite signal emitter Distance measurement value；Geometric distance for synchrodyne to Pseudolite signal emitter；dtiClock for pseudo satellite, pseudolite synchrodyne Difference；dtmSystem time deviation for pseudo satellite, pseudolite m；C is the light velocity.
Wherein, step 3. in revised Beidou satellite navigation measurement equation and the measurement of revised GPS satellite navigation Equation is specifically：
Wherein：For the pseudorange value to GPS navigation satellite or Beidou navigation satellite for the receiver user；For receiver user Geometric distance to GPS navigation satellite or Beidou navigation satellite；dtkClock correction for receiver user；dtiSynchronously connect for pseudo satellite, pseudolite The clock correction of receipts machine；For the pseudorange value to GPS navigation satellite or Beidou navigation satellite for the pseudo satellite, pseudolite synchrodyne；Connect for synchronous Receipts machine is to the geometric distance of GPS navigation satellite or Beidou navigation satellite；C is the light velocity；
Revised pseudo satellite, pseudolite measurement equation is specially：
Wherein：For the pseudorange value to pseudo satellite, pseudolite for the receiver user；For the geometry between receiver user and pseudo satellite, pseudolite Distance；dtkClock correction for receiver user；dtiClock correction for pseudo satellite, pseudolite synchrodyne；Pseudorange value for pseudo satellite, pseudolite； Geometric distance for synchrodyne to pseudo satellite, pseudolite；C is the light velocity.
Wherein, 4. revised Beidou satellite navigation is measured equation, revised gps satellite to step by middle receiver user Navigation measurement equation and revised pseudo satellite, pseudolite measurement equation are combined into the time not being subject to GPS navigation satellite and Beidou navigation satellite The measurement equation group of deviation effects is specially：
Wherein：For the pseudorange value to GPS navigation satellite or Beidou navigation satellite for the receiver user；Receive for user Machine is to the geometric distance between GPS navigation satellite or Beidou navigation satellite；For pseudo satellite, pseudolite synchrodyne to GPS navigation satellite Or the distance measurement value of Beidou navigation satellite；For the geometry between synchrodyne to GPS navigation satellite or Beidou navigation satellite away from From；For the distance measurement value to pseudo satellite, pseudolite for the receiver user；dtkClock correction for receiver user；dtiFor pseudo satellite, pseudolite synchrodyne Clock correction；Distance measurement value for pseudo satellite, pseudolite；For the geometric distance between synchrodyne and pseudo satellite, pseudolite；C is the light velocity.
The technology of the present invention has the advantage that：
I () present invention can make receiver user without the system time deviation considering between GPS and dipper system, carry out GPS and Big Dipper integrated positioning；
(ii) present invention proposes Pseudolite signal Differential positioning method, can effectively eliminate GPS, Beidou navigation satellite Star clock error, orbit error, ionospheric error and tropospheric error, have the characteristics that hi-Fix.
(iii) present invention can make pseudo satellite, pseudolite and GPS and Beidou navigation satellite be combined positioning, and effectively improves satellite The geometry distribution of constellation, significantly reduces vertical dilution of precision VDOP value, has the advantages that vertical direction positioning precision is high.
Brief description
Fig. 1 is signal differential fake satellite positioning system schematic diagram of the present invention；
Fig. 2 is that the star clock correction correction of pseudo satellite, pseudolite, the Big Dipper and GPS navigation system calculates schematic diagram；
Fig. 3 be receiver user use pseudo satellite, pseudolite and the Big Dipper, GPS navigation system combine Differential positioning schematic diagram.
Specific embodiment
With reference to specific embodiments and the drawings, the present invention will be further described：
1. straight hair signal differential pseudolite systems are built；Described straight hair signal differential pseudolite systems include straight hair signal Difference pseudo satellite, pseudolite, receiver user, Beidou navigation satellite and GPS navigation satellite；Described straight hair signal differential pseudo satellite, pseudolite includes Pseudo satellite, pseudolite synchrodyne and Pseudolite signal emitter；
2. pseudo satellite, pseudolite synchrodyne receives the pseudo satellite, pseudolite navigation signal of Pseudolite signal emitter transmitting simultaneously, the Big Dipper is led The Beidou navigation signal of boat satellite launch and the GPS navigation signal of GPS navigation satellite transmitting；Surveyed according to pseudo satellite, pseudolite synchrodyne The pseudo satellite, pseudolite synchrodyne of amount and the pseudorange value of pseudo satellite, pseudolite transmitting antenna, pseudo satellite, pseudolite synchrodyne and Beidou navigation satellite The pseudorange value of pseudorange value, pseudo satellite, pseudolite synchrodyne and GPS navigation satellite, is calculated GPS navigation satellite differential corrections, north Bucket aeronautical satellite differential corrections and pseudo satellite, pseudolite differential corrections；Pseudo satellite, pseudolite synchrodyne is sent by pseudolite transmitter GPS navigation satellite differential corrections, Beidou navigation satellite difference corrected value become navigation message with pseudo satellite, pseudolite differential corrections layout, Pseudolite transmitter broadcasts the pseudo satellite, pseudolite navigation signal comprising navigation message to receiver user；
Fig. 2 is that pseudo satellite, pseudolite calculates schematic diagram with the star clock correction correction of satellite navigation system, comprises the following steps：
(201) Pseudo-range Equation setting up pseudo satellite, pseudolite synchrodyne to Pseudolite signal emitter is as follows：
Wherein：For the pseudorange value of synchrodyne to pseudolite transmitter, obtained by synchrodyne observed quantity；For several between synchrodyne and Pseudolite signal emitter What distance；dtiClock correction for synchrodyne；dtmSystem time deviation for pseudo satellite, pseudolite；C is the light velocity.
(202) set up pseudo satellite, pseudolite synchrodyne to the Pseudo-range Equation of GPS navigation satellite and Beidou navigation satellite such as Under：
Wherein：For the pseudorange value to GPS navigation satellite or Beidou navigation satellite for the synchrodyne, synchronously connect by pseudo satellite, pseudolite The observed quantity of receipts machine obtains.For synchrodyne to GPS navigation Satellite or the geometric distance of Beidou navigation satellite；(xj,yj,zj) be aeronautical satellite position, (xi,yi,zi) it is synchrodyne Position；dρRFor ephemeris error；dρIFor ionospheric error；dρTFor tropospheric error；dtiFor synchrodyne time deviation； dtjFor the time deviation of aeronautical satellite, by navigation message gain of parameter；C is the light velocity.
(203) calculate GPS navigation satellite or the differential corrections of Beidou navigation satellite are：
Wherein, MjDifferential corrections for GPS navigation satellite or Beidou navigation satellite.
Calculate pseudo satellite, pseudolite differential corrections be：
Wherein：MmDifferential corrections for pseudo satellite, pseudolite.
3. receiver user receives pseudo satellite, pseudolite navigation signal, GPS navigation satellite signal and Beidou navigation satellite-signal simultaneously, Receiver user is by the pseudorange value of the receiver user and the pseudo satellite, pseudolite transmitting antenna that measure, receiver user and Beidou navigation satellite Pseudorange value, receiver user and GPS navigation satellite pseudorange value, with navigation message in GPS navigation satellite differential corrections, Beidou navigation satellite difference corrected value is corresponding with pseudo satellite, pseudolite differential corrections to do difference processing, obtains revised big-dipper satellite and leads Aerial survey amount equation, revised GPS satellite navigation measurement equation and revised pseudo satellite, pseudolite measurement equation.Fig. 3 is user's reception Machine use pseudo satellite, pseudolite and Beidou navigation satellite, GPS navigation satellite combine Differential positioning schematic diagram, comprise the following steps：
(301) Pseudo-range Equation setting up receiver user to GPS navigation satellite and Beidou navigation satellite is as follows：
Wherein：For the pseudorange value of receiver user to GPS navigation satellite or Beidou navigation satellite, seen by receiver user Measurement obtains.For receiver user to GPS navigation satellite and The geometric distance of Beidou navigation satellite；(xj,yj,zj) be aeronautical satellite position, (xk,yk,zk) be receiver user position； dρRkFor ephemeris error；dρIkFor ionospheric error；dρTkFor tropospheric error；dtkFor receiver user time deviation；dtjFor north Bucket aeronautical satellite or the time deviation of GPS navigation satellite, by navigation message gain of parameter；C is the light velocity.
(302) Pseudo-range Equation setting up receiver user to Pseudolite signal emitter is as follows：
Wherein：For the pseudorange value of receiver user to pseudo satellite, pseudolite, obtained by the observed quantity of receiver user.Geometric distance for receiver user to pseudo satellite, pseudolite；(xm, ym,zm) be pseudo satellite, pseudolite position, (xk,yk,zk) be receiver user position；dtkClock correction for receiver user；dtmFor puppet The time deviation of satellite；C is the light velocity.
(303) Pseudo-range Equation of GPS navigation system and triones navigation system is carried out with signal differential process as follows：
Because there is d ρRk≈dρR、dρIk≈dρIWith d ρTk≈dρT, receiver user k leads to GPS navigation system and the Big Dipper The measurement equation of boat system is changed into：
It can be seen that：The clock correction part c × (dt of measurement equationk-dti) only with receiver user, pseudo satellite, pseudolite synchrodyne Clock correction relevant, unrelated with the satellite clock correction of GPS navigation system and triones navigation system, therefore, in GPS navigation system and the Big Dipper Without the time deviation considering two satellite navigation systems in navigation system integrated positioning.
(304) Pseudo-range Equation of pseudo satellite, pseudolite is carried out with signal differential process as follows：
Receiver user k is changed into the measurement equation of pseudo satellite, pseudolite m：
4. revised Beidou satellite navigation is measured equation, revised GPS satellite navigation measurement side by receiver user Journey and revised pseudo satellite, pseudolite measure equation and be combined into not to be affected by the time deviation of GPS navigation satellite and Beidou navigation satellite Measurement equation group, realizes the Differential positioning of GPS navigation satellite, Beidou navigation satellite and pseudo satellite, pseudolite combination using least square method. Comprise the following steps：
(401) the measurement in a closed series equation group setting up pseudo satellite, pseudolite, GPS navigation satellite and Beidou navigation satellite is as follows：
Wherein：For the pseudorange value to GPS navigation satellite or Beidou navigation satellite for the receiver user；Receive for user Machine is to the geometric distance between GPS navigation satellite or Beidou navigation satellite；For pseudo satellite, pseudolite synchrodyne to GPS navigation satellite Or the distance measurement value of Beidou navigation satellite；For the geometry between synchrodyne to GPS navigation satellite or Beidou navigation satellite away from From；For the distance measurement value to pseudo satellite, pseudolite for the receiver user；dtkClock correction for receiver user；dtiFor pseudo satellite, pseudolite synchrodyne Clock correction；Distance measurement value for pseudo satellite, pseudolite；For the geometric distance between synchrodyne and pseudo satellite, pseudolite；C is the light velocity.

Claims (4)

1. the localization method of pseudo satellite, pseudolite, GPS and triones navigation system combination is it is characterised in that comprise the following steps：
1. straight hair signal differential pseudolite systems are built；Described straight hair signal differential pseudolite systems include straight hair signal differential Pseudo satellite, pseudolite, receiver user, Beidou navigation satellite and GPS navigation satellite；Described straight hair signal differential pseudo satellite, pseudolite includes puppet and defends Star synchrodyne and Pseudolite signal emitter；
2. pseudo satellite, pseudolite synchrodyne receives the pseudo satellite, pseudolite navigation signal of Pseudolite signal emitter transmitting simultaneously, Beidou navigation is defended The Beidou navigation signal of star transmitting and the GPS navigation signal of GPS navigation satellite transmitting；According to the measurement of pseudo satellite, pseudolite synchrodyne The pseudorange of the pseudorange value, pseudo satellite, pseudolite synchrodyne and Beidou navigation satellite of pseudo satellite, pseudolite synchrodyne and pseudo satellite, pseudolite transmitting antenna The pseudorange value of value, pseudo satellite, pseudolite synchrodyne and GPS navigation satellite, is calculated GPS navigation satellite differential corrections, the Big Dipper is led Boat satellite difference corrected value and pseudo satellite, pseudolite differential corrections；The GPS that pseudo satellite, pseudolite synchrodyne sends is led by pseudolite transmitter Boat satellite difference corrected value, Beidou navigation satellite difference corrected value become navigation message with pseudo satellite, pseudolite differential corrections layout, and puppet is defended The pseudo satellite, pseudolite navigation signal comprising navigation message broadcast by star emitter to receiver user；
3. receiver user receives pseudo satellite, pseudolite navigation signal, GPS navigation signal and Beidou navigation signal simultaneously, and receiver user will The receiver user of measurement and the pseudorange value of pseudorange value, receiver user and Beidou navigation satellite of pseudo satellite, pseudolite transmitting antenna, use GPS navigation satellite differential corrections in family receiver and the pseudorange value of GPS navigation satellite, with navigation message, Beidou navigation are defended Star differential corrections are corresponding with pseudo satellite, pseudolite differential corrections to do difference processing, obtains revised Beidou satellite navigation measurement side Journey, revised GPS satellite navigation measurement equation and revised pseudo satellite, pseudolite measurement equation；
4. receiver user by revised Beidou satellite navigation measure equation, revised GPS satellite navigation measurement equation and Revised pseudo satellite, pseudolite measurement equation is combined into not by measuring that the time deviation of GPS navigation satellite and Beidou navigation satellite is affected Equation group, realizes the Differential positioning of GPS navigation satellite, Beidou navigation satellite and pseudo satellite, pseudolite combination using least square method.
2. the pseudo satellite, pseudolite according to claim 1, GPS and triones navigation system combination localization method it is characterised in that： The computational methods of step 2. middle GPS navigation satellite differential corrections and Beidou navigation satellite difference corrected value are：
M j = ρ i j - P i j = c × ( dt i - dt j ) + dρ R + dρ I + dρ T
Wherein, MjDifferential corrections for GPS or triones navigation system；For pseudo satellite, pseudolite synchrodyne to GPS navigation satellite or The pseudorange value of Beidou navigation satellite；Pi jFor pseudo satellite, pseudolite synchrodyne to GPS navigation satellite or Beidou navigation satellite geometry away from From；dtjStar clock deviation for GPS navigation satellite or Beidou navigation satellite；dtiClock correction for pseudo satellite, pseudolite synchrodyne；dρRFor Ephemeris error；dρIFor ionospheric error；dρTFor tropospheric error；C is the light velocity；
The computational methods of pseudo satellite, pseudolite differential corrections are：
Mm=ρi m-Pi m=c × (dti-dtm)
Wherein, MmDifferential corrections for pseudo satellite, pseudolite；For the range finding to Pseudolite signal emitter for the pseudo satellite, pseudolite synchrodyne Value；Pi mGeometric distance for synchrodyne to Pseudolite signal emitter；dtiClock correction for pseudo satellite, pseudolite synchrodyne；dtm System time deviation for pseudo satellite, pseudolite m；C is the light velocity.
3. the pseudo satellite, pseudolite according to claim 1, GPS and triones navigation system combination localization method it is characterised in that： Step 3. in revised Beidou satellite navigation measurement equation and revised GPS satellite navigation measurement equation be specifically：
ρ k j = P k j + c × ( dt k - dt i ) + ( ρ i j - P i j )
Wherein：For the pseudorange value to GPS navigation satellite or Beidou navigation satellite for the receiver user；Arrive for receiver user GPS navigation satellite or the geometric distance of Beidou navigation satellite；dtkClock correction for receiver user；dtiSynchronously receive for pseudo satellite, pseudolite The clock correction of machine；For the pseudorange value to GPS navigation satellite or Beidou navigation satellite for the pseudo satellite, pseudolite synchrodyne；Pi jFor synchronous reception Machine is to the geometric distance of GPS navigation satellite or Beidou navigation satellite；C is the light velocity；
Revised pseudo satellite, pseudolite measurement equation is specially：
ρ k m = P k m + c × ( dt k - dt i ) + ( ρ i m - P i m )
Wherein：For the pseudorange value to pseudo satellite, pseudolite for the receiver user；For the geometry between receiver user and pseudo satellite, pseudolite away from From；dtkClock correction for receiver user；dtiClock correction for pseudo satellite, pseudolite synchrodyne；Pseudorange value for pseudo satellite, pseudolite；Pi mFor Synchrodyne is to the geometric distance of pseudo satellite, pseudolite；C is the light velocity.
4. the pseudo satellite, pseudolite according to claim 1, GPS and triones navigation system combination localization method it is characterised in that： 4. revised Beidou satellite navigation is measured equation, revised GPS satellite navigation measurement equation to step by middle receiver user It is combined into not by surveying that the time deviation of GPS navigation satellite and Beidou navigation satellite is affected with revised pseudo satellite, pseudolite measurement equation Amount equation group is specially：
ρ k 1 = P k 1 + c × ( dt k - dt i ) + ( ρ i 1 - P i 1 )
ρ k 2 = P k 2 + c × ( dt k - dt i ) + ( ρ i 2 - P i 2 )
ρ k n = P k n + c × ( dt k - dt i ) + ( ρ i n - P i n )
ρ k n + 1 = P k n + 1 + c × ( dt k - dt i ) + ( ρ i n + 1 - P i n + 1 )
ρ k n + 2 = P k n + 2 + c × ( dt k - dt i ) + ( ρ i n + 2 - P i n + 2 )
ρ k j = P k j + c × ( dt k - dt i ) + ( ρ i j - P i j )
ρ k m = P k m + c × ( dt k - dt i ) + ( ρ i m - P i m )
Wherein：For the pseudorange value to GPS navigation satellite or Beidou navigation satellite for the receiver user；Arrive for receiver user Geometric distance between GPS navigation satellite or Beidou navigation satellite；For pseudo satellite, pseudolite synchrodyne to GPS navigation satellite or north The distance measurement value of bucket aeronautical satellite；Pi jFor the geometric distance between synchrodyne to GPS navigation satellite or Beidou navigation satellite；For the distance measurement value to pseudo satellite, pseudolite for the receiver user；dtkClock correction for receiver user；dtiFor pseudo satellite, pseudolite synchrodyne Clock correction；Distance measurement value for pseudo satellite, pseudolite；For the geometric distance between synchrodyne and pseudo satellite, pseudolite；C is the light velocity.
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