CN105572712A - Real-time determination method of ambiguity of whole cycles of carrier phase of Beidou system - Google Patents

Abstract

The invention provides a real-time determination method of the ambiguity of whole cycles of the carrier phase of a Beidou system. The method includes: calculating the wide-lane ambiguity of whole cycles of a B2 frequency carrier phase and a B3 frequency carrier phase of a Beidou system satellite; calculating the wide-lane ambiguity of whole cycles of a B1 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite; calculating the wide-lane ambiguity of whole cycles of the B1 frequency carrier phase and the B2 frequency carrier phase of the Beidou system satellite; and calculating the three-frequency carrier phase ambiguity of whole cycles of the Beidou system satellite to obtain coordinates of Beidou system users. According to the method, single ambiguity parameters are regarded as objects, the solution of carrier phase observation equations is not needed, problems that the change of the geometric configuration of a Beidou system observation satellite is slow, and real-time determination of the ambiguity of whole cycles of the carrier phase is not facilitated can be overcome, the ambiguity of whole cycles of the carrier phase of the single Beidou system is regarded as the object for the calculation of the ambiguity of whole cycles of the carrier phase, the calculation amount is small, and the accuracy is high.

Description

The real-time defining method of a kind of dipper system ambiguity of carrier phase

Technical field

The invention belongs to global position system and location survey technical field, be specifically related to the real-time defining method of a kind of dipper system ambiguity of carrier phase.

Background technology

At present, there is the Beidou satellite navigation system (BeiDouNavigationSatelliteSystem, BDS) of the independent property right of China, formally provide navigator fix service to the Asian-Pacific area; Due to the impact of various factors, the precision of the standard positioning services that dipper system provides is about 10m, and dipper system standard positioning services adopts Pseudo-range Observations, can only meet the requirement of low precision navigator fix; Utilize dipper system carrier phase observation data, locate when can realize the high-precision real of dipper system user; If need to locate when utilizing dipper system carrier phase observation data to realize the high-precision real of dipper system user, its key problem is accurately determining in real time of dipper system carrier phase observation data integer ambiguity.

Dipper system positioning principle is similar to GPS with signal structure, therefore, and the ambiguity of carrier phase real-time resolving method of the real-time defining method over-borrowing mirror of the ambiguity of carrier phase in dipper system hi-Fix or employing gps system.GPS is satellite navigation and location system the most mature and stable at present, and the aspect such as the broadcast ephemeris satellite orbit precision of dipper system and observation data quality will be inferior to gps system, especially at present dipper system operation on orbit satellite contains GEO satellite and IGSO satellite, make the real-time resolving method adopting gps carrier carrier phase observable integer ambiguity, the accurately problem identificatioin in real time of dipper system ambiguity of carrier phase can not be solved well.

In dipper system, the period of motion of IGSO satellite is about 24 hours, GEO satellite is relative to geostationary, determine in the shorter time in real time in dipper system ambiguity of carrier phase, the geometric configuration change of the dipper system operation on orbit satellite that user observes is less; Therefore, the observation satellite geometric configuration that dipper system satellite constellation formation (GEO, IGSO satellite is more) causes is not good, is unfavorable for determining in real time of dipper system ambiguity of carrier phase.

Summary of the invention

For the shortcoming of prior art, the present invention proposes the real-time defining method of a kind of dipper system ambiguity of carrier phase, the method with single blur level parameter for object, first B1 frequency Pseudo-range Observations is utilized, calculate the wide lane integer ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place, then the wide lane integer ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place is used to calculate the wide lane integer ambiguity of B1 frequency carrier phase place and B3 frequency carrier phase place, the wide lane integer ambiguity re-using B1 frequency carrier phase place and B3 frequency carrier phase place calculates the wide lane integer ambiguity of B1 frequency carrier phase place and B2 frequency carrier phase place, the wide lane integer ambiguity of B1 frequency carrier phase place and B2 frequency carrier phase place is finally utilized to calculate B1, B2, B3 tri-is ambiguity of carrier phase frequently.Overcome the geometric configuration change of dipper system observation satellite slowly, and be unfavorable for the problem that ambiguity of carrier phase is determined in real time.

Technical scheme of the present invention is:

The real-time defining method of a kind of dipper system ambiguity of carrier phase, comprises the following steps:

Step 1, utilize the B1 frequency Pseudo-range Observations of dipper system satellite, calculate the B2 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B3 frequency carrier phase place;

The wide lane integer ambiguity of step 2, the B2 frequency carrier phase place utilizing dipper system satellite and B3 frequency carrier phase place, calculates the B1 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B3 frequency carrier phase place;

The wide lane integer ambiguity of step 3, the B1 frequency carrier phase place utilizing dipper system satellite and B3 frequency carrier phase place, calculates the B1 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B2 frequency carrier phase place;

The wide lane integer ambiguity of step 4, the B1 frequency carrier phase place utilizing dipper system satellite and B2 frequency carrier phase place, calculates three frequency ambiguity of carrier phase of dipper system satellite, and then obtains the coordinate of dipper system user.

Described step 1 is carried out as follows:

Step 1-1, dipper system each satellite broadcasts the three non-poor carrier phase observation data data of frequency and the non-poor pseudorange observation Value Datas of B1 frequency to Big Dipper system user receiver;

Step 1-2, to dipper system receiver receive three frequently non-poor carrier phase observation datas and the non-poor Pseudo-range Observations of B1 frequency carry out two subtractive combination;

Step 1-3, utilize B1 frequency two difference Pseudo-range Observations, calculate the wide lane integer ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place.

Beneficial effect:

The present invention proposes the real-time defining method of a kind of dipper system ambiguity of carrier phase, and the method, does not need to solve carrier phase observation equation group for object with single blur level parameter.First B1 frequency Pseudo-range Observations is utilized, calculate the wide lane integer ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place, then the wide lane integer ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place is used to calculate the wide lane integer ambiguity of B1 frequency carrier phase place and B3 frequency carrier phase place, the wide lane integer ambiguity re-using B1 frequency carrier phase place and B3 frequency carrier phase place calculates the wide lane integer ambiguity of B1 frequency carrier phase place and B2 frequency carrier phase place, the wide lane integer ambiguity of B1 frequency carrier phase place and B2 frequency carrier phase place is finally utilized to calculate B1, B2, B3 tri-is ambiguity of carrier phase frequently.Method of the present invention can overcome the geometric configuration change of dipper system observation satellite slowly, and be unfavorable for the problem that ambiguity of carrier phase is determined in real time, and be for object carries out the calculating of ambiguity of carrier phase with single dipper system ambiguity of carrier phase, calculated amount is little, and accuracy is high.The real-time defining method of dipper system ambiguity of carrier phase of the present invention solves the real-time problem identificatioin of integer ambiguity that dipper system is located in real time.

Accompanying drawing explanation

Fig. 1 is the real-time defining method process flow diagram of dipper system ambiguity of carrier phase of an embodiment of the present invention;

Fig. 2 is the particular flow sheet of the step 1 of an embodiment of the present invention;

Fig. 3 is the user coordinates calculated value utilizing dipper system ambiguity of carrier phase and carrier phase observation data to calculate of an embodiment of the present invention and the differential time sequence of the known accurate coordinates of user;

A () is the time series of E direction (east to) dipper system user coordinates calculated value and known accurate coordinates difference;

B () is the time series of N direction (north to) dipper system user coordinates calculated value and known accurate coordinates difference;

C () is the time series of U direction (elevation direction) dipper system user coordinates calculated value and known accurate coordinates difference.

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.

The real-time defining method of a kind of dipper system ambiguity of carrier phase, as shown in Figure 1, comprises the following steps:

Step 1, utilize the B1 frequency Pseudo-range Observations of dipper system satellite, calculate the B2 frequency of dipper system satellite, the wide lane integer ambiguity of B3 frequency carrier phase place.

As shown in Figure 2, idiographic flow is as follows:

Step 1-1, dipper system each satellite broadcasts the three non-poor carrier phase observation data data of frequency and the non-poor pseudorange observation Value Datas of B1 frequency to Big Dipper system user receiver.

The non-poor pseudorange observation equation of dipper system B1 frequency is:

P ₁＝ρ+c·(t-t _S)+Orb+Ion ₁+Trop+ε ₁(1)

Wherein, P ₁for the non-poor Pseudo-range Observations of dipper system B1 frequency; ρ is the initial geometric distance of dipper system satellite to user, and the co-ordinates of satellite provided by user's initial coordinate and dipper system broadcast ephemeris calculates; C is the light velocity; T is survey station receiver clock-offsets, t _sfor dipper system satellite clock correction, unit is second; Orb represents BDS satellite orbital error, and Trop represents tropospheric delay error; Ion ₁represent B1 frequency ionosphere delay error; ε ₁for the observation noise of B1 frequency Pseudo-range Observations.

Dipper system three frequently non-poor carrier phase observation equation is respectively:

λ _i·Φ _i＝ρ+c·(t-t _S)-λ _i·N _i+Orb-Ion _i+Trop(2)

Wherein, λ _ifor the wavelength of dipper system carrier phase observation data, subscript i is 1,2,3, represents B1 frequency, B2 frequency, B3 frequency respectively; Φ _ifor the non-poor carrier phase observation data of dipper system, N _ifor dipper system ambiguity of carrier phase; Ion _ifor dipper system ionosphere delay error; Other symbols are identical with formula (1).

In present embodiment, dipper system B1, B2, B3 tri-frequently non-poor carrier phase observation equation is respectively:

λ ₁·Φ ₁＝ρ+c·(t-t _S)-λ ₁·N ₁+Orb-Ion ₁+Trop

λ ₂·Φ ₂＝ρ+c·(t-t _S)-λ ₂·N ₂+Orb-Ion ₂+Trop

λ ₃·Φ ₃＝ρ+c·(t-t _S)-λ ₃·N ₃+Orb-Ion ₃+Trop

Wherein, the wavelength X of dipper system B1 frequency carrier carrier phase observable ₁for 0.19203m, the wavelength X of dipper system B2 frequency carrier carrier phase observable ₂for 0.24834m, the wavelength X of dipper system B3 frequency carrier carrier phase observable ₃for 0.23633m.

Step 1-2, to dipper system receiver user receive three frequently non-poor carrier phase observation datas and the non-poor Pseudo-range Observations of B1 frequency carry out two subtractive combination, eliminate satellite clock correction, receiver clock-offsets, substantially eliminate ionosphere delay error, tropospheric delay error and satellite orbital error.

Dipper system two difference pseudorange observation equation is:

Δ▽P ₁＝Δ▽ρ+Δ▽Orb+Δ▽Ion ₁+Δ▽Trop+Δ▽ε ₁(3)

Dipper system two difference carrier phase observation equation is:

λ _i·Δ▽Φ _i＝Δ▽ρ-λ _i·Δ▽N _i+Δ▽Orb-Δ▽Ion _i+Δ▽Trop(4)

Wherein, Δ ▽ is two difference operational characters; Δ ▽ P ₁for B1 frequency two difference Pseudo-range Observations; Δ ▽ Φ _ifor two poor carrier phase observation data; Other symbols and formula (1), (2) are identical;

In present embodiment, dipper system B1 frequency two difference carrier phase observation equation, B2 frequency two difference carrier phase observation equation, B3 frequency two difference carrier phase observation equation are respectively:

λ ₁·Δ▽Φ ₁＝Δ▽ρ-λ ₁·Δ▽N ₁+Δ▽Orb-Δ▽Ion ₁+Δ▽Trop

λ ₂·Δ▽Φ ₂＝Δ▽ρ-λ ₂·Δ▽N ₂+Δ▽Orb-Δ▽Ion ₂+Δ▽Trop

λ ₃·Δ▽Φ ₃＝Δ▽ρ-λ ₃·Δ▽N ₃+Δ▽Orb-Δ▽Ion ₃+Δ▽Trop

Step 1-3, utilize B1 frequency two difference Pseudo-range Observations Δ ▽ P ₁, calculate the wide lane integer ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place;

B2 frequency carrier Phase integer ambiguity and B3 frequency carrier Phase integer ambiguity are respectively:

Δ▽N ₂＝Δ▽ρ/λ ₂-Δ▽Φ ₂(5)

Δ▽N ₃＝Δ▽ρ/λ ₃-Δ▽Φ ₃(6)

The wide lane integer ambiguity of dipper system B2 frequency carrier phase place and B3 frequency carrier phase place is

Δ▽N ₃₂＝Δ▽N ₃-Δ▽N ₂＝Δ▽ρ/λ ₃-Δ▽ρ/λ ₂-Δ▽Φ ₃+Δ▽Φ ₂(7)

Wherein, Δ ▽ Φ ₃, Δ ▽ Φ ₂b3 frequency two difference carrier phase observation data, B2 frequency two difference carrier phase observation data respectively; λ ₃, λ ₂be respectively the wavelength of the wavelength of B3 frequency carrier carrier phase observable, B2 frequency carrier carrier phase observable; Δ ▽ ρ is the geometric distance of survey station to satellite, and utilizing survey station coordinate and known co-ordinates of satellite to calculate, comprise the unknown coordinates of user, is unknown-value;

Ignore two difference ionosphere delay error, two poor tropospheric delay error, two poor satellite orbital error residual error affect Δ ▽ Orb+ Δ ▽ Ion ₁+ Δ ▽ Trop, then have:

Δ▽ρ＝Δ▽P ₁-Δ▽ε ₁(8)

Wherein, Δ ▽ P ₁being B1 frequency two difference Pseudo-range Observations, is given value; Δ ▽ ε ₁for the noise of B1 frequency two difference Pseudo-range Observations;

Then bring formula (8) into formula (7):

$\mathrm{\Δ}\▿N_{32}=\left(\frac{{\mathrm{\λ}}_2-{\mathrm{\λ}}_3}{{\mathrm{\λ}}_3\·{\mathrm{\λ}}_2}\right)\·(\mathrm{\Δ}\▿P_1-\mathrm{\Δ}\▿{\mathrm{\ϵ}}_1)-\mathrm{\Δ}\▿{\mathrm{\Φ}}_3+\mathrm{\Δ}\▿{\mathrm{\Φ}}_2---\left(9\right)$

Due to, λ ₂for 0.24834m, λ ₃for 0.23633m, then have:

Δ▽N ₃₂＝0.20463385022·(Δ▽P ₁-Δ▽ε ₁)-Δ▽Φ ₃+Δ▽Φ ₂

For above formula, the calculating of the wide lane ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place, main by Δ ▽ ε ₁impact.

To Δ ▽ N ₃₂value rounds the wide lane integer ambiguity namely determining B2 frequency carrier phase place and B3 frequency carrier phase place, or by the Δ ▽ N of multiple epoch ₃₂average, then round the wide lane integer ambiguity determining B2 frequency carrier phase place and B3 frequency carrier phase place;

The wide lane integer ambiguity of step 2, the B2 frequency carrier phase place utilizing dipper system satellite and B3 frequency carrier phase place, calculates the B1 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B3 frequency carrier phase place;

B1 frequency carrier Phase integer ambiguity and B3 frequency carrier Phase integer ambiguity are respectively:

Δ▽N ₁＝Δ▽ρ/λ ₁-Δ▽Φ ₁(10)

Δ▽N ₃＝Δ▽ρ/λ ₃-Δ▽Φ ₃(11)

The wide lane integer ambiguity of dipper system B1 frequency carrier phase place and B3 frequency carrier phase place:

Δ▽N ₁₃＝Δ▽N ₁-Δ▽N ₃＝Δ▽ρ/λ ₁-Δ▽ρ/λ ₃-Δ▽Φ ₁+Δ▽Φ ₃(12)

Wherein, Δ ▽ Φ ₁, Δ ▽ Φ ₃b1 frequency two difference carrier phase observation data, B3 frequency two difference carrier phase observation data respectively; λ ₁, λ ₃the wavelength of the wavelength of B1 frequency carrier carrier phase observable, B3 frequency carrier carrier phase observable respectively; Δ ▽ ρ comprises the unknown coordinates of dipper system user.

According to the wide lane integer ambiguity Δ ▽ N of the B2 frequency carrier phase place determined and B3 frequency carrier phase place ₃₂calculate Δ ▽ ρ:

$\mathrm{\Δ}\▿\mathrm{\ρ}=\left(\frac{{\mathrm{\λ}}_3\·{\mathrm{\λ}}_2}{{\mathrm{\λ}}_2-{\mathrm{\λ}}_3}\right)\·(\mathrm{\Δ}\▿N_{32}+\mathrm{\Δ}\▿{\mathrm{\Φ}}_3-\mathrm{\Δ}\▿{\mathrm{\Φ}}_2)---\left(13\right)$

Bring Δ ▽ ρ into formula (12), then:

$\mathrm{\Δ}\▿N_{13}=\left(\frac{{\mathrm{\λ}}_3-{\mathrm{\λ}}_1}{{\mathrm{\λ}}_1\·{\mathrm{\λ}}_3}\right)\·\left(\frac{{\mathrm{\λ}}_3\·{\mathrm{\λ}}_2}{{\mathrm{\λ}}_2-{\mathrm{\λ}}_3}\right)\·(\mathrm{\Δ}\▿N_{32}+\mathrm{\Δ}\▿{\mathrm{\Φ}}_3-\mathrm{\Δ}\▿{\mathrm{\Φ}}_2)-\mathrm{\Δ}\▿{\mathrm{\Φ}}_1+\mathrm{\Δ}\▿{\mathrm{\Φ}}_3---\left(14\right)$

Due to, λ ₁for 0.19203m, λ ₂for 0.24834m, λ ₃for 0.23633m, then have:

Δ▽N ₁₃＝4.7702189539·(Δ▽N ₃₂+Δ▽Φ ₃-Δ▽Φ ₂)-Δ▽Φ ₁+Δ▽Φ ₃

At the wide lane integer ambiguity Δ ▽ N of B2 frequency carrier phase place and B3 frequency carrier phase place ₃₂when determining, the value directly calculated formula (14) rounds the wide lane integer ambiguity Δ ▽ N namely determining B1 frequency carrier phase place and B3 frequency carrier phase place ₁₃;

The wide lane integer ambiguity of step 3, the B1 frequency carrier phase place utilizing dipper system satellite and B3 frequency carrier phase place, calculates the B1 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B2 frequency carrier phase place;

B1 frequency carrier Phase integer ambiguity and B2 frequency carrier Phase integer ambiguity are respectively:

Δ▽N ₁＝Δ▽ρ/λ ₁-Δ▽Φ ₁(15)

Δ▽N ₂＝Δ▽ρ/λ ₂-Δ▽Φ ₂(16)

Δ ▽ N ₁₂=Δ ▽ N ₁-Δ ▽ N ₂, then:

Δ▽N ₁₂＝Δ▽ρ/λ ₁-Δ▽ρ/λ ₂-Δ▽Φ ₁+Δ▽Φ ₂(17)

Wherein, Δ ▽ Φ ₁, Δ ▽ Φ ₂b1 frequency two difference carrier phase observation data, B2 frequency two difference carrier phase observation data respectively; λ ₁, λ ₂be respectively the wavelength of the wavelength of B1 frequency carrier carrier phase observable, B2 frequency carrier carrier phase observable; Δ ▽ ρ comprises the unknown coordinates of dipper system.

Wide lane integer ambiguity according to the B1 frequency carrier phase place determined and B3 frequency carrier phase place calculates Δ ▽ ρ:

$\mathrm{\Δ}\▿\mathrm{\ρ}=\left(\frac{{\mathrm{\λ}}_1\·{\mathrm{\λ}}_3}{{\mathrm{\λ}}_3-{\mathrm{\λ}}_1}\right)\·(\mathrm{\Δ}\▿N_{13}+\mathrm{\Δ}\▿{\mathrm{\Φ}}_1-\mathrm{\Δ}\▿{\mathrm{\Φ}}_3)---\left(18\right)$

The Δ ▽ ρ obtained by formula (18) brings formula (17) into, then:

$\mathrm{\Δ}\▿N_{12}=\left(\frac{{\mathrm{\λ}}_2-{\mathrm{\λ}}_1}{{\mathrm{\λ}}_1\·{\mathrm{\λ}}_2}\right)\·\left(\frac{{\mathrm{\λ}}_1\·{\mathrm{\λ}}_3}{{\mathrm{\λ}}_3-{\mathrm{\λ}}_1}\right)\·(\mathrm{\Δ}\▿N_{13}+\mathrm{\Δ}\▿{\mathrm{\Φ}}_1-\mathrm{\Δ}\▿{\mathrm{\Φ}}_3)-\mathrm{\Δ}\▿{\mathrm{\Φ}}_1+\mathrm{\Δ}\▿{\mathrm{\Φ}}_2---\left(19\right)$

Due to, λ ₁for 0.19203m, λ ₂for 0.24834m, λ ₃for 0.23633m, then have:

Δ▽N ₁₂＝1.2096339832·(Δ▽N ₁₃+Δ▽Φ ₁-Δ▽Φ ₃)-Δ▽Φ ₁+Δ▽Φ ₂

At the wide lane integer ambiguity Δ ▽ N of B1 frequency carrier phase place and B3 frequency carrier phase place ₁₃when determining, directly the calculated value of formula (19) is rounded to the wide lane integer ambiguity Δ ▽ N namely determining B1 frequency carrier phase place and B2 frequency carrier phase place ₁₂;

The wide lane integer ambiguity of step 4, the B1 frequency carrier phase place utilizing dipper system satellite and B2 frequency carrier phase place, calculates B1, B2, B3 ambiguity of carrier phase of dipper system satellite, and then obtains the coordinate of dipper system user.

B1 frequency carrier Phase integer ambiguity, B2 frequency carrier Phase integer ambiguity and B3 frequency carrier Phase integer ambiguity are respectively:

Δ▽N ₁＝Δ▽ρ/λ ₁-Δ▽Φ ₁(20)

Δ▽N ₂＝Δ▽ρ/λ ₂-Δ▽Φ ₂(21)

Δ▽N ₃＝Δ▽ρ/λ ₃-Δ▽Φ ₃(22)

Wide lane integer ambiguity according to the B1 frequency carrier phase place determined and B2 frequency carrier phase place calculates Δ ▽ ρ:

$\mathrm{\Δ}\▿\mathrm{\ρ}=\left(\frac{{\mathrm{\λ}}_1\·{\mathrm{\λ}}_2}{{\mathrm{\λ}}_2-{\mathrm{\λ}}_1}\right)\·(\mathrm{\Δ}\▿N_{12}+\mathrm{\Δ}\▿{\mathrm{\Φ}}_1-\mathrm{\Δ}\▿{\mathrm{\Φ}}_2)---\left(23\right)$

The Δ ▽ ρ obtained by formula (23) brings formula (20), (21), (22) respectively into, then:

$\mathrm{\Δ}\▿N_1=\frac{1}{{\mathrm{\λ}}_1}\·\left(\frac{{\mathrm{\λ}}_1\·{\mathrm{\λ}}_2}{{\mathrm{\λ}}_2-{\mathrm{\λ}}_1}\right)\·(\mathrm{\Δ}\▿N_{12}+\mathrm{\Δ}\▿{\mathrm{\Φ}}_1-\mathrm{\Δ}\▿{\mathrm{\Φ}}_2)-\mathrm{\Δ}\▿{\mathrm{\Φ}}_1---\left(24\right)$

$\mathrm{\Δ}\▿N_2=\frac{1}{{\mathrm{\λ}}_2}\·\left(\frac{{\mathrm{\λ}}_1\·{\mathrm{\λ}}_2}{{\mathrm{\λ}}_2-{\mathrm{\λ}}_1}\right)\·(\mathrm{\Δ}\▿N_{12}+\mathrm{\Δ}\▿{\mathrm{\Φ}}_1-\mathrm{\Δ}\▿{\mathrm{\Φ}}_2)-\mathrm{\Δ}\▿{\mathrm{\Φ}}_2---\left(25\right)$

$\mathrm{\Δ}\▿N_3=\frac{1}{{\mathrm{\λ}}_3}\·\left(\frac{{\mathrm{\λ}}_1\·{\mathrm{\λ}}_2}{{\mathrm{\λ}}_2-{\mathrm{\λ}}_1}\right)\·(\mathrm{\Δ}\▿N_{12}+\mathrm{\Δ}\▿{\mathrm{\Φ}}_1-\mathrm{\Δ}\▿{\mathrm{\Φ}}_2)-\mathrm{\Δ}\▿{\mathrm{\Φ}}_3---\left(26\right)$

Due to, λ ₁for 0.19203m, λ ₂for 0.24834m, λ ₃for 0.23633m, then have:

Δ▽N ₁＝4.4102290889·(Δ▽N ₁₂+Δ▽Φ ₁-Δ▽Φ ₂)-Δ▽Φ ₁

Δ▽N ₂＝3.4102290889·(Δ▽N ₁₂+Δ▽Φ ₁-Δ▽Φ ₂)-Δ▽Φ ₂

Δ▽N ₃＝3.5835327379·(Δ▽N ₁₂+Δ▽Φ ₁-Δ▽Φ ₂)-Δ▽Φ ₃

At the wide lane integer ambiguity Δ ▽ N of B1 frequency carrier phase place and B2 frequency carrier phase place ₁₂when determining, the calculated value of formula (24), (25), (26) is rounded and namely determines B1 frequency carrier Phase integer ambiguity Δ ▽ N ₁, B2 frequency carrier Phase integer ambiguity Δ ▽ N ₂, B3 frequency carrier Phase integer ambiguity Δ ▽ N ₃;

The ambiguity of carrier phase determined is utilized to calculate the coordinate of dipper system user.Fig. 3 (a) ~ (c) is respectively the differential time sequence of dipper system user coordinates calculated value on the different directions of calculating and known accurate coordinates, and wherein (a) is the time series of E direction (east to) dipper system user coordinates calculated value and known accurate coordinates difference; B () is the time series of N direction (north to) dipper system user coordinates calculated value and known accurate coordinates difference; C () is the time series of U direction (elevation direction) dipper system user coordinates calculated value and known accurate coordinates difference.The positioning result difference in E, N, U tri-directions is centimetre-sized, its precision is respectively 0.0235 meter, E direction, 0.0251 meter, N direction, 0.0403 meter, U direction, can show that the ambiguity of carrier phase of dipper system user is accurately fixed, high-precision user coordinates can be obtained.

Claims (2)

1. the real-time defining method of dipper system ambiguity of carrier phase, is characterized in that, comprise the following steps:

Step 1, utilize the B1 frequency Pseudo-range Observations of dipper system satellite, calculate the B2 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B3 frequency carrier phase place;

The wide lane integer ambiguity of step 2, the B2 frequency carrier phase place utilizing dipper system satellite and B3 frequency carrier phase place, calculates the B1 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B3 frequency carrier phase place;

The wide lane integer ambiguity of step 3, the B1 frequency carrier phase place utilizing dipper system satellite and B3 frequency carrier phase place, calculates the B1 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B2 frequency carrier phase place;

The wide lane integer ambiguity of step 4, the B1 frequency carrier phase place utilizing dipper system satellite and B2 frequency carrier phase place, calculates three frequency ambiguity of carrier phase of dipper system satellite, and then obtains the coordinate of dipper system user.

2. the real-time defining method of dipper system ambiguity of carrier phase according to claim 1, it is characterized in that, described step 1 is carried out as follows:

Step 1-1, dipper system each satellite broadcasts the three non-poor carrier phase observation data data of frequency and the non-poor pseudorange observation Value Datas of B1 frequency to Big Dipper system user receiver;

Step 1-2, to dipper system receiver receive three frequently non-poor carrier phase observation datas and the non-poor Pseudo-range Observations of B1 frequency carry out two subtractive combination;

Step 1-3, utilize B1 frequency two difference Pseudo-range Observations, calculate the wide lane integer ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place.