CN104749597A - Ambiguity calculating method used under medium-long baseline of Beidou system - Google Patents

Abstract

The invention provides an ambiguity calculating method used under a medium-long baseline of a Beidou system. The ambiguity calculating method used under the medium-long baseline of the Beidou system comprises the following steps of (1) performing signal frequency combined screening by using RNSS (radio navigation satellite service) signals and S frequency signals of RDSS (radio determination satellite service) to obtain an ultra-wide-lane, wide-lane and narrow-lane combined coefficient of a GEO (geosynchronous orbit) satellite and an ultra-wide-lane and narrow-lane combined coefficient of a non-GEO satellite; (2) performing ultra-wide-lane ambiguity calculation on the GEO satellite and the non-GEO satellite; (3) performing wide-lane ambiguity calculation on the GEO satellite; (4) performing a narrow-lane ambiguity calculation on the GEO satellite; and (5) solving narrow-lane ambiguity of the non-GEO. By the ambiguity calculating method, Beidou RNSS signals and Beidou RDSS signals are combined together, several groups of ultra-wide-lane, wide-lane and narrow-lane combinations with high performance are found out, the narrow-lane ambiguity of the GEO satellite is solved by a step-by-step computing mode through the combinations, influences of errors of an ionized layer are eliminated, the ambiguity solving time is prolonged, and the ambiguity solving success rate is improved.

Description

A kind of for Ambiguity Solution Methods under the medium-long baselines of dipper system

Technical field

The invention belongs to satellite navigation positioning technical field, particularly relate to a kind of for the Ambiguity Solution Methods under the medium-long baselines of dipper system.

Background technology

Carrier Phase Ambiguity Resolution is the key issue of satellite navigation hi-Fix.The most widely used method in Carrier Phase Ambiguity Resolution field is LAMBDA method, and the method theoretical system is comparatively perfect, is widely used.But due to the impact of ionospheric error, the direct performance using LAMBDA method to resolve blur level under medium-long baselines is not good.Another typical method of Carrier Phase Ambiguity Resolution is multifrequency ambiguity resolution step by step.The satellite navigation system such as GPS, the Big Dipper all provides the measured value of three or more frequency, these measured values is carried out combination of frequency and can form the preferably linear combination of some performances, contribute to correctly resolving of blur level.The basic thought of multifrequency ambiguity resolution is step by step multiple frequency composition super-wide-lane and the combination of wide lane, first calculate super-wide-lane integer ambiguity by pseudo-range measurements, then pushing away wide lane ambiguity by rounding super-wide-lane measured value, finally solving the integer ambiguity of single frequency point.But, concerning dipper system, if only use RNSS tri-measured value frequently, be subject to ionospheric error and noise effect comparatively large at medium-long baselines Xia Kuan lane measured value, cause ambiguity resolution success ratio not high.

Therefore for the ambiguity resolution under medium-long baselines, because the spatial coherence of ionospheric error is poor, make the Ionosphere Residual Error in two aberration measurements comparatively large, cause ambiguity resolution required time long, and computation success is not high.So the Important Problems that the blur level under medium-long baselines is determined is the impact how better eliminating Ionosphere Residual Error.

Big Dipper region satellite navigation system formally provided regional service in 27 days Dec in 2012.Different from other GNSS system, dipper system, except providing RNSS and serving, additionally provides RDSS service.RNSS provides 3 L-band frequencies, and the GEO satellite of RDSS provides a S-band frequency measurement at satellite to the downlink of user.Extra S frequency measurement is that the Ambiguity Solution Methods under the new medium-long baselines of development provides opportunity.

Summary of the invention

For solving the problem, the invention provides a kind of for the Ambiguity Solution Methods under the medium-long baselines of dipper system, by the RNSS tri-of the Big Dipper, frequently measured value and RDSS measured value combine and are used for ambiguity resolution under medium-long baselines for they, weaken the impact of Ionosphere Residual Error, improve the efficiency of ambiguity resolution.

Of the present invention for the Ambiguity Solution Methods under the medium-long baselines of dipper system, it comprises:

Step one, the S frequency signal utilizing RNSS signal and RDSS to serve carry out signal frequency combined sorting, obtain super-wide-lane and the narrow lane combination coefficient of the super-wide-lane of GEO satellite, Kuan Xianghezhai lane combination coefficient and non-GEO satellite;

Step 11, virtual portfolio measured value is divided into super-wide-lane virtual portfolio measured value, wide lane virtual portfolio measured value and narrow lane virtual portfolio measured value by the difference according to wavelength, wherein super-wide-lane virtual portfolio measured value wavelength coverage is: λ >=1.7m, wide lane virtual portfolio measured value wavelength coverage is: 0.5m < λ < 1.7m, and narrow lane virtual portfolio measured value wavelength coverage is: λ≤0.5m;

Step 12, non-GEO satellite sends the RNSS signal in B1, B2, B3 tri-frequencies, and for the virtual portfolio measured value that described three frequencies are formed when linear combination coefficient is i, j, k, the mode that solves of TNL is such as formula (1):

$\mathrm{TNL}=\frac{1}{{\mathrm{\&lambda;}}_{(i,j,k)}}\sqrt{{\mathrm{\&beta;}}_{(i,j,k)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&delta;I},\mathrm{\&phi;}1}^2+{\mathrm{\&mu;}}_{(i,j,k)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&phi;}1}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{trop}}}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{orb}}}^2}---\left(1\right)$

Wherein, TNL is the ratio of noise and wavelength, and i, j, k are integer, λ _{(i, j, k)}for the wavelength of the multiple measurement value of non-GEO satellite, β _{(i, j, k)}for the single order ionosphere delay coefficient of the combined carriers phase measurement of non-GEO satellite, for the two difference of the single order on B1 frequency ionosphere delay error, μ _{(i, j, k)}for the observation noise coefficient of non-GEO satellite, for the phase noise on B1 frequency, for tropospheric error, for orbit error;

Then utilize TNL to minimize super-wide-lane combination coefficient and narrow lane combination coefficient that criterion filters out non-GEO satellite;

GEO satellite send B1, B2, B3 tri-frequency signals and RDSS service S frequency signal, for the virtual measurement that this four frequencies are formed when linear combination coefficient is i, j, k, m, the mode that solves of TNL is such as formula (2):

$\mathrm{TNL}=\frac{1}{{\mathrm{\&lambda;}}_{(i,j,k,m)}}\sqrt{{\mathrm{\&beta;}}_{(i,j,k,m)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&delta;I},\mathrm{\&phi;}1}^2+{\mathrm{\&mu;}}_{(i,j,k,m)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&phi;}1}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{trop}}}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{orb}}}^2}---\left(2\right)$

Wherein, m is integer, λ _{(i, j, k, m)}for the wavelength of the multiple measurement value of GEO satellite, β _{(i, j, k, m)}for the single order ionosphere delay coefficient of the combined carriers phase measurement of GEO satellite, μ _{(i, j, k, m)}for the observation noise coefficient of GEO satellite;

Then TNL is utilized to minimize the super-wide-lane combination coefficient of criterion screening GEO satellite, wide lane combination coefficient and narrow lane combination coefficient;

The super-wide-lane ambiguity resolution of step 2, GEO satellite and non-GEO satellite:

Step 21, obtains according to the super-wide-lane combination coefficient that step one obtains and substitute into formula (3) and solve super-wide-lane blur level real solution:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)}=\frac{\mathrm{\&Delta;}\&dtri;P_1-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}}{{\mathrm{\&lambda;}}_{(i,j,k)}}---\left(3\right)$

In formula (3), i, j, k value is the super-wide-lane combination coefficient that step one obtains, represent corresponding super-wide-lane blur level real solution, for the two difference pseudo-range measurements on B1 frequency, for the two difference of the super-wide-lane in units of rice combination carrier phase observation measured value, λ _{(i, j, k)}for corresponding wavelength;

Step 22, substitutes into formula (4) by the super-wide-lane blur level real solution obtained and tries to achieve super-wide-lane blur level:

$\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)})---\left(4\right)$

Wherein, represent corresponding super-wide-lane blur level, round represents round;

Step 3, the wide lane ambiguity of GEO satellite are resolved:

Step 31, utilizes formula (5) to solve GEO satellite super-wide-lane carrier-phase measurement without blur level

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^{\&prime;g}=\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}^g\&CenterDot;{\mathrm{\&lambda;}}_{(i,j,k)}+\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^g---\left(5\right)$

Step 32, utilizes formula (6) to solve the wide lane ambiguity real solution of GEO satellite the GEO satellite super-wide-lane carrier-phase measurement without blur level obtained:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k,m)}^g=\frac{a_1\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^{\&prime;g}+a_2\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i^{\&prime;},j^{\&prime;},k^{\&prime;})}^{\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k,m)}^g}{{\mathrm{\&lambda;}}_{(i,j,k,m)}}---\left(6\right);$

Step 33, substitutes into formula (7) by the wide lane ambiguity real solution obtained and solves wide lane ambiguity angle value:

$\mathrm{\&Delta;}\&dtri;N_{(i,j,k,m)}^g=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k,m)}^g)---\left(7\right)$

Wherein, i, j, k, m value is the wide lane combination coefficient that step one is tried to achieve, and represents GEO satellite, a with subscript g ₁, a ₂for constant; represent the corresponding wide lane ambiguity real solution of GEO satellite, represent the corresponding wide lane ambiguity of GEO satellite, represent the wide lane combined carriers phase measurement of GEO satellite, with represent the GEO satellite super-wide-lane carrier-phase measurement without blur level corresponding when getting two groups of different wide lane combination coefficients respectively;

Step 4, the narrow lane ambiguity of GEO satellite are resolved:

Step 41, utilizes formula (8) to solve GEO satellite wide lane carrier-phase measurement without blur level;

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k,m)}^{\&prime;g}=\mathrm{\&Delta;}\&dtri;N_{(i,j,k,m)}^g\&CenterDot;{\mathrm{\&lambda;}}_{(i,j,k,m)}+\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k,m)}^g---\left(8\right)$

Step 42, utilizes formula (9) to solve narrow lane ambiguity real solution according to the GEO satellite wide lane carrier-phase measurement without blur level:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)}^g=\frac{c_1\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k,m)}^{\&prime;g}+c_2\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i^{\&prime;},j^{\&prime;},k^{\&prime;},m^{\&prime;})}^{\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^g}{{\mathrm{\&lambda;}}_{(i,j,k)}}---\left(9\right)$

Step 43, substitutes into formula (10) by narrow lane ambiguity real solution and solves narrow lane ambiguity angle value:

$\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}^g=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)}^g)---\left(10\right)$

Wherein, i, j, k value is the narrow lane combination coefficient that step one obtains, and g represents GEO satellite, c ₁, c ₂for constant, represent the narrow lane ambiguity real solution of GEO satellite, with the GEO satellite wide lane carrier-phase measurement without blur level that the wide lane ambiguity of GEO utilizing step 3 to solve when representing Qu Liangzukuan lane combination coefficient is tried to achieve together with corresponding GEO satellite carrier phase measurement;

Step 5, solve the narrow lane ambiguity of non-GEO:

Step 51, the narrow lane ambiguity of the GEO satellite utilizing step 4 to calculate calculate the GEO satellite narrow lane carrier-phase measurement without blur level computing method are:

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^{\&prime;\&prime;g}=\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^g{+\mathrm{\&lambda;}}_{(i,j,k)}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}^g---\left(23\right)$

Step 52, according to GEO satellite narrow lane carrier-phase measurement formula (24) is utilized to solve the narrow lane ambiguity of non-GEO real solution

$\left\{\begin{array}{c}\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^{\&prime;\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0^g=A^g\&CenterDot;\mathrm{\&delta;X}+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^g}\\ \mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^n-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0^n=A^n\&CenterDot;\mathrm{\&delta;X}-{\mathrm{\&lambda;}}_{(i,j,k)}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}^n+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^n}\\ \mathrm{\&Delta;}\&dtri;P_{(i,j,k)}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0=A\&CenterDot;\mathrm{\&delta;X}+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;P_{(i,j,k)}}\end{array}\right.---\left(24\right)$

Step 53, utilizes classical LAMBDA algorithm search try to achieve the narrow lane ambiguity integer solution of non-GEO satellite

Wherein, i, j, k value is the narrow lane combination coefficient that step 1 obtains, and distinguishes the relevant variable of GEO satellite and non-GEO satellite with subscript g and n; for the combination carrier phase observation measured value that the narrow lane combination of non-GEO satellite is corresponding, two difference pseudo-range measurements that the combination of narrow lane is corresponding, λ _{(i, j, k)}for corresponding wavelength, with for two difference carrier phase error and two difference pseudorange error of correspondence, for the two difference geometric distances calculated according to current location, A is three-dimensional m-cosine, the unknown number of δ X three-dimensional position reduction, for the narrow lane ambiguity of non-GEO satellite.

Beneficial effect:

Relative to classic method, the present invention by Big Dipper RNSS signal together with Big Dipper RDSS signal combination, first find the super-wide-lane of several groups of better performances, the combination of Kuan Xianghezhai lane, the mode progressively calculated is taked to solve the narrow lane ambiguity of GEO satellite with this several combination again, the better like this impact eliminating ionospheric error, improve time and the success ratio of ambiguity resolution, concrete:

Traditional algorithm unknown number number is 3 location parameter δ X and Num-1 blur level parameters total unknown number number is 3+ (Num-1).After narrow lane ambiguity real solution solves out, needing by the narrow lane ambiguity number that LAMBDA algorithm search solves is Num-1.This method unknown number number be 3 location parameter δ X and num-Num ^g the blur level parameter of individual non-GEO satellite total unknown number number is 3+ (Num-Num ^g ).After narrow lane ambiguity real solution solves out, the narrow lane ambiguity number with LAMBDA algorithm search solves is needed to be num-Num ^g individual.Relative to classic method, new method makes the unknown number number resolving equation reduce, and the number of ambiguity search reduces, and the benefit done like this to improve efficiency and the success ratio of ambiguity resolution.This solution procedure weakens the impact of ionospheric error.Therefore utilize the known narrow lane ambiguity of GEO satellite to assist the narrow lane ambiguity solving non-GEO satellite, make equation number constant like this and unknown number number reduces, time and the success ratio of ambiguity resolution can be improved.

Embodiment

Traditional dipper system Ambiguity Solution Methods only uses RNSS signal, and does not process respectively GEO satellite and non-GEO satellite.When resolving blur level under medium-long baselines, because ionospheric error impact is large, utilizing classic method to carry out, ambiguity resolution required time is long and success ratio is not high.

Dipper system provides RDSS and RNSS two kinds service.RNSS sends signal on three frequencies, and its signal frequency concentrates on 1,561.089MHz (B1), 1,207.14Mhz (B2) and 1,268.52MHz (B3).RDSS is that dipper system provides extra usable frequency signal, and its frequency provided from satellite to user segment is S-band, concentrates on 2491.75MHz, but RDSS service only occurs on GEO satellite.Namely user can receive the signal on B1, B2, B3 tri-frequencies of non-GEO satellite transmission, and can receive the signal on B1, B2, B3, S tetra-frequencies of GEO satellite transmission.The present invention utilizes the measured value on these frequencies to form different virtual portfolio measured values by linear combination and solves blur level.Concrete grammar is as follows:

Step one, Big Dipper signal frequency combined sorting

Form virtual portfolio measured value, the values of ambiguity of first solving virtual multiple measurement value by carrying out linear combination to the measured value on different frequency, then solve the values of ambiguity on original frequency according to the values of ambiguity of virtual portfolio measured value.The linear combination coefficient chosen is different, correspond to different virtual portfolio measured values.

Virtual portfolio measured value is divided into super-wide-lane, Kuan Xianghezhai lane by the difference according to wavelength, and the wavelength coverage defining super-wide-lane is: λ > 1.7m, the wavelength coverage in wide lane is: 0.5m < λ < 1.7m, the wavelength coverage in narrow lane is: λ < 0.5m.Because blur level has integer characteristic, linear combination coefficient must round numbers.

Linear combination coefficient gets different round valuess, can form different combinations.We need to be combined into row filter to these, obtain the virtual portfolio measured value of function admirable, carry out next step ambiguity resolution.

The filter criteria that we adopt is TNL (total noise level, namely total noise and the ratio of wavelength) minimum criteria.TNL value is less, then this combination is affected by noise less, thinks that the performance of this combination is better.

The account form of TNL value is as follows:

For GEO satellite and non-GEO satellite, user can receive the signal in B1, B2, B3 tri-frequencies.The virtual measurement formed when linear combination coefficient for three frequencies is i, j, k (i, j, k are integer), the mode that solves of TNL is such as formula (1):

$\mathrm{TNL}=\frac{1}{{\mathrm{\&lambda;}}_{(i,j,k)}}\sqrt{{\mathrm{\&beta;}}_{(i,j,k)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&delta;I},\mathrm{\&phi;}1}^2+{\mathrm{\&mu;}}_{(i,j,k)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&phi;}1}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{trop}}}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{orb}}}^2}---\left(1\right)$

In formula (1), λ _{(i, j, k)}for the wavelength of multiple measurement value, β _{(i, j, k)}for the single order ionosphere delay coefficient of combined carriers phase measurement, for the two difference of the single order on B1 frequency ionosphere delay error, μ _{(i, j, k)}for observation noise coefficient, for the phase noise on B1 frequency, for tropospheric error, for orbit error.

For GEO satellite, except can sending the signal in B1, B2, B3 tri-frequencies, also send the S frequency signal of RDSS.The measured value in these four frequencies can be utilized to carry out linear combination.When being i, j, k, m (i, j, k, m are integer) for the linear combination coefficient in four frequencies formed virtual measurement, the mode that solves of TNL and formula (1) similar, for:

$\mathrm{TNL}=\frac{1}{{\mathrm{\&lambda;}}_{(i,j,k,m)}}\sqrt{{\mathrm{\&beta;}}_{(i,j,k,m)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&delta;I},\mathrm{\&phi;}1}^2+{\mathrm{\&mu;}}_{(i,j,k,m)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&phi;}1}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{trop}}}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{orb}}}^2}---\left(2\right)$

In formula (2), λ _{(i, j, k, m)}for the wavelength of multiple measurement value, β _{(i, j, k, m)}for the single order ionosphere delay coefficient of combined carriers phase measurement, μ _{(i, j, k, m)}for corresponding observation noise coefficient.

In the hope of the TNL corresponding when linear combination coefficient gets different round values, TNL can be utilized to minimize criterion and to filter out corresponding linear combination coefficient according to formula (1) and (2).

The application selects the super-wide-lane of two groups to combine or the combination of wide lane, and to form ionosphere independence model recursion next stage blur level, combining due to it for narrow lane is afterbody blur level, only can get one group of coefficient combination.The application, through screening, for GEO satellite, selects its super-wide-lane to be combined as (0 ,-1,1) and (1,2,-3), wide lane is combined as (-3,0,2,1) and (-2,1,0,1), narrow lane is combined as (4 ,-3,0).For non-GEO satellite, select its super-wide-lane to be combined as (0 ,-1,1) and (1,2 ,-3), narrow lane is combined as (4 ,-3,0).Namely the super-wide-lane that GEO satellite is identical with non-GEO the select of satellite and the combination of narrow lane, because GEO satellite has RDSS measured value, can also obtain two TNL comparatively little Kuan lane combination.

The super-wide-lane ambiguity resolution of step 2, GEO satellite and non-GEO satellite

Super-wide-lane blur level uses pseudorange to solve, and can obtain very high success ratio within one or several epoch.Its method for solving is as follows:

First solve super-wide-lane blur level real solution:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)}=\frac{\mathrm{\&Delta;}\&dtri;P_1-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}}{{\mathrm{\&lambda;}}_{(i,j,k)}}---\left(3\right)$

In formula (3), represent when combination coefficient is respectively i, super-wide-lane blur level real solution corresponding when j, k, for the two difference pseudo-range measurements on B1 frequency, for two difference combination carrier phase observation measured values when combination coefficient is i, j, k in units of rice, λ _{(i, j, k)}the wavelength that combination coefficient is corresponding when being i, j, k.

The super-wide-lane blur level real solution that recycling formula (3) is tried to achieve tries to achieve super-wide-lane values of ambiguity by rounding:

$\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)})---\left(4\right)$

In formula (4), represent that super-wide-lane blur level corresponding when j, k, round represents round when combination coefficient is respectively i.

By formula (3) and formula (4), for super-wide-lane combination (1 ,-1,0), namely work as i, j, k get 1, and when-1,0, corresponding super-wide-lane Ambiguity Solution Methods is:

$\mathrm{\&Delta;}\&dtri;N_{(1,-\mathrm{1,0})}=\mathrm{round}\left(\frac{\mathrm{\&Delta;}\&dtri;P_1-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(1,-\mathrm{1,0})}}{{\mathrm{\&lambda;}}_{(1,-\mathrm{1,0})}}\right)---\left(5\right)$

By formula (3) and formula (4), for combination (1,2 ,-3), namely work as i, j, k get 1,2, and when-3, corresponding super-wide-lane ambiguity resolution mode is:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(\mathrm{1,2},-3)}=\frac{\mathrm{\&Delta;}\&dtri;P-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(\mathrm{1,2},-3)}}{{\mathrm{\&lambda;}}_{(\mathrm{1,2},-3)}}---\left(6\right)$

$\mathrm{\&Delta;}\&dtri;N_{(\mathrm{1,2},-3)}=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(\mathrm{1,2},-3)})---\left(7\right)$

For super-wide-lane combination (1,2 ,-3), need a few epoch the smoothing method rounded again after averaging solves super-wide-lane blur level corresponding to (1,2 ,-3).

Step 3, the wide lane ambiguity of GEO satellite are resolved

Adopt the irrelevant wide lane ambiguity of (IF, Ionosphere Free) model solution GEO satellite of geometry irrelevant (GF, Geometry Free) and ionosphere.Concrete calculation method is as follows:

The wide lane ambiguity that Xian Qiukuan lane combination (-3,0,2,1) is corresponding, concrete grammar is:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(-3,0,2,1)}^g=\frac{a_1\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(0,-\mathrm{1,1})}^{\&prime;g}+a_2\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(1,2,-3)}^{\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(-3,0,2,1)}^g}{{\mathrm{\&lambda;}}_{(-\mathrm{3,0,2,1})}}---\left(8\right)$

Round again:

$\mathrm{\&Delta;}\&dtri;N_{(-\mathrm{3,0,2,1})}^g=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(-\mathrm{3,0,2,1})}^g)---\left(9\right)$

In formula (8), represent GEO satellite with subscript g. represent the wide lane ambiguity real solution of GEO satellite that wide lane combination (-3,0,2,1) is corresponding.Combination with represent the GEO satellite super-wide-lane carrier-phase measurement without blur level that the GEO super-wide-lane blur level utilizing step 2 to solve is tried to achieve together with the carrier-phase measurement of GEO satellite, its circular is:

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(0,-\mathrm{1,1})}^{\&prime;g}=\mathrm{\&Delta;}\&dtri;N_{(1,-\mathrm{1,0})}^g\&CenterDot;{\mathrm{\&lambda;}}_{(1,-\mathrm{1,0})}+\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(1,-\mathrm{1,0})}^g---\left(10\right)$

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(1,2,-3)}^{\&prime;g}=\mathrm{\&Delta;}\&dtri;N_{(1,2,-3)}^g\&CenterDot;{\mathrm{\&lambda;}}_{(1,2,-3)}+\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(1,2,-3)}^g---\left(11\right)$

In formula (8), a ₁, a ₂meet:

$\left\{\begin{array}{c}{a}_1+a_2=1\\ -1.5915\&CenterDot;a_1-0.9698\&CenterDot;a_2=0.3967\end{array}\right.---\left(12\right)$

Solve a ₁=-2.1980, a ₂=3.1980

By the epoch pair of about 20 be averaging recycling formula (9) and round the wide lane ambiguity of GEO satellite that correctly can calculate wide lane combination (-3,0,2,1) correspondence

The wide lane ambiguity of another wide lane combination (-2,1,0,1) correspondence also solves by same thinking.

First solve the wide lane ambiguity real solution of GEO that wide lane combination (-2,1,0,1) is corresponding:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(-2,1,0,1)}^g=\frac{b_1\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(0,-\mathrm{1,1})}^{\&prime;g}+b_2\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(1,2,-3)}^{\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(-2,1,0,1)}^g}{{\mathrm{\&lambda;}}_{(-2,1,\mathrm{0,1})}}---\left(13\right)$

Round again:

$\mathrm{\&Delta;}\&dtri;N_{(-2,1,\mathrm{0,1})}^g=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(-\mathrm{2,1,0,1})}^g)---\left(14\right)$

In formula (13), represent GEO satellite with subscript g. represent the wide lane ambiguity real solution of GEO satellite that wide lane combination (-2,1,0,1) is corresponding.

In formula (13), b ₁, b ₂meet:

$\left\{\begin{array}{c}{b}_1+b_2=1\\ -1.5915\&CenterDot;b_1-0.9698\&CenterDot;b_2=-0.217\end{array}\right.---\left(15\right)$

Solve b ₁=-1.2109, b ₂=2.2109.

By the epoch pair of about 20 be averaging recycling formula (14) and round the wide lane ambiguity of GEO satellite that correctly can calculate wide lane combination (-2,1,0,1) correspondence

Step 4, the narrow lane ambiguity of GEO satellite are resolved

The narrow lane ambiguity real solution of GEO satellite that Xian Qiuzhai lane combination (4 ,-3,0) is corresponding:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(4,-3,0)}^g=\frac{c_1\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(-\mathrm{3,0},2,1)}^{\&prime;g}+c_2\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(-\mathrm{2,1},0,1)}^{\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-3,0)}^g}{{\mathrm{\&lambda;}}_{(4,-3,0)}}---\left(16\right)$

Round again:

$\mathrm{\&Delta;}\&dtri;N_{(4,-\mathrm{3,0})}^g=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(4,-\mathrm{3,0})}^g)---\left(17\right)$

In formula (16), represent GEO satellite with subscript g. represent the wide lane ambiguity real solution that wide lane combination (4 ,-3,0) is corresponding. with represent the GEO satellite wide lane carrier-phase measurement without blur level that the wide lane ambiguity of GEO utilizing step 2 to solve is tried to achieve together with corresponding GEO satellite carrier phase measurement, its circular is:

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(-3,0,2,1)}^{\&prime;g}=\mathrm{\&Delta;}\&dtri;N_{(-\mathrm{3,0,2},1)}^g\&CenterDot;{\mathrm{\&lambda;}}_{(-\mathrm{3,0,2,1})}+\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(-\mathrm{3,0,2,1})}^g---\left(18\right)$

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(-2,1,0,1)}^{\&prime;g}=\mathrm{\&Delta;}\&dtri;N_{(-2,1,0,1)}^g\&CenterDot;{\mathrm{\&lambda;}}_{(-2,\mathrm{1,0,1})}+\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(-2,1,0,1)}^g---\left(19\right)$

In formula (16), c ₁, c ₂meet:

$\left\{\begin{array}{c}{c}_1+c_2=1\\ 0.3967\&CenterDot;c_1-0.217\&CenterDot;c_2=0.0716\end{array}\right.---\left(20\right)$

Solve c ₁=0.4703, c ₂=0.5297.

By several epoch pair be averaging recycling formula (17) and round the narrow lane ambiguity of GEO satellite that correctly can calculate narrow lane combination (4 ,-3,0) correspondence

Step 5, GEO assist non-GEO ambiguity resolution

If Num is observation satellite total number, Num ^gfor the number of GEO satellite observed.

Traditional narrow lane ambiguity resolves the Representation Equation:

$\left\{\begin{array}{c}\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0=A\&CenterDot;\mathrm{\&delta;X}-{\mathrm{\&lambda;}}_{(4,-\mathrm{3,0})}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(4,-\mathrm{3,0})}+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}}\\ \mathrm{\&Delta;}\&dtri;P_{(4,-\mathrm{3,0})}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0=A\&CenterDot;\mathrm{\&delta;X}+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;P_{(4,-\mathrm{3,0})}}\end{array}\right.---\left(21\right)$

In formula (21), with the combination coefficient that B1, B2, B3 are corresponding is respectively two difference carrier-phase measurement of (4 ,-3,0) Shi Zhai lane combination correspondence and two poor pseudo-range measurements, λ _{(4 ,-3,0)}for corresponding wavelength, with for two difference carrier phase error and two difference pseudorange error of correspondence, for the two difference geometric distances calculated according to current location, A is three-dimensional m-cosine, δ X three-dimensional position reduction unknown number, for needing the narrow lane ambiguity solved.Solve formula (21), can calculate unknown number δ X and real solution recycle classical LAMBDA algorithm pair narrow lane ambiguity integer solution is tried to achieve in search

GEO satellite and non-GEO satellite is not distinguished when classic method is resolved.

The new method that this patent proposes first solves the narrow lane ambiguity of GEO satellite, then solve the narrow lane ambiguity of non-GEO satellite, and separately represented by the ambiguity resolution equation of GEO satellite in formula (21) and non-GEO satellite, then formula (21) can be rewritten as:

$\left\{\begin{array}{c}\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}^g-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0^g=A^g\&CenterDot;\mathrm{\&delta;X}-{\mathrm{\&lambda;}}_{(4,-\mathrm{3,0})}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(4,-\mathrm{3,0})}^g+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}^g}\\ \mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}^n-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0^n=A^n\&CenterDot;\mathrm{\&delta;X}-{\mathrm{\&lambda;}}_{(4,-\mathrm{3,0})}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(4,-\mathrm{3,0})}^n+{\mathrm{\&epsiv;}}_{\text{\&Delta;\&dtri;}{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}^n}\\ \mathrm{\&Delta;}\&dtri;P_{(4,-\mathrm{3,0})}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0=A\&CenterDot;\mathrm{\&delta;X}+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;P_{(4,-\mathrm{3,0})}}\end{array}\right.---\left(22\right)$

In formula (22), distinguish the relevant variable of GEO satellite and non-GEO satellite with subscript g and n.

The narrow lane ambiguity of the GEO satellite utilizing step 4 to calculate the GEO satellite narrow lane carrier-phase measurement without blur level can be calculated, use represent, computing method are:

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-3,0)}^{\&prime;g}=\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-3,0)}^g{+\mathrm{\&lambda;}}_{(4,-3,0)}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(4,-3,0)}^g---\left(23\right)$

So, formula (23) is substituted into formula (22), can obtain:

$\left\{\begin{array}{c}\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}^{\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0^g=A^g\&CenterDot;\mathrm{\&delta;X}{+\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}^g}\\ \mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}^n-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0^n=A^n\&CenterDot;\mathrm{\&delta;X}-{\mathrm{\&lambda;}}_{(4,-\mathrm{3,0})}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(4,-\mathrm{3,0})}^n+{\mathrm{\&epsiv;}}_{\text{\&Delta;\&dtri;}{\mathrm{\&phi;}}_{(4,-\mathrm{3,0})}^n}\\ \mathrm{\&Delta;}\&dtri;P_{(4,-\mathrm{3,0})}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0=A\&CenterDot;\mathrm{\&delta;X}+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;P_{(4,-\mathrm{3,0})}}\end{array}\right.---\left(24\right)$

Solve formula (24), can calculate unknown number δ X and real solution recycle classical LAMBDA algorithm search try to achieve the narrow lane ambiguity integer solution of non-GEO satellite

Obviously, for traditional algorithm, its unknown number number is 3 location parameter δ X and Num-1 blur level parameters total unknown number number is 3+ (Num-1).After narrow lane ambiguity real solution solves out, needing by the narrow lane ambiguity number that LAMBDA algorithm search solves is Num-1.

For the new method that this patent proposes, selects a GEO satellite as with reference to star, its unknown number number be 3 location parameter δ X with num-Num ^g the blur level parameter of individual non-GEO satellite total unknown number number is 3+ (Num-Num ^g ).After narrow lane ambiguity real solution solves out, the narrow lane ambiguity number with LAMBDA algorithm search solves is needed to be num-Num ^g individual.

Relative to classic method, new method makes the unknown number number resolving equation reduce, and the number of ambiguity search reduces, and the benefit done like this to improve efficiency and the success ratio of ambiguity resolution.

The ambiguity resolution of step 6, original frequency

Above-mentioned steps one ~ step 5 has calculated two super-wide-lane blur leveles and a narrow lane ambiguity of all satellites, because three combinations are linear independences, can be solved the blur level of original frequency by simple linear transformation.

$\left[\begin{array}{c}\mathrm{\&Delta;}\&dtri;N_{\left(\mathrm{1,0,0}\right)}\\ \mathrm{\&Delta;}\&dtri;N_{\left(\mathrm{0,1,0}\right)}\\ \mathrm{\&Delta;}\&dtri;N_{\left(\mathrm{0,0,1}\right)}\end{array}\right]=\left[\begin{array}{ccc}-9& -3& 1\\ -12& -4& 1\\ -11& -4& 1\end{array}\right]\left[\begin{array}{c}\mathrm{\&Delta;}\&dtri;N_{(0,-\mathrm{1,1})}\\ \mathrm{\&Delta;}\&dtri;N_{(1,2,-3)}\\ \mathrm{\&Delta;}\&dtri;N_{(4,-\mathrm{3,0})}\end{array}\right]---\left(25\right)$

Certainly; the present invention also can have other various embodiments; when not deviating from the present invention's spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the present invention, but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the present invention.

Claims (2)

1. for the Ambiguity Solution Methods under the medium-long baselines of dipper system, it is characterized in that, comprising:

Step one, the S frequency signal utilizing RNSS signal and RDSS to serve carry out signal frequency combined sorting, obtain super-wide-lane and the narrow lane combination coefficient of the super-wide-lane of GEO satellite, Kuan Xianghezhai lane combination coefficient and non-GEO satellite;

Step 11, virtual portfolio measured value is divided into super-wide-lane virtual portfolio measured value, wide lane virtual portfolio measured value and narrow lane virtual portfolio measured value by the difference according to wavelength, wherein super-wide-lane virtual portfolio measured value wavelength coverage is: λ >=1.7m, wide lane virtual portfolio measured value wavelength coverage is: 0.5m < λ < 1.7m, and narrow lane virtual portfolio measured value wavelength coverage is: λ≤0.5m;

Step 12, non-GEO satellite sends the RNSS signal in B1, B2, B3 tri-frequencies, and for the virtual portfolio measured value that described three frequencies are formed when linear combination coefficient is i, j, k, the mode that solves of TNL is such as formula (1):

$\mathrm{TNL}=\frac{1}{{\mathrm{\&lambda;}}_{(i,j,k)}}\sqrt{{\mathrm{\&beta;}}_{(i,j,k)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&delta;I},\mathrm{\&phi;}1}^2+{\mathrm{\&mu;}}_{(i,j,k)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&phi;}1}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{trop}}}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{orb}}}^2}---\left(1\right)$

Wherein, TNL is the ratio of noise and wavelength, and i, j, k are integer, λ _{(i, j, k)}for the wavelength of the multiple measurement value of non-GEO satellite, β _{(i, j, k)}for the single order ionosphere delay coefficient of the combined carriers phase measurement of non-GEO satellite, for the two difference of the single order on B1 frequency ionosphere delay error, μ _{(i, j, k)}for the observation noise coefficient of non-GEO satellite, for the phase noise on B1 frequency, for tropospheric error, for orbit error;

Then utilize TNL to minimize super-wide-lane combination coefficient and narrow lane combination coefficient that criterion filters out non-GEO satellite;

GEO satellite send B1, B2, B3 tri-frequency signals and RDSS service S frequency signal, for the virtual measurement that this four frequencies are formed when linear combination coefficient is i, j, k, m, the mode that solves of TNL is such as formula (2):

$\mathrm{TNL}=\frac{1}{{\mathrm{\&lambda;}}_{(i,j,k,m)}}\sqrt{{\mathrm{\&beta;}}_{(i,j,k,m)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&delta;I},\mathrm{\&phi;}1}^2+{\mathrm{\&mu;}}_{(i,j,k,m)}^2{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;\mathrm{\&phi;}1}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{trop}}}^2+{\mathrm{\&sigma;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&delta;}}_{\mathrm{orb}}}^2}---\left(2\right)$

Wherein, m is integer, λ _{(i, j, k, m)}for the wavelength of the multiple measurement value of GEO satellite, β _{(i, j, k, m)}for the single order ionosphere delay coefficient of the combined carriers phase measurement of GEO satellite, μ _{(i, j, k, m)}for the observation noise coefficient of GEO satellite;

Then TNL is utilized to minimize the super-wide-lane combination coefficient of criterion screening GEO satellite, wide lane combination coefficient and narrow lane combination coefficient;

The super-wide-lane ambiguity resolution of step 2, GEO satellite and non-GEO satellite:

Step 21, obtains according to the super-wide-lane combination coefficient that step one obtains and substitute into formula (3) and solve super-wide-lane blur level real solution:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)}=\frac{\mathrm{\&Delta;}\&dtri;P_1-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}}{{\mathrm{\&lambda;}}_{(i,j,k)}}---\left(3\right)$

In formula (3), i, j, k value is the super-wide-lane combination coefficient that step one obtains, represent corresponding super-wide-lane blur level real solution, for the two difference pseudo-range measurements on B1 frequency, for the two difference of the super-wide-lane in units of rice combination carrier phase observation measured value, λ _{(i, j, k)}for corresponding wavelength;

Step 22, substitutes into formula (4) by the super-wide-lane blur level real solution obtained and tries to achieve super-wide-lane blur level:

$\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)})---\left(4\right)$

Wherein, represent corresponding super-wide-lane blur level, round represents round;

Step 3, the wide lane ambiguity of GEO satellite are resolved:

Step 31, utilizes formula (5) to solve GEO satellite super-wide-lane carrier-phase measurement without blur level

${\mathrm{\&Delta;}\&dtri;\mathrm{\&phi;}}_{(i,j,k)}^{\&prime;g}={\mathrm{\&Delta;}\&dtri;N}_{(i,j,k)}^g\&CenterDot;{\mathrm{\&lambda;}}_{(i,j,k)}+{\mathrm{\&Delta;}\&dtri;\mathrm{\&phi;}}_{(i,j,k)}^g---\left(5\right)$

Step 32, utilizes formula (6) to solve the wide lane ambiguity real solution of GEO satellite the GEO satellite super-wide-lane carrier-phase measurement without blur level obtained:

${\mathrm{\&Delta;}\&dtri;\hat{N}}_{(i,j,k,m)}^g\frac{a_1\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^{\&prime;g}+a_2\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i^{\&prime;},j^{\&prime;},k^{\&prime;})}^{\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k,m)}^g}{{\mathrm{\&lambda;}}_{(i,j,k,m)}}---\left(6\right);$

Step 33, substitutes into formula (7) by the wide lane ambiguity real solution obtained and solves wide lane ambiguity angle value:

$\mathrm{\&Delta;}\&dtri;N_{(i,j,k,m)}^g=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k,m)}^g)---\left(7\right)$

Wherein, i, j, k, m value is the wide lane combination coefficient that step one is tried to achieve, and represents GEO satellite, a with subscript g ₁, a ₂for constant; represent the corresponding wide lane ambiguity real solution of GEO satellite, represent the corresponding wide lane ambiguity of GEO satellite, represent the wide lane combined carriers phase measurement of GEO satellite, with represent the GEO satellite super-wide-lane carrier-phase measurement without blur level corresponding when getting two groups of different super-wide-lane combination coefficients respectively;

Step 4, the narrow lane ambiguity of GEO satellite are resolved:

Step 41, utilizes formula (8) to solve GEO satellite wide lane carrier-phase measurement without blur level;

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k,m)}^{\&prime;g}=\mathrm{\&Delta;}\&dtri;N_{(i,j,k,m)}^g\&CenterDot;{\mathrm{\&lambda;}}_{(i,j,k,m)}+\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k,m)}^g---\left(8\right)$

Step 42, utilizes formula (9) to solve narrow lane ambiguity real solution according to the GEO satellite wide lane carrier-phase measurement without blur level:

$\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)}^g=\frac{c_1\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k,m)}^{\&prime;g}+c_2\&CenterDot;\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i^{\&prime;},j^{\&prime;},k^{\&prime;},m^{\&prime;})}^{\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^g}{{\mathrm{\&lambda;}}_{(i,j,k)}}---\left(9\right)$

Step 43, substitutes into formula (10) by narrow lane ambiguity real solution and solves narrow lane ambiguity angle value:

$\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}^g=\mathrm{round}(\mathrm{\&Delta;}\&dtri;{\hat{N}}_{(i,j,k)}^g)---\left(10\right)$

Wherein, i, j, k value is the narrow lane combination coefficient that step one obtains, and g represents GEO satellite, c ₁, c ₂for constant, represent the narrow lane ambiguity real solution of GEO satellite, with the GEO satellite wide lane carrier-phase measurement without blur level that the wide lane ambiguity of GEO utilizing step 3 to solve when representing Qu Liangzukuan lane combination coefficient is tried to achieve together with corresponding GEO satellite carrier phase measurement;

Step 5, solve the narrow lane ambiguity of non-GEO:

Step 51, the narrow lane ambiguity of the GEO satellite utilizing step 4 to calculate calculate the GEO satellite narrow lane carrier-phase measurement without blur level computing method are:

$\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^{\&prime;\&prime;g}=\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^g+{\mathrm{\&lambda;}}_{(i,j,k)}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}^g---\left(23\right)$

Step 52, according to GEO satellite narrow lane carrier-phase measurement formula (24) is utilized to solve the narrow lane ambiguity of non-GEO real solution

$\left\{\begin{array}{c}\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^{\&prime;\&prime;g}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0^g=A^g\&CenterDot;\mathrm{\&delta;X}+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^g}\\ \mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^n-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0^n=A^n\&CenterDot;\mathrm{\&delta;X}-{\mathrm{\&lambda;}}_{(i,j,k)}\&CenterDot;\mathrm{\&Delta;}\&dtri;N_{(i,j,k)}^n+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;{\mathrm{\&phi;}}_{(i,j,k)}^n}\\ \mathrm{\&Delta;}\&dtri;P_{(i,j,k)}-\mathrm{\&Delta;}\&dtri;{\mathrm{\&rho;}}_0=A\&CenterDot;\mathrm{\&delta;X}+{\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\&dtri;P_{(i,j,k)}}\end{array}\right.---\left(24\right)$

Step 53, utilizes classical LAMBDA algorithm search try to achieve the narrow lane ambiguity integer solution of non-GEO satellite

Wherein, i, j, k value is the narrow lane combination coefficient that step 1 obtains, and distinguishes the relevant variable of GEO satellite and non-GEO satellite with subscript g and n; for the combination carrier phase observation measured value that the narrow lane combination of non-GEO satellite is corresponding, two difference pseudo-range measurements that the combination of narrow lane is corresponding, λ _{(i, j, k)}for corresponding wavelength, with for two difference carrier phase error and two difference pseudorange error of correspondence, for the two difference geometric distances calculated according to current location, A is three-dimensional m-cosine, the unknown number of δ X three-dimensional position reduction, for the narrow lane ambiguity of non-GEO satellite.

2. as claimed in claim 1 for the Ambiguity Solution Methods under the medium-long baselines of dipper system, it is characterized in that, for GEO satellite, select its super-wide-lane combine (i, j, k) and (i ', j ', k ') be respectively (0 ,-1,1) and (1,2 ,-3), wide lane combination (i, j, k, m) and (i ', j ', k ', m ') be respectively (-3,0,2,1) and (-2,1,0,1), narrow lane combination (i, j, k) be (4 ,-3,0);

For non-GEO satellite, select its super-wide-lane to combine (i, j, k) and (i ', j ', k ') and be respectively (0 ,-1,1) and (1,2 ,-3), (i, j, k) is combined in narrow lane is (4 ,-3,0).