CN105204048A - Method for quickly calculating fuzzy degree between RTK reference stations in Beidou-compatible GPS/GLONASS network - Google Patents

Abstract

The invention discloses a method for quickly calculating the fuzzy degree between RTK reference stations in a Beidou-compatible GPS/GLONASS network. In a network RTK model, the calculation accuracy of the fuzzy degree between RTK reference stations has a direct bearing on the precision of space error modeling of the troposphere, the ionosphere, and the like. In the multi-constellation fusion network RTK, the number of satellites increases significantly, which provides favorable conditions for quickly calculating the fuzzy degree. According to the invention, first, a high-altitude angle satellite is fixed according to a network RTK fuzzy degree calculation model with atmospheric delay priori information, and then, calculation is performed based on the observed value constraint atmospheric delay of a satellite of which the fuzzy degree is fixed and an observation equation corresponding to a low-altitude angle satellite or a newly rising satellite or an unlocked recaptured satellite so as to quickly fix the fuzzy degree of a satellite of which the fuzzy degree is not fixed. By adopting the method, the time for calculating the fuzzy degree between network RTK reference stations is obviously shortened, and the precision and reliability of network RTK positioning are improved.

Description

The Ambiguity Resolution in Reference Station Network fast resolution algorithm of a kind of Big Dipper compatible with GPS/GLONASS

Technical field

The invention belongs to network RTK positioning field, ambiguity resolution between the multisystem network RTK reference station of particularly Big Dipper compatible with GPS/GLONASS.

Background technology

Along with the development of global navigation satellite system, become the study hotspot in navigator fix field based on many constellations satellite navigation system compatible positioning.Beidou satellite navigation system is China's global positioning satellite of developing voluntarily and communication system (BDS), is the 3rd ripe satellite navigation system after GPS and GLONASS.The compatible positioning of the Big Dipper and GPS/GLONASS is significant, user can adopt different constellation systems combinations to carry out compatible positioning according to the actual requirements, thus number of satellite is very few when avoiding adopting single constellation systems to locate, and the problem of undue dependence to this particular constellation, the increase of constellation will inevitably bring the increase of number of satellites, participate in location health satellite more multipotency make the precision of location higher, thus possess stronger practicality, reliability, positioning precision also can reach higher level.

Network RTK, also known as many reference stations RTK, is the real-time dynamic positioning new technology of new generation grown up in the technical foundation such as conventional RTK, Internet, wireless telecommunications, computer network management in recent years.Whole Reference network data calculate by data processing centre (DPC) is unified, estimate the correction member (troposphere, ionosphere and orbit error) of various systematic error in net in real time, set up corresponding Error Correction Model, correcting information is issued user.User is after receiving these Correction of Errors information, and revising observation data according to its approximate coordinates just can fixed carrier phase ambiguity fast, realizes hi-Fix in net.

In network RTK, between reference station blur level correctly resolve the precision being directly connected to the space error such as troposphere, ionosphere and estimating, be the key problem of whole technology of network RTK.Reference station network ambiguity resolution is mainly by the impact of two difference ionosphere, tropospheric delay and the equidistant correlated error of orbit error.Along with the growth of parallax range between reference station, systematic error correlativity weakens gradually, and the systematic error residue in double difference observation increases rapidly, causes being difficult to Exact Solutions in the short time and obtains integer ambiguity values, have impact on the precision and ageing of network RTK location.

Summary of the invention

Goal of the invention: for above-mentioned prior art, propose a kind of network RTK blur level fixed model with the constraint of air prior imformation, the blur level that can realize not fixing blur level satellite is fast fixed fast.

Technical scheme: the Ambiguity Resolution in Reference Station Network fast resolution algorithm of a kind of Big Dipper compatible with GPS/GLONASS, according to the network RTK ambiguity resolution model with the constraint of atmosphere delay prior imformation, first high altitude cornerdown star is fixed, then the satellite observation constraint atmosphere delay of blur level degree will be fixed, resolve with low clearance cornerdown star or the new corresponding observation equation simultaneous of satellite rising satellite or losing lock recapture, the blur level realizing not fixing blur level satellite is fixed fast.

Further, the Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS comprises following concrete steps:

1), control center, according to real-time observed data, is carried out initialization first and judges: when control center's initialization first, calculated the blur level of low clearance cornerdown star by constraint scheme one; Described constraint scheme one comprises following concrete steps:

A) control center carries out data prediction to BDS/GPS/GLONASS real-time observed data and is formed and look file altogether;

B) utilize MW to combine the wide lane ambiguity of carrying out each navigational system to resolve, obtain the wide lane ambiguity ▽ Δ N of two difference _w;

C) by elevation angle, all satellites of each navigational system are classified, higher than 35 ° be high altitude cornerdown star, lower than 35 ° be low clearance cornerdown star, utilize single epoch to fix the blur level of high altitude cornerdown star;

D) use and fixed observation equation corresponding to the high altitude cornerdown star of the blur level observation equation simultaneous corresponding with low clearance cornerdown star and resolve zenith tropospheric delay and low clearance cornerdown star is two differs from blur level:

$\left(\begin{array}{c}{V}_H\\ V_L\end{array}\right)=\left(\begin{array}{ccc}{\mathrm{MF}}_{H,A}& {\mathrm{MF}}_{H,B}& O\\ {\mathrm{MF}}_{L,A}& {\mathrm{MF}}_{L,B}& C_L\end{array}\right)\left(\begin{array}{c}{T}_{\mathrm{ztd},A}\\ T_{\mathrm{ztd},B}\\ N_L\end{array}\right)-\left(\begin{array}{c}{L}_H-C_H{N}_H\\ L_L\end{array}\right)---\left(1.1\right)$

Wherein, V _hfor the observation equation error of high altitude cornerdown star, V _lfor the observation equation error of low clearance cornerdown star, MF _h,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of high altitude cornerdown star, MF _h,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of high altitude cornerdown star, MF _l,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of low clearance cornerdown star, MF _l,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of low clearance cornerdown star, N _hfor high altitude cornerdown star blur level, N _lfor low clearance cornerdown star blur level, C _lfor blur level N _lmatrix of coefficients, C _hfor blur level N _hmatrix of coefficients, O is null matrix, T _{ztd, A}for the Zenith tropospheric wet stack emission parameter of website A, T _{ztd, B}for the Zenith tropospheric wet stack emission parameter of website B, L _hfor the observed reading constant term of high altitude cornerdown star, L _lfor the observed reading constant term of low clearance cornerdown star;

When control center has completed initialization first, jump to step 2) newly rise satellite or the judgement of losing lock recapture satellite;

2), when control center according to real-time observed data be determined with nova rise or losing lock satellite recapture time, utilize constraint scheme two to resolve blur level corresponding to the satellite of the new satellite that rises or losing lock recapture; Described constraint scheme two comprises following concrete steps:

A) real-time observed data that the satellite of satellite or losing lock recapture is newly risen in control center to each navigational system carries out pre-service and is formed and look file altogether;

B) the wide lane ambiguity utilizing MW to combine to carry out new liter to play the satellite of satellite or losing lock recapture is resolved, and obtains the wide lane ambiguity ▽ Δ N of two difference _w;

C) use and fixed observation equation corresponding to the satellite of the blur level observation equation simultaneous corresponding with the satellite newly rising satellite or losing lock recapture and resolve zenith tropospheric delay and newly rise pair poor blur leveles of the satellite of satellite or losing lock recapture, concrete steps are as follows:

Its observational error equation is:

$\left(\begin{array}{c}{V}_F\\ V_U\end{array}\right)=\left(\begin{array}{ccc}{\mathrm{MF}}_{F,A}& {\mathrm{MF}}_{F,B}& O\\ {\mathrm{MF}}_{U,A}& {\mathrm{MF}}_{U,B}& C_U\end{array}\right)\left(\begin{array}{c}{T}_{\mathrm{ztd},A}\\ T_{\mathrm{ztd},B}\\ N_U\end{array}\right)-\left(\begin{array}{c}{L}_F-C_F{N}_F\\ L_U\end{array}\right)---(1.2)$

In formula, subscript F, U are corresponding has respectively fixed the satellite of blur level and the new satellite rising satellite or losing lock recapture;

Wherein, V _ffor fixing the observation equation error of the satellite of blur level, V _ufor newly rising the observation equation error of the satellite of satellite or losing lock recapture, MF _f,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of the satellite fixing blur level, MF _f,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of the satellite fixing blur level, MF _u,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of the satellite newly rising satellite or losing lock recapture, MF _u,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of the satellite newly rising satellite or losing lock recapture, N _ffor fixing the satellite blur level of blur level, N _ufor newly rising the satellite blur level of satellite or losing lock recapture, C _ufor blur level N _umatrix of coefficients, C _ffor blur level N _fmatrix of coefficients, O is null matrix, T _{ztd, A}for the Zenith tropospheric wet stack emission parameter of website A, T _{ztd, B}for the Zenith tropospheric wet stack emission parameter of website B, L _ffor fixing the observed reading constant term of the satellite of blur level, L _ufor newly rising the observed reading constant term of the satellite of satellite or losing lock recapture.

Beneficial effect: the Ambiguity Resolution in Reference Station Network based on many constellations resolves, usable satellite quantity is considerably increased because many constellations merge, make satellite classification resolve to become possibility, one class is that blur level is easier to fixed satellite (being generally high altitude cornerdown star), and a class is the more difficult fixed satellite of blur level (being generally low clearance cornerdown star).The observed reading that high height cornerdown star is corresponding affects less by atmosphere errors residual error, observed reading noise etc., therefore can fix its pair of difference values of ambiguity fast; After high altitude cornerdown star blur level is fixing, its blur level parameter is given value, resolves with low clearance cornerdown star observation equation simultaneous, fast fixing low clearance cornerdown star blur level.In addition the satellite of recapture after new rise satellite or losing lock also with fixing the satellite of blur level as constraint, can be realized to blur level and resolving fast.

The Ambiguity Resolution in Reference Station Network fast resolution algorithm of a kind of Big Dipper compatible with GPS/GLONASS that the present invention proposes, in many constellations UNE RTK, number of satellite significantly increases, satellite is carried out classification resolve, for resolving fast of blur level provides advantage, simultaneously according to the network RTK blur level fixed model with the constraint of air prior imformation, the satellite being easier to fix serves its advantage function, the fixing fast of non-fixed satellite blur level can be realized, the set time of obvious minimizing satellite blur level, shorten network RTK positioning time, improve positioning precision and reliability thereof.

Accompanying drawing explanation

Fig. 1 network RTK ambiguity resolution overall plan;

Fig. 2 network RTK blur level fixed constraint scheme one;

Fig. 3 network RTK blur level fixed constraint scheme two;

Fig. 4 is base station NJTS elevation of satellite schematic diagram;

Fig. 5 is base station LIXI elevation of satellite schematic diagram;

Fig. 6 is baseline NJTS->NJPK high altitude cornerdown star single epoch ambiguity resolution result

Fig. 7 is baseline NJTS->NJPK low clearance cornerdown star classic method ambiguity resolution result

Fig. 8 is baseline NJTS->NJPK low clearance cornerdown star constraint scheme one ambiguity resolution result

Fig. 9 is baseline NJTS->NJPK classic method and constraint scheme one calculation result Ratio value

Figure 10 is that baseline NJTS->NJPK classic method and constraint scheme one assist factor battle array conditional number

Figure 11 is that baseline LIXI->AUST newly rises or recapture satellite constraint scheme two ambiguity resolution result

Figure 12 is baseline LIXI->AUST classic method and constraint scheme two calculation result Ratio value

Embodiment

Below in conjunction with accompanying drawing the present invention done and further explain.

In the network RTK that multisystem merges, according to the network RTK ambiguity resolution model with the constraint of atmosphere delay prior imformation, first high altitude cornerdown star is fixed, then the satellite observation constraint atmosphere delay of blur level degree will be fixed, resolve with low clearance cornerdown star or the new corresponding observation equation simultaneous of satellite rising satellite or losing lock recapture, the blur level realizing not fixing blur level satellite is fixed fast, and general flow chart as shown in Figure 1.

Specifically comprise the following steps:

1), control center, according to real-time observed data, is carried out initialization first and judges: when control center's initialization first, calculated the blur level of low clearance cornerdown star by constraint scheme one; Constraint scheme one as shown in Figure 2, comprises following concrete steps:

A) control center carries out data prediction to BDS/GPS/GLONASS real-time observed data and is formed and look file altogether;

B) utilize MW to combine the wide lane ambiguity of carrying out each navigational system to resolve, obtain the wide lane ambiguity ▽ Δ N of two difference _w;

C) by elevation angle, all satellites of each navigational system are classified, higher than 35 ° be high altitude cornerdown star, lower than 35 ° be low clearance cornerdown star, utilize static Kalman filtering and LAMBDA algorithm to fix the blur level of high altitude cornerdown star;

D) use and fixed observation equation corresponding to the high altitude cornerdown star of the blur level observation equation simultaneous corresponding with low clearance cornerdown star and resolve zenith tropospheric delay and low clearance cornerdown star is two differs from blur level:

$\left(\begin{array}{c}{V}_H\\ V_L\end{array}\right)=\left(\begin{array}{ccc}{\mathrm{MF}}_{H,A}& {\mathrm{MF}}_{H,B}& O\\ {\mathrm{MF}}_{L,A}& {\mathrm{MF}}_{L,B}& C_L\end{array}\right)\left(\begin{array}{c}{T}_{\mathrm{ztd},A}\\ T_{\mathrm{ztd},B}\\ N_L\end{array}\right)-\left(\begin{array}{c}{L}_H-C_H{N}_H\\ L_L\end{array}\right)---\left(1.1\right)$

Wherein, V _hfor the observation equation error of high altitude cornerdown star, V _lfor the observation equation error of low clearance cornerdown star, MF _h,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of high altitude cornerdown star, MF _h,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of high altitude cornerdown star, MF _l,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of low clearance cornerdown star, MF _l,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of low clearance cornerdown star, N _hfor high altitude cornerdown star blur level, N _lfor low clearance cornerdown star blur level, C _lfor blur level N _lmatrix of coefficients, C _hfor blur level N _hmatrix of coefficients, O is null matrix, T _{ztd, A}for the Zenith tropospheric wet stack emission parameter of website A, T _{ztd, B}for the Zenith tropospheric wet stack emission parameter of website B, L _hfor the observed reading constant term of high altitude cornerdown star, L _lfor the observed reading constant term of low clearance cornerdown star;

When control center has completed initialization first, jump to step 2) newly rise satellite or the judgement of losing lock recapture satellite;

2), when control center according to real-time observed data be determined with nova rise or losing lock satellite recapture time, utilize constraint scheme two to resolve blur level corresponding to the satellite of the new satellite that rises or losing lock recapture; Constraint scheme two as shown in Figure 3, comprises following concrete steps:

A) real-time observed data that the satellite of satellite or losing lock recapture is newly risen in control center to each navigational system carries out pre-service and is formed and look file altogether;

B) the wide lane ambiguity utilizing MW to combine to carry out new liter to play the satellite of satellite or losing lock recapture is resolved, and obtains the wide lane ambiguity ▽ Δ N of two difference _w;

C) use and fixed observation equation corresponding to the satellite of the blur level observation equation simultaneous corresponding with the satellite newly rising satellite or losing lock recapture and resolve zenith tropospheric delay and newly rise pair poor blur leveles of the satellite of satellite or losing lock recapture, concrete steps are as follows:

Its observational error equation is:

$\left(\begin{array}{c}{V}_F\\ V_U\end{array}\right)=\left(\begin{array}{ccc}{\mathrm{MF}}_{F,A}& {\mathrm{MF}}_{F,B}& O\\ {\mathrm{MF}}_{U,A}& {\mathrm{MF}}_{U,B}& C_U\end{array}\right)\left(\begin{array}{c}{T}_{\mathrm{ztd},A}\\ T_{\mathrm{ztd},B}\\ N_U\end{array}\right)-\left(\begin{array}{c}{L}_F-C_F{N}_F\\ L_U\end{array}\right)---(1.2)$

In formula, subscript F, U are corresponding has respectively fixed the satellite of blur level and the new satellite rising satellite or losing lock recapture;

Wherein, V _ffor fixing the observation equation error of the satellite of blur level, V _ufor newly rising the observation equation error of the satellite of satellite or losing lock recapture, MF _f,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of the satellite fixing blur level, MF _f,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of the satellite fixing blur level, MF _u,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of the satellite newly rising satellite or losing lock recapture, MF _u,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of the satellite newly rising satellite or losing lock recapture, N _ffor fixing the satellite blur level of blur level, N _ufor newly rising the satellite blur level of satellite or losing lock recapture, C _ufor blur level N _umatrix of coefficients, C _ffor blur level N _fmatrix of coefficients, O is null matrix, T _{ztd, A}for the Zenith tropospheric wet stack emission parameter of website A, T _{ztd, B}for the Zenith tropospheric wet stack emission parameter of website B, L _ffor fixing the observed reading constant term of the satellite of blur level, L _ufor newly rising the observed reading constant term of the satellite of satellite or losing lock recapture.

Example is verified with two Long baselines below, wherein one is the baseline of the 51km of NJTS and NJPK two station composition in the CORS of Jiangsu, for GPS/GLONASS dual system, when observation time is 29 days 0 Dec in 2012-1 time, amounted to for 3600 epoch, each system-satellite is: GPS:G01, G04, G17, G20, G28, G32; GLONASS:R01, R08, R14, R15, R17, R24; Reference satellite is respectively: G28, R24, and base station NJTS elevation of satellite as shown in Figure 1.

Other one is test data on January 17th, 2013, website is be positioned at the LIXI website in auditorium, Southeast China University four decorated archway school district and be positioned at the AUST station data in Anhui University of Science and Technology's environment building, two websites are GPS/BDS dual system reception machine, base length is 179km, when selecting 2-3 time 3600 epoch data, each Systematic selection satellite is respectively: GPS:G02, G04, G05, G10; BDS:C01, C02, C03, C04, C06, C08; Reference satellite is: G02, C06, and base station LIXI elevation of satellite as shown in Figure 2.

Design two kinds of blur level constraints altogether and resolve scheme:

Constraint scheme one: for baseline NJTS->NJPK, first the satellite pair that high diagonal angle satellite is corresponding is resolved, be respectively G01-G28, G17-G28, G20-G28, G32-G28, R01-R24, R14-R24, because the elevation angle of six pairs of satellites is for this reason all higher than 35 °, it is comparatively thorough that tropospheric impact can be eliminated after two difference and Modifying model, so single epoch can resolve, as shown in Figure 6, for two difference blur leveles of high altitude cornerdown star, single epoch is used to fix preferably.

When fixing high altitude cornerdown star, constraint scheme a pair low clearance cornerdown star is used to carry out ambiguity resolution, as shown in Figure 7, if use conventional method, the blur level of low clearance cornerdown star is when 200 epoch, still differ two weeks between floating-point solution and true value, and as shown in Figure 9, its Ratio value comparatively significantly cannot improve all the time; As seen from Figure 8 after use constraint scheme one, the floating-point solution of the blur level of low clearance cornerdown star can differ less than one week with correct static solution first epoch, and as seen from Figure 9, its Ratio value can be larger at the beginning; As seen from Figure 10, when using commonsense method, the conditional number of association's factor battle array reduces along with the growth of observation time, and after using leash law, the conditional number several order of magnitude less of conventional method all the time of association's factor, and amplitude of variation is little.

Constraint scheme two: for constraint when nova rise or losing lock recapture satellite, G05 and C04 in baseline LIXI->AUST is risen satellite or missing recapture satellite as new.As seen from Figure 11, after use constraint scheme two, the floating-point solution of the blur level of low clearance cornerdown star can differ less than one week first epoch with correct static solution; And as seen from Figure 12, its Ratio value of classic method cannot comparatively significantly improve all the time, and its Ratio value of constrained procedure two is at the beginning can be larger, and is greater than classic method Ratio value all the time; It is similar to scheme one that it calculates effect.

By known to the analysis of above two kinds of constraint schemes, conditional number with the model of atmospheric information constraint is better than the several order of magnitude of conventional model, and along with the change of time less, use the model with atmospheric information constraint obviously to improve improving to have had than conventional method in the fixing efficiency of network RTK blur level and reliability.

The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (2)

1. the Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS, it is characterized in that, according to the network RTK ambiguity resolution model with the constraint of atmosphere delay prior imformation, first high altitude cornerdown star is fixed, then the satellite observation constraint atmosphere delay of blur level degree will be fixed, resolve with low clearance cornerdown star or the new corresponding observation equation simultaneous of satellite rising satellite or losing lock recapture, the blur level realizing not fixing blur level satellite is fixed fast.

2. the Ambiguity Resolution in Reference Station Network fast resolution algorithm of Big Dipper compatible with GPS/GLONASS according to claim 1, is characterized in that, comprise following concrete steps:

1), control center, according to real-time observed data, is carried out initialization first and judges: when control center's initialization first, calculated the blur level of low clearance cornerdown star by constraint scheme one; Described constraint scheme one comprises following concrete steps:

A) control center carries out data prediction to BDS/GPS/GLONASS real-time observed data and is formed and look file altogether;

B) utilize MW to combine the wide lane ambiguity of carrying out each navigational system to resolve, obtain the wide lane ambiguity ▽ Δ N of two difference _w;

C) by elevation angle, all satellites of each navigational system are classified, higher than 35 ° be high altitude cornerdown star, lower than 35 ° be low clearance cornerdown star, utilize single epoch to fix the blur level of high altitude cornerdown star;

D) use and fixed observation equation corresponding to the high altitude cornerdown star of the blur level observation equation simultaneous corresponding with low clearance cornerdown star and resolve zenith tropospheric delay and low clearance cornerdown star is two differs from blur level:

$\left(\begin{array}{c}{V}_H\\ V_L\end{array}\right)=\left(\begin{array}{ccc}{\mathrm{MF}}_{H,A}& {\mathrm{MF}}_{H,B}& O\\ {\mathrm{MF}}_{L,A}& {\mathrm{MF}}_{L,B}& C_L\end{array}\right)\left(\begin{array}{c}{T}_{\mathrm{ztd},A}\\ T_{\mathrm{ztd},B}\\ N_L\end{array}\right)-\left(\begin{array}{c}{L}_H-C_H{N}_H\\ L_L\end{array}\right)---\left(1.1\right)$

Wherein, V _hfor the observation equation error of high altitude cornerdown star, V _lfor the observation equation error of low clearance cornerdown star, MF _h,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of high altitude cornerdown star, MF _h,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of high altitude cornerdown star, MF _l,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of low clearance cornerdown star, MF _l,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of low clearance cornerdown star, N _hfor high altitude cornerdown star blur level, N _lfor low clearance cornerdown star blur level, C _lfor blur level N _lmatrix of coefficients, C _hfor blur level N _hmatrix of coefficients, O is null matrix, T _{ztd, A}for the Zenith tropospheric wet stack emission parameter of website A, T _{ztd, B}for the Zenith tropospheric wet stack emission parameter of website B, L _hfor the observed reading constant term of high altitude cornerdown star, L _lfor the observed reading constant term of low clearance cornerdown star;

When control center has completed initialization first, jump to step 2) newly rise satellite or the judgement of losing lock recapture satellite;

2), when control center according to real-time observed data be determined with nova rise or losing lock satellite recapture time, utilize constraint scheme two to resolve blur level corresponding to the satellite of the new satellite that rises or losing lock recapture; Described constraint scheme two comprises following concrete steps:

A) real-time observed data that the satellite of satellite or losing lock recapture is newly risen in control center to each navigational system carries out pre-service and is formed and look file altogether;

B) the wide lane ambiguity utilizing MW to combine to carry out new liter to play the satellite of satellite or losing lock recapture is resolved, and obtains the wide lane ambiguity ▽ Δ N of two difference _w;

C) use and fixed observation equation corresponding to the satellite of the blur level observation equation simultaneous corresponding with the satellite newly rising satellite or losing lock recapture and resolve zenith tropospheric delay and newly rise pair poor blur leveles of the satellite of satellite or losing lock recapture, concrete steps are as follows:

Its observational error equation is:

$\left(\begin{array}{c}{V}_F\\ V_U\end{array}\right)=\left(\begin{array}{ccc}{\mathrm{MF}}_{F,A}& {\mathrm{MF}}_{F,B}& O\\ {\mathrm{MF}}_{U,A}& {\mathrm{MF}}_{U,B}& C_U\end{array}\right)\left(\begin{array}{c}{T}_{\mathrm{ztd},A}\\ T_{\mathrm{ztd},B}\\ N_U\end{array}\right)-\left(\begin{array}{c}{L}_F-C_F{N}_F\\ L_U\end{array}\right)---(1.2)$

In formula, subscript F, U are corresponding has respectively fixed the satellite of blur level and the new satellite rising satellite or losing lock recapture;

Wherein, V _ffor fixing the observation equation error of the satellite of blur level, V _ufor newly rising the observation equation error of the satellite of satellite or losing lock recapture, MF _f,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of the satellite fixing blur level, MF _f,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of the satellite fixing blur level, MF _u,Afor the projection function of the Zenith tropospheric wet stack emission of the corresponding website A of the satellite newly rising satellite or losing lock recapture, MF _u,Bfor the projection function of the Zenith tropospheric wet stack emission of the corresponding website B of the satellite newly rising satellite or losing lock recapture, N _ffor fixing the satellite blur level of blur level, N _ufor newly rising the satellite blur level of satellite or losing lock recapture, C _ufor blur level N _umatrix of coefficients, C _ffor blur level N _fmatrix of coefficients, O is null matrix, T _{ztd, A}for the Zenith tropospheric wet stack emission parameter of website A, T _{ztd, B}for the Zenith tropospheric wet stack emission parameter of website B, L _ffor fixing the observed reading constant term of the satellite of blur level, L _ufor newly rising the observed reading constant term of the satellite of satellite or losing lock recapture.