CN104749597B - 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

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

Technical field

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

Background technology

Carrier Phase Ambiguity Resolution is the key issue of satellite navigation hi-Fix.The application of Carrier Phase Ambiguity Resolution field is most Extensive method is LAMBDA methods, and the method theoretical system is more perfect, is widely used.But, due to ionization The impact of layer error, it is directly not good using the performance that LAMBDA methods resolve fuzziness under medium-long baselines.Integer ambiguity solution Another typical method calculated is multifrequency ambiguity resolution step by step.The satellite navigation systems such as GPS, the Big Dipper are each provided with three or more Multifrequency measured value, these measured values are carried out into combination of frequency can form the preferably linear combination of some performances, contribute to mould The correct resolving of paste degree.The basic thought of multifrequency ambiguity resolution step by step is multiple frequencies composition super-wide-lanes and wide lane combination, first Super-wide-lane integer ambiguity is calculated by pseudo-range measurements, then wide lane ambiguity is pushed away by rounding to super-wide-lane measured value, most The integer ambiguity of single frequency point is solved afterwards.But, for dipper system, if only using the frequency measured values of RNSS tri-, in Long baselines Xia Kuan lanes measured value is larger by ionospheric error and influence of noise, causes ambiguity resolution success rate not high.

Therefore for the ambiguity resolution under medium-long baselines, due to the spatial coherence of ionospheric error it is poor so that Ionosphere Residual Error in double difference measured value is larger, causes length the time required to ambiguity resolution, and computation success is not high.So in The Important Problems that fuzziness under Long baselines determines are the impacts for how preferably eliminating Ionosphere Residual Error.

Big Dipper region satellite navigation system is formal in 27 days December in 2012 to provide regional service.With other GNSS systems Difference, dipper system additionally provides RDSS services in addition to providing RNSS and servicing.RNSS provides 3 L-band frequencies, RDSS GEO satellite satellite to user downlink provide a S-band frequency measurement.Extra S frequency measurements are Ambiguity Solution Methods under the new medium-long baselines of development provide opportunity.

The content of the invention

To solve the above problems, the present invention provides the ambiguity resolution side under a kind of medium-long baselines for dipper system Method, it combines the frequency measured values of RNSS tri- and RDSS measured values of the Big Dipper for ambiguity resolution under medium-long baselines, weakens electricity The impact of absciss layer residual error, improves the efficiency of ambiguity resolution.

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

Step one, the S frequency signals serviced using RNSS signals and RDSS carry out signal frequency combined sorting, obtain GEO The super-wide-lane of satellite, the super-wide-lane of Kuan Xianghezhai lanes combination coefficient and non-GEO satellite and narrow lane combination coefficient；

Step 11, super-wide-lane virtual portfolio measured value, wide lane void are divided into according to the difference of wavelength by virtual portfolio measured value Intend measurement in a closed series Zhi Hezhai lanes virtual portfolio measured value, wherein super-wide-lane virtual portfolio measured value wave-length coverage is：λ >=1.7m, Wide lane virtual portfolio measured value wave-length coverage is：0.5m ＜ λ ＜ 1.7m, narrow lane virtual portfolio measured value wave-length coverage is：λ≤ 0.5m；

Step 12, non-GEO satellite sends the RNSS signals in tri- frequencies of B1, B2, B3, online for three frequencies Property combination coefficient the virtual portfolio measured value that formed, solution mode such as formula (1) of TNL when being i, j, k：

Wherein, TNL is the ratio of noise and wavelength, and i, j, k are integer, λ_{(i, j, k)}For the measurement in a closed series of non-GEO satellite The wavelength of value, β_{(i, j, k)}For the single order ionosphere delay coefficient of the combined carriers phase measurement of non-GEO satellite,For B1 Single order double difference ionosphere delay error on frequency, μ_{(i, j, k)}For the observation noise coefficient of non-GEO satellite,For on B1 frequencies Phase noise,For tropospheric error,For orbit error；

Then super-wide-lane combination coefficient and narrow lane combination coefficient that criterion filters out non-GEO satellite are minimized using TNL；

GEO satellite sends the S frequency signals of tri- frequency signals of B1, B2, B3 and RDSS services, for four frequencies The virtual measurement formed when linear combination coefficient is i, j, k, m, the solution mode such as formula (2) of TNL：

Wherein, m is integer, λ_{(i, j, k, m)}For the wavelength of the measurement in a closed series value of GEO satellite, β_{(i, j, k, m)}For the group of GEO satellite Close the single order ionosphere delay coefficient of carrier-phase measurement, μ_{(i, j, k, m)}For the observation noise coefficient of GEO satellite；

Then super-wide-lane combination coefficient, wide lane combination coefficient and the narrow lane group of criterion screening GEO satellite are minimized using TNL Syzygy number；

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 is obtainedAnd substitute into formula (3) solve ultra-wide Lane ambiguity real solution：

In formula (3), i, j, k value is the super-wide-lane combination coefficient that step one is obtained,Represent corresponding ultra-wide Lane ambiguity real solution,For the double difference pseudo-range measurements on B1 frequencies,It is the super-wide-lane double difference in units of rice Combination carrier phase observation measured value, λ_{(i, j, k)}For corresponding wavelength；

Step 22, substitutes into the ultra-wide lane ambiguity real solution for obtaining formula (4) and tries to achieve ultra-wide lane ambiguity：

Wherein,Corresponding ultra-wide lane ambiguity is represented, round represents round；

Step 3, GEO satellite width lane ambiguity are resolved：

Step 31, using formula (5) the GEO satellite super-wide-lane carrier-phase measurement without fuzziness is solved

Step 32, GEO is solved by the GEO satellite super-wide-lane carrier-phase measurement without fuzziness for obtaining using formula (6) The wide lane ambiguity real solution of satellite：

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

Wherein, i, j, k, m value is the wide lane combination coefficient that step one is tried to achieve, and with subscript g GEO satellite, a are represented₁、a₂For Constant；Corresponding GEO satellite width lane ambiguity real solution is represented,Represent corresponding GEO satellite width lane Fuzziness,The wide lane combined carriers phase measurement of GEO satellite is represented,WithRepresent respectively The corresponding GEO satellite super-wide-lane carrier-phase measurement without fuzziness when taking two groups of different width lane combination coefficients；

The narrow lane ambiguity of step 4, GEO satellite is resolved：

Step 41, using formula (8) the GEO satellite width lane carrier-phase measurement without fuzziness is solved；

Step 42, narrow lane ambiguity is solved according to the GEO satellite width lane carrier-phase measurement without fuzziness using formula (9) Real solution：

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

Wherein, i, j, k value is the narrow lane combination coefficient that step one is obtained, and g represents GEO satellite, c₁、c₂For constant,The narrow lane ambiguity real solution of GEO satellite is represented,WithRepresent Qu Liangzukuan lanes combination coefficient The nothing that the GEO width lane ambiguity that Shi Liyong step 3 is solved is tried to achieve together with corresponding GEO satellite carrier-phase measurement is obscured The GEO satellite width lane carrier-phase measurement of degree；

Step 5, the narrow lane ambiguity for solving non-GEO：

Step 51, the narrow lane ambiguity of the GEO satellite calculated using step 4Calculate without fuzziness The narrow lane carrier-phase measurement of GEO satelliteComputational methods are：

Step 52, according to the narrow lane carrier-phase measurement of GEO satelliteFeiGEOZhai lanes are solved using formula (24) FuzzinessReal solution

Step 53, using classical LAMBDA algorithm searchTry to achieve the narrow lane ambiguity integer solution of non-GEO satellite

Wherein, i, j, k value be step 1 obtain narrow lane combination coefficient, distinguished with subscript g and n GEO satellite with it is non- The relevant variable of GEO satellite；Corresponding combination carrier phase observation measured value is combined in narrow lane for non-GEO satellite,Combine corresponding double difference pseudo-range measurements, λ in narrow lane_{(i, j, k)}For corresponding wavelength,WithFor corresponding Double difference carrier phase error and double difference pseudorange error,It is the double difference geometric distance calculated according to current location, A is three-dimensional Directional cosine vector, the unknown number of δ X three-dimensional position reductions,For the narrow lane ambiguity of non-GEO satellite.

Beneficial effect：

Relative to traditional method, Big Dipper RNSS signals are combined, first found several by the present invention with Big Dipper RDSS signals The super-wide-lane of group better performances, the combination of Kuan Xianghezhai lanes, then take the mode for progressively calculating to solve GEO satellite with this several combination Narrow lane ambiguity, so preferably eliminate the impact of ionospheric error, improve time and the success rate of ambiguity resolution, Specifically：

Traditional algorithm unknown number number is 3 location parameter δ X and Num-1 fuzziness parameterTotal is unknown Several numbers are 3+ (Num-1).After narrow lane ambiguity real solution is solved, need to use the narrow of LAMBDA algorithm search solution Lane ambiguity number is Num-1.This method unknown number number be 3 location parameter δ X andNum-Num ^g Individual non-GEO satellite Fuzziness parameterTotal unknown number number is3+(Num-Num ^g ).After narrow lane ambiguity real solution is solved, Need with LAMBDA algorithm search solve narrow lane ambiguity number beNum-Num ^g It is individual.Relative to traditional method, new method makes The unknown number number that equation must be resolved is reduced, and the number of ambiguity search is reduced, and advantage of this is that can improve fuzziness The efficiency and success rate of resolving.This solution procedure weakens the impact of ionospheric error.Hence with the narrow lane of known GEO satellite Fuzziness auxiliary solves the narrow lane ambiguity of non-GEO satellite, this is done so that equation number is constant and unknown number number is reduced, can To improve time and the success rate of ambiguity resolution.

Specific embodiment

Traditional dipper system Ambiguity Solution Methods only use RNSS signals, and not to GEO satellite and non-GEO satellite point Manage in other places.When resolving fuzziness under medium-long baselines, because ionospheric error affects big, using traditional method solution of fuzzy degree is carried out Calculate required time length and success rate is not high.

Dipper system provides two kinds of services of RDSS and RNSS.RNSS sending signals on three frequencies, its signal frequency Concentrate on 1,561.089MHz (B1), 1,207.14Mhz (B2) and 1,268.52MHz (B3).RDSS is provided for dipper system Extra usable frequency signal, the frequency that it is provided from satellite to user segment is S-band, concentrates on 2491.75MHz, but RDSS Service is only occurred on GEO satellite.I.e. user can receive the signal on tri- frequencies of B1, B2, B3 that non-GEO satellite sends, and The signal on tetra- frequencies of B1, B2, B3, S of GEO satellite transmission can be received.The present invention is using the measured value on these frequencies Form different virtual portfolio measured values to solve fuzziness by linear combination.Concrete grammar is as follows：

Step one, Big Dipper signal frequency combined sorting

Virtual portfolio measured value, first solving virtual combination are formed by carrying out linear combination to the measured value on different frequency The values of ambiguity of measured value, further according to the values of ambiguity on the original frequency of values of ambiguity solution of virtual portfolio measured value.Choose Linear combination coefficient it is different, correspond to different virtual portfolio measured values.

Virtual portfolio measured value is divided into by super-wide-lane, Kuan Xianghezhai lanes according to the difference of wavelength, and defines the ripple of super-wide-lane Long scope is：λ ＞ 1.7m, the wave-length coverage in wide lane is：0.5m ＜ λ ＜ 1.7m, the wave-length coverage in narrow lane is：λ ＜ 0.5m.Due to Fuzziness has integer characteristic, and linear combination coefficient must round numbers.

Linear combination coefficient takes different integer values, can form different combinations.We need to carry out these combinations Screening, obtains the virtual portfolio measured value of function admirable, carries out the ambiguity resolution of next step.

The filter criteria that we adopt is minimum for TNL (total noise level, i.e., total noise and the ratio of wavelength) Criterion.TNL values are less, then the combination is affected by noise less, it is believed that the performance of the combination is better.

The calculation of TNL values is as follows：

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

In formula (1), λ_{(i, j, k)}For the wavelength of measurement in a closed series value, β_{(i, j, k)}Single order for combined carriers phase measurement is ionized Layer retardation coefficient,For the single order double difference ionosphere delay error on B1 frequencies, μ_{(i, j, k)}For observation noise coefficient, For the phase noise on B1 frequencies,For tropospheric error,For orbit error.

For GEO satellite, in addition to it can send the signal in tri- frequencies of B1, B2, B3, the S of RDSS is also sent Frequency signal.The measured value in this four frequencies can be utilized to carry out linear combination.For the linear combination system in four frequencies Number is i, and for the virtual measurement formed during j, k, m (i, j, k, m are integer), the solution mode of TNL is similar with formula (1), For：

In formula (2), λ_{(i, j, k, m)}For the wavelength of measurement in a closed series value, β_{(i, j, k, m)}For the single order electricity of combined carriers phase measurement Absciss layer retardation coefficient, μ_{(i, j, k, m)}For corresponding observation noise coefficient.

Can be in the hope of the corresponding TNL when linear combination coefficient takes different integer values, according to formula (1) and (2) using TNL most Littleization criterion filters out corresponding linear combination coefficient.

The application selects two groups of super-wide-lane combination or wide lane combination, to form ionosphere independence model recursion next stage mould Paste degree, for the combination of narrow lane is afterbody fuzziness due to it, can only take system array conjunction.The application passes through screening, For GEO satellite, select its super-wide-lane be combined as (0, -1,1) and (1,2, -3), wide lane be combined as (- 3,0,2,1) and (- 2,1, 0,1), narrow lane be combined as (4, -3,0).For non-GEO satellite, select its super-wide-lane be combined as (0, -1, it is 1) and (1,2, -3), narrow Lane be combined as (4, -3,0).I.e. GEO satellite and non-GEO satellite select identical super-wide-lane and the combination of narrow lane, due to GEO satellite tool There are RDSS measured values, the less wide lane combination of two TNL can also be obtained.

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

Ultra-wide lane ambiguity is solved using pseudorange, and very high success rate can be obtained within one or several epoch.It is asked Solution method is as follows：

First solve ultra-wide lane ambiguity real solution：

In formula (3),Represent when combination coefficient is respectively i, j, corresponding ultra-wide lane ambiguity real solution during k,For the double difference pseudo-range measurements on B1 frequencies,For combination coefficient be i, j, double difference carrier wave during k in units of rice Phase combination measured value, λ_{(i, j, k)}Combination coefficient is i, j, corresponding wavelength during k.

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

In formula (4),Represent when combination coefficient is respectively i, j, corresponding ultra-wide lane ambiguity, round tables during k Show round.

By formula (3) and formula (4), for super-wide-lane combination (1, -1,0), that is, work as i, j, k takes 1, -1, when 0, corresponding ultra-wide Lane ambiguity calculation method is：

By formula (3) and formula (4), for combination (1,2, -3), that is, work as i, j, k takes 1,2, when -3, corresponding ultra-wide lane ambiguity Spending resolving mode is：

For super-wide-lane combines (1,2, -3), a few epoch is neededRound again after averaging Smoothing method is solving (1,2, -3) corresponding ultra-wide lane ambiguity.

Step 3, GEO satellite width lane ambiguity are resolved

Asked using unrelated (IF, the Ionosphere Free) model of geometry unrelated (GF, Geometry Free) and ionosphere Solution GEO satellite width lane ambiguity.Concrete calculation method is as follows：

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

Round again：

In formula (8), with subscript g GEO satellite is represented.Represent wide lane combination (- 3,0,2,1) corresponding GEO defend Star width lane ambiguity real solution.CombinationWithRepresent using step 2 solve GEO ultra-wide lane ambiguity with The GEO satellite super-wide-lane carrier-phase measurement without fuzziness that the carrier-phase measurement of GEO satellite is tried to achieve together, its is concrete Computational methods are：

In formula (8), a₁, a₂Meet：

Solve a₁=-2.1980, a₂=3.1980

By the epoch pair of 20 or soIt is averaging by recycling formula (9) is rounded and correctly calculates wide lane Combination (- 3,0,2,1) corresponding GEO satellite width lane ambiguity

(- 2,1,0,1) corresponding wide lane ambiguity is also with same thinking solution for another wide lane combination.

The wide lane combination of first solution (- 2,1,0,1) corresponding GEO width lane ambiguity real solution：

Round again：

In formula (13), with subscript g GEO satellite is represented.Represent wide lane combination (- 2,1,0,1) corresponding GEO Satellite width lane ambiguity real solution.

In formula (13), b₁, b₂Meet：

Solve b₁=-1.2109, b₂=2.2109.

By the epoch pair of 20 or soIt is averaging by recycling formula (14) is rounded and correctly calculates wide lane Combination (- 2,1,0,1) corresponding GEO satellite width lane ambiguity

The narrow lane ambiguity of step 4, GEO satellite is resolved

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

Round again：

In formula (16), with subscript g GEO satellite is represented.The wide lane combination of expression (4, -3,0) corresponding wide lane mould Paste degree real solution.WithRepresent that the GEO width lane ambiguity solved using step 2 is defended with corresponding GEO The GEO satellite width lane carrier-phase measurement without fuzziness that star carrier-phase measurement is tried to achieve together, its circular For：

In formula (16), c₁, c₂Meet：

Solve c₁=0.4703, c₂=0.5297.

By several epoch pairIt is averaging by recycling formula (17) is rounded and correctly calculates narrow lane combination (4, -3,0) the narrow lane ambiguity of corresponding GEO satellite

Step 5, GEO aid in non-GEO ambiguity resolutions

If Num is observation satellite total number, Num^gThe number of the GEO satellite to observe.

Traditional narrow lane ambiguity resolves equation and is expressed as：

In formula (21),WithRespectively the corresponding combination coefficient of B1, B2, B3 for (4, -3, it is narrow when 0) Combine corresponding double difference carrier-phase measurement and double difference pseudo-range measurements, λ in lane_{(4, -3,0)}For corresponding wavelength,WithFor corresponding double difference carrier phase error and double difference pseudorange error,It is several according to the double difference of current location calculating What distance, A is three-dimensional m-cosine, δ X three-dimensional position reduction unknown numbers,For the narrow lane mould for needing to solve Paste degree.Solution formula (21), can calculate unknown number δ X andReal solutionRecycle classics LAMBDA Algorithm pairNarrow lane ambiguity integer solution is tried to achieve in search

Traditional method does not differentiate between GEO satellite and non-GEO satellite when resolving.

The new method that this patent is proposed is first to solve the narrow lane ambiguity of GEO satellite, then solves the narrow lane ambiguity of non-GEO satellite Degree, the ambiguity resolution equation of GEO satellite and non-GEO satellite in formula (21) is separately shown, then formula (21) is rewritable is：

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

The narrow lane ambiguity of the GEO satellite calculated using step 4The GEO without fuzziness can be calculated The narrow lane carrier-phase measurement of satellite, usesRepresent, computational methods are：

So, formula (23) is substituted into into formula (22), is obtained：

Solution formula (24), can calculate unknown number δ X andReal solutionRecycle classical LAMBDA algorithm searchTry to achieve the narrow lane ambiguity integer solution of non-GEO satellite

Clearly for traditional algorithm, its unknown number number is 3 location parameter δ X and Num-1 fuzziness parameterTotal unknown number number is 3+ (Num-1).After narrow lane ambiguity real solution is solved, need to use The narrow lane ambiguity number that LAMBDA algorithm search is solved is Num-1.

For the new method that this patent is proposed, select a GEO satellite as reference star, its unknown number number is 3 positions Put parameter δ X andNum-Num ^g The fuzziness parameter of individual non-GEO satelliteTotal unknown number number is3+(Num- Num ^g ).Narrow lane ambiguity real solution solve come after, need with LAMBDA algorithm search solve narrow lane ambiguity number be Num-Num ^g It is individual.

Relative to traditional method, new method causes the unknown number number for resolving equation to reduce, and the number of ambiguity search subtracts Few, advantage of this is that can improve the efficiency and success rate of ambiguity resolution.

The ambiguity resolution of step 6, original frequency

One～step 5 of above-mentioned steps has calculated two ultra-wide lane ambiguities and a narrow lane ambiguity of all satellites, Because three combinations are linear independences, the fuzziness of original frequency can be solved by simple linear transformation.

Certainly, the present invention can also have other various embodiments, ripe in the case of without departing substantially from spirit of the invention and its essence Know those skilled in the art and work as and various corresponding changes and deformation, but these corresponding changes and change can be made according to the present invention Shape should all belong to the protection domain of appended claims of the invention.

Claims (2)

1. Ambiguity Solution Methods under a kind of medium-long baselines for dipper system, it is characterised in that include：

Step one, the S frequency signals serviced using RNSS signals and RDSS carry out signal frequency combined sorting, obtain GEO satellite Super-wide-lane, the super-wide-lane of Kuan Xianghezhai lanes combination coefficient and non-GEO satellite and narrow lane combination coefficient；

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

Step 12, non-GEO satellite sends the RNSS signals in tri- frequencies of B1, B2, B3, for three frequencies are at linear group The virtual portfolio measured value that syzygy number is formed when being i, j, k, the solution mode such as formula (1) of TNL：

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

Wherein, TNL is the ratio of noise and wavelength, and i, j, k are integer, λ_(i,j,k)For the ripple of the measurement in a closed series value of non-GEO satellite It is long, β_(i,j,k)For the single order ionosphere delay coefficient of the combined carriers phase measurement of non-GEO satellite, σ_Δ▽δI,φ1For on B1 frequencies Single order double difference ionosphere delay error, μ_(i,j,k)For the observation noise coefficient of non-GEO satellite, σ_Δ▽φ1For the phase place on B1 frequencies Noise,For tropospheric error,For orbit error；

Then super-wide-lane combination coefficient and narrow lane combination coefficient that criterion filters out non-GEO satellite are minimized using TNL；

GEO satellite sends the S frequency signals of tri- frequency signals of B1, B2, B3 and RDSS services, online for four frequencies Property the combination coefficient virtual measurement that formed, solution mode such as formula (2) of TNL when being i, j, k, m：

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

Wherein, m is integer, λ_(i,j,k,m)For the wavelength of the measurement in a closed series value of GEO satellite, β_(i,j,k,m)Combination for GEO satellite is carried The single order ionosphere delay coefficient of wave phase measured value, μ_(i,j,k,m)For the observation noise coefficient of GEO satellite；

Then super-wide-lane combination coefficient, wide lane combination coefficient and the narrow lane combination system of criterion screening GEO satellite are minimized using TNL Number；

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

Step 21, according to the super-wide-lane combination coefficient that step one is obtained Δ ▽ φ are obtained_(i,j,k), and substitute into formula (3) solution super-wide-lane Fuzziness 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 is obtained,Represent corresponding ultra-wide lane ambiguity Degree real solution, Δ ▽ P₁For the double difference pseudo-range measurements on B1 frequencies, Δ ▽ φ_(i,j,k)It is the super-wide-lane double difference in units of rice Combination carrier phase observation measured value, λ_(i,j,k)For corresponding wavelength；

Step 22, substitutes into the ultra-wide lane ambiguity real solution for obtaining formula (4) and tries to achieve ultra-wide lane ambiguity：

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

Wherein, Δ ▽ N_(i,j,k)Corresponding ultra-wide lane ambiguity is represented, round represents round；

Step 3, GEO satellite width lane ambiguity are resolved：

Step 31, using formula (5) the GEO satellite super-wide-lane carrier-phase measurement without fuzziness is solved

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

Wherein,For narrow lane ambiguity angle value,Combine corresponding combination carrier phase observation survey in narrow lane for GEO satellite Value；

Step 32, GEO satellite is solved by the GEO satellite super-wide-lane carrier-phase measurement without fuzziness for obtaining using formula (6) Wide lane ambiguity real solution：

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

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

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

Wherein, i, j, k, m value is the wide lane combination coefficient that step one is tried to achieve, and with subscript g GEO satellite, a are represented₁、a₂For constant；Corresponding GEO satellite width lane ambiguity real solution is represented,Represent corresponding GEO satellite width lane ambiguity Degree,The wide lane combined carriers phase measurement of GEO satellite is represented,WithRepresent respectively and take two groups The corresponding GEO satellite super-wide-lane carrier-phase measurement without fuzziness during different super-wide-lane combination coefficients；

The narrow lane ambiguity of step 4, GEO satellite is resolved：

Step 41, using formula (8) the GEO satellite width lane carrier-phase measurement without fuzziness is solved；

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

Step 42, narrow lane ambiguity real number is solved according to the GEO satellite width lane carrier-phase measurement without fuzziness using formula (9) Solution：

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

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

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

Wherein, i, j, k value is the narrow lane combination coefficient that step one is obtained, and g represents GEO satellite, c₁、c₂For constant, The narrow lane ambiguity real solution of GEO satellite is represented,WithStep is utilized when representing Qu Liangzukuan lane combination coefficients The GEO without fuzziness that the rapid three GEO width lane ambiguities for solving are tried to achieve together with corresponding GEO satellite carrier-phase measurement is defended Xing Kuan lanes carrier-phase measurement；

Step 5, the narrow lane ambiguity for solving non-GEO：

Step 51, the narrow lane ambiguity of the GEO satellite calculated using step 4Calculate the GEO without fuzziness to defend Xing Zhai lanes carrier-phase measurementComputational methods are：

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

Step 52, according to the narrow lane carrier-phase measurement of GEO satelliteThe narrow lane ambiguity of non-GEO is solved using formula (24) DegreeReal solution

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

Step 53, using classical LAMBDA algorithm searchTry 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 is obtained, and GEO satellite is distinguished with subscript g and n and is defended with non-GEO The relevant variable of star；Combine corresponding combination carrier phase observation measured value, Δ ▽ P in narrow lane for non-GEO satellite_(i,j,k) Combine corresponding double difference pseudo-range measurements, λ in narrow lane_(i,j,k)For corresponding wavelength,WithFor corresponding double difference carrier wave Phase error and double difference pseudorange error, Δ ▽ ρ₀It is the double difference geometric distance calculated according to current location, A is three-dimensional cosine Vector, the unknown number of δ X three-dimensional position reductions,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 characterised in that right In GEO satellite, select its super-wide-lane combination (i, j, k) and (i', j', k') be respectively (0, -1,1) with (1,2, -3), wide lane group Close (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 combination (i, j, k) and (i', j', k') be respectively (0, -1,1) with (1,2, - 3), narrow lane combination (i, j, k) for (4, -3,0).