CN105842719B - A kind of CORS base station net baseline Ambiguity Solution Methods for taking troposphere influence into account - Google Patents
A kind of CORS base station net baseline Ambiguity Solution Methods for taking troposphere influence into account Download PDFInfo
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- CN105842719B CN105842719B CN201610152774.5A CN201610152774A CN105842719B CN 105842719 B CN105842719 B CN 105842719B CN 201610152774 A CN201610152774 A CN 201610152774A CN 105842719 B CN105842719 B CN 105842719B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Abstract
The invention discloses a kind of CORS base station net baseline Ambiguity Solution Methods for taking troposphere influence into account, the dual-frequency data acquired by geodetic type receiver arranges vertical GNSS double difference observation equation；The detection and reparation of cycle slip are carried out using the actual distance of satellite to receiver；By using MW combination observation, the solution and verifying of wide lane ambiguity are carried out；It is write as the product of projection function Yu website zenith tropospheric delay by the tropospheric delay error by baseline both ends, arranges vertical Kalman filtering observational equation, found Kalman filtering state equation side by side；By filtering out the floating point values of L1 integer ambiguity to the smooth of Kalman filter；The L1 integer ambiguity floating point values gone out to Kalman filtering scans for；The L1 integer ambiguity obtained to search is verified.The present invention takes full advantage of the characteristic that benchmark station coordinates is accurately known in network RTK, has very high precision, can detect and repair small cycle slip.
Description
Technical field
The present invention relates to GNSS Carrier Phase Ambiguity Resolution field, specifically a kind of CORS base station for taking troposphere influence into account
Net baseline Ambiguity Solution Methods.
Background technique
CORS system is that navigation signal correction amount and auxiliary positioning signal are broadcast by GCS Ground Communication System, is provided a user
Centimeter Level to sub-meter grade precision positioning and public terminal auxiliary enhancing service, CORS system realizes the primary of Dynamic High-accuracy positioning
Condition is the accurate determination of integer ambiguity between base station.In CORS system, the technology used is known as technology of network RTK.?
In technology of network RTK, the determination of the baseline fuzziness between base station is its core technology.Due between the base station of network RTK
Baseline length is generally at a distance of 50 kilometers or more, even if the spatial coherences error such as ionosphere and troposphere numerical value after double difference
Also larger, therefore ionosphere and tropospheric influence cannot be removed by simple differential mode, and must be with fuzziness together
It solves and.The processing mode of current ionosphere delay and tropospheric delay is generally, and is eliminated and is ionized using no ionospheric combination
The influence of layer delay uses the influence of troposphere observation model estimation tropospheric delay.Tropospheric delay is broadly divided into dry component
With two parts of hygroscopic water amount, wherein dry component can estimate 90% with model, hygroscopic water amount can only estimate 70%, and tropospheric value is not
The estimation of integer ambiguity may correctly be will affect.If proposition in doctor Gao Xingwei 2002 is in network RTK base station single epoch
In Carrier Phase Ambiguity Resolution algorithm, the search of L1 fuzziness is carried out using the relevant information between L1/L2, wherein tropospheric error
Method with regard to being calculated using model causes search efficiency and accuracy to decline so that search has certain inaccuracy.
Summary of the invention
Troposphere shadow is taken into account the purpose of the present invention is to provide a kind of search efficiency with higher and searching accuracy
Loud CORS base station net baseline Ambiguity Solution Methods.
To achieve the above object, the present invention provides the following technical solutions：
A kind of CORS base station net baseline Ambiguity Solution Methods for taking troposphere influence into account, include the following steps：
Step 1, the GNSS dual-frequency data acquired according to geodetic type receiver eliminates the rough error in GNSS dual-frequency data, column
Vertical double difference observation equation；
Step 2, on the vertical double difference observation equation basis of step 1 column, it is contemplated that in network RTK known to benchmark station coordinates
This feature carries out cycle-slip detection and repair work；
Step 3, on the basis of double difference observation that cycle slip has been eliminated in step 2, using MW combination observation into
The solution and verifying work of line width lane ambiguity；
Step 4, according to tropospheric delay error the characteristics of is write tropospheric delay error as website zenith tropospheric delay
With the product of projection function, Kalman filtering observational equation is formed；According to website zenith tropospheric delay and L1 integral circumference ambiguity
The characteristics of spending forms Kalman filtering state equation；
Step 5, on the basis of Kalman filtering observational equation and state equation in step 4, discrete system is used
Kalman filter model solved, filter out the floating point values of L1 integer ambiguity；
Step 6, according to the relationship between L1 integer ambiguity and L2 integer ambiguity, in the L1 integer ambiguity filtered out
Floating point values scans for up and down, determines L1 integer ambiguity；
Step 7, according to this accurately known feature of benchmark station coordinates in network RTK, to the L1 complete cycle mould determined in step 6
Paste degree is verified.
As a further solution of the present invention：In the step 1, specific implementation is connect according to geodetic type receiver
The GNSS dual-frequency data received, carries out a difference of standing first between base station, obtains single poor observational equation；From considerable between base station
The best satellite of selection elevation angle highest observation quality is poor by the list of other satellites as reference satellite in the public satellite measured
Single eikonal equation of equation and reference satellite makes the difference, to arrange vertical double difference observation equation.
As a further solution of the present invention：In the step 2, the specific works for carrying out cycle-slip detection and repair are as follows：
For every satellite, in network RTK Baselines, since benchmark station coordinates is accurately known, between satellite and website away from
From can accurately calculate；Multiplied by the wave of the carrier phase observation data after carrier phase observation data is added with integer ambiguity
It is long, the measurement distance of you can get it carrier phase observation data；Carrier phase observation data measure apart from front and back epoch difference with defend
Only baseline is poor by three in the difference of epoch before and after star to base station actual distance（For difference between epoch is carried out after double difference again）
Ionosphere Residual Error afterwards, the influence of troposphere residual error and noise, theoretically its value should be 0：
；
；
；
Wherein：Indicate observation satellite number；Indicate that current epoch observes the moment,Indicate upper epoch observation
Moment；Difference of the front and back epoch satellite to receiver actual distance；、For front and back epoch L1 and L2 carrier wave phase
Position observation difference, as unit of m；
The difference and L1 carrier phase observation data for comparing satellite to epoch actual distance before and after base station are measured apart from front and back
The difference of epoch seeks the absolute value after difference, when it is greater than threshold value, threshold value is one third wavelength, that is, is thought
Cycle slip occurs on L1 carrier wave at this time；For L2；If sent out on L1 carrier phase observation data or L2 carrier phase observation data
Raw cycle slip, can repair cycle slip with following formula：
；
；
Detection of Cycle-slip is carried out using the above method, takes full advantage of the characteristic that benchmark station coordinates is accurately known in network RTK,
With very high precision, it can detect and repair small cycle slip.
As a further solution of the present invention：In the step 3, is combined using MW and carry out the solution of wide lane ambiguity and test
Specific step is as follows for card：
Step 3.1, wide lane ambiguity is solved between single epoch using MW combination, MW combination solves wide lane ambiguity and can write
At following form：
；
Wherein：For the wide lane ambiguity of double difference；For wavelength；For the wide lane observation of double difference
Amount；,The double difference Pseudo-range Observations of respectively L1 and L2；,The respectively corresponding wavelength of L1 and L2 carrier wave；
Step 3.2, to the wide lane ambiguity and the wide lane with actual distance solution solved with MW combination single epoch observation
Fuzziness is compared, and in conjunction with the resolving numerical analysis to above two wide lane ambiguity, sets two fuzziness difference thresholds；
If two values of ambiguity differ by more than 0.25 week, then it is assumed that contain rough error in MW combination, this group of MW combination observation is picked
It removes；
Step 3.3, the wide lane ambiguity solved between single epoch is carried out epoch smoothly, to eliminate the influence of noise.
As a further solution of the present invention：In the step 4, Kalman filtering state equation and the vertical tool of observational equation column
Steps are as follows for body：
Step 4.1, according to tropospheric delay error the characteristics of, tropospheric delay error can be by projection function and websites
Zenith tropospheric delay indicates：
；
For dry component, model can be repaired accurately, therefore use model value；For wet component, double difference
Troposphere influence is represented by：
；
Wherein：Indicate observation satellite,Indicate reference satellite；,It respectively indicates
The zenith tropospheric delay of baseline both ends base station；
Step 4.2, Kalman filtering observational equation and state equation, which can arrange, stands into：
；
Wherein：,,,Value for
The difference of observation satellite and reference satellite projection function in survey station；
In system mode modeling, general handleRegard random walk process as,Then it is set as random constant.
As a further solution of the present invention：In the step 5, Kalman filtering observation model is：
；
Wherein：J subscript indicates corresponding satellite；N is observation satellite number.
As a further solution of the present invention：In the step 6, according between L1 integer ambiguity and L2 integer ambiguity
Relationship, scanned for above and below the L1 integer ambiguity floating point values filtered out, determine L1 integer ambiguity, be implemented as
Relational expression between L1 integer ambiguity and L2 integer ambiguity passes through simple transformation, can be write as：
；
According to the floating-point N1 that Kalman filtering goes out, scanned in a certain range at left and right sides of it, most by V times in above formula
Small value absolute valueWith minimum value absolute value ratioAsValue：
；
WhenWhen value is greater than given threshold value 3, it is believed that at this timeCorresponding one group of N1 and N2 is correct.
As a further solution of the present invention：In the step 7, according to benchmark station coordinates in network RTK it is accurately known this
One feature verifies the L1 integer ambiguity determined in step 6, forms without ionospheric combination observational equation：
；
Wherein：, for no ionospheric combination observation；,
For no ionospheric combination double difference fuzziness；For no ionospheric combination wavelength；R is satellite to base station actual distance double difference value.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention takes full advantage of the characteristic that benchmark station coordinates is accurately known in network RTK, has very high precision, can be with
It detects and repairs small cycle slip；The present invention not only search efficiency with higher, and the accuracy searched for also obtains big promotion.
Detailed description of the invention
Fig. 1 is the working principle of the invention flow chart.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
Embodiment 1
Referring to Fig. 1, in the embodiment of the present invention, a kind of CORS base station net baseline solution of fuzzy degree for taking troposphere influence into account
Calculation method, the GNSS data being related to include the GPS in the U.S., Russian GLONASS, the satellite navigation and positionings such as Chinese BDS system
It unites corresponding GNSS data, hard disk can be used and do data storage.Computer can be used in the specific implementation and carry out algorithm reality by the present invention
Existing, specific implementation flow is shown in Fig. 1, mainly includes：According to the GNSS dual-frequency data of the earth type receiver acquisition received, disappear
Except the rough error in GNSS dual-frequency data, vertical double difference observation equation is arranged；By this feature known to benchmark station coordinates in network RTK,
The detection and reparation of cycle slip are carried out using the actual distance of satellite to receiver；By using MW combination observation, wide lane is carried out
The solution of fuzziness；By being write the tropospheric delay error at baseline both ends as projection function and website zenith tropospheric delay
Product arranges vertical Kalman filtering observational equation, and according to Lie Lika the characteristics of website zenith tropospheric delay and integer ambiguity
Kalman Filtering state equation；By filtering out the floating point values of L1 integer ambiguity to the smooth of Kalman filter；It is whole by L1
Relation information between all fuzzinesses and L2 integer ambiguity, the L1 integer ambiguity floating point values gone out to Kalman filtering are searched
Rope；By this feature known to network RTK baseline coordinate, the L1 integer ambiguity obtained to search is verified.
Now above steps is described in detail：
Step 1, it according to the GNSS dual-frequency data of the earth type receiver acquisition received, eliminates in GNSS dual-frequency data
Rough error arranges vertical double difference observation equation, and specific implementation is the GNSS dual-frequency data received according to the earth type receiver, first
A difference of standing is carried out between base station, obtains single poor observational equation.Ginseng is chosen from the public satellite that can observe between base station
Satellite is examined, the selection principle of reference satellite is that elevation of satellite is greater than 50 degree, when elevation of satellite is less than given threshold value 50,
Again the highest satellite of elevation of satellite is chosen as reference satellite.The list of single eikonal equation of other satellites and reference satellite is poor
Equation makes the difference, to arrange vertical double difference observation equation.
Step 2, the detection and reparation of cycle slip are carried out using the actual distance of satellite to receiver, specific works are as follows：?
In network RTK Baselines, since benchmark station coordinates is accurately known, the distance between satellite and website can be calculated accurately
Out, therefore to each satellite it is handled as follows, for carrier phase observation data, carrier phase observation data and integer ambiguity
Multiplied by the wavelength of the carrier phase observation data after addition, the measurement distance of you can get it carrier phase observation data；In complete cycle mould
In the case that paste degree not yet determines, integer ambiguity can be eliminated by doing difference between the epoch of front and back；Before and after carrier phase
The double difference ionosphere of only front and back epoch baseline is residual in the difference of epoch before and after distance between the difference and satellite and website of epoch
Difference, the difference of double difference troposphere residual error and double difference noise, theoretically its value should be 0；
；
；
；
Wherein：Indicate observation satellite number；Indicate that current epoch observes the moment,Indicate upper epoch observation
Moment；Difference of the front and back epoch satellite to receiver actual distance；、For front and back epoch L1 and L2 carrier wave phase
Position observation difference, as unit of m；
Compare front and back epoch satellite to the difference of receiver actual distance and the absolute value of L1 carrier phase observation data, when it is greater than threshold value（One third wavelength）, that is, think that cycle slip occurs on L1 carrier wave at this time；Also for L2
So；If cycle slip occurs on L1 carrier phase observation data or L2 carrier phase observation data, cycle slip can be repaired：
；
；
Detection of Cycle-slip is carried out using the above method, takes full advantage of the characteristic that benchmark station coordinates is accurately known in network RTK,
With very high precision, it can detect and repair small cycle slip.
Step 3, by MW combination observation, the solution and verifying of wide lane ambiguity are carried out, specific step is as follows：
Step 3.1, wide lane ambiguity is solved between single epoch using MW combination, MW combination solves wide lane ambiguity and can write
At following form：
；
Wherein：For the wide lane ambiguity of double difference；For wavelength；For the wide lane observation of double difference
Amount；,The double difference Pseudo-range Observations of respectively L1 and L2, about 86cm；,Respectively L1 and L2 carrier wave is corresponding
Wavelength.
Step 3.2, to the wide lane ambiguity and the wide lane with actual distance solution solved with MW combination single epoch observation
Fuzziness is compared, and in conjunction with the resolving numerical analysis to above two wide lane ambiguity, sets two fuzziness difference thresholds.
If two values of ambiguity differ by more than 0.25 week, then it is assumed that contain rough error in MW combination, this group of MW combination observation is picked
It removes.
Step 3.3, the wide lane ambiguity solved between single epoch is carried out epoch smoothly, to eliminate the influence of noise.
Step 4, vertical specific step is as follows for Kalman filtering state equation and observational equation column：
Step 4.1, according to tropospheric delay error the characteristics of, tropospheric delay error can be by projection function and websites
Zenith tropospheric delay indicates；
；
For dry component, model can be repaired accurately, therefore use model value；For wet component, double difference
Troposphere influence is represented by：
；
Wherein：Indicate observation satellite,Indicate reference satellite；,It respectively indicates
The zenith tropospheric delay of baseline both ends base station；
Step 4.2, Kalman filtering observational equation and state equation, which can arrange, stands into：
；
Wherein：,,,Value for
The difference of observation satellite and reference satellite projection function in survey station；
Step 5, by filtering out the floating point values of L1 integer ambiguity to the smooth of Kalman filter；Wherein Kalman
Filtering observation model is：
；
Wherein：J subscript indicates corresponding satellite；N is observation satellite number；
In system mode modeling, general handleRegard random walk process as,Then it is set as random constant.
Step 6, according to the relationship between L1 integer ambiguity and L2 integer ambiguity, in the L1 integer ambiguity filtered out
Floating point values scans for up and down, determines L1 integer ambiguity, the specific implementation steps are as follows：
Relational expression between L1 integer ambiguity and L2 integer ambiguity crosses simple transformation, can be write as：
；
According to the floating-point N1 that Kalman filtering goes out, scanned in a certain range at left and right sides of it, most by V times in above formula
Small value absolute valueWith minimum value absolute valueRatio conductValue；
；
WhenWhen value is greater than given threshold value 3, it is believed that at this timeCorresponding one group of N1 and N2 is correct.
Step 7, according to this accurately known feature of benchmark station coordinates in network RTK, to determining L1 integer ambiguity into
Row verifying；Composition is without ionospheric combination observational equation：
；
Wherein：, for no ionospheric combination observation；,
For no ionospheric combination double difference fuzziness；For no ionospheric combination wavelength；R is satellite to base station actual distance double difference value.
The present invention takes full advantage of the characteristic that benchmark station coordinates is accurately known in network RTK, has very high precision, can be with
It detects and repairs small cycle slip；The present invention not only search efficiency with higher, and the accuracy searched for also obtains big promotion.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of CORS base station net baseline Ambiguity Solution Methods for taking troposphere influence into account, which is characterized in that including following
Step：
Step 1, the GNSS dual-frequency data acquired according to geodetic type receiver eliminates the rough error in GNSS dual-frequency data, arranges vertical double
Poor observational equation；
Step 2, on the vertical double difference observation equation basis of step 1 column, it is contemplated that benchmark station coordinates in network RTK it is known that into
The work of row cycle-slip detection and repair；
Step 3, it on the basis of double difference observation that cycle slip has been eliminated in step 2, is carried out using MW combination observation wide
The solution and verifying work of lane ambiguity；
Step 4, according to tropospheric delay error the characteristics of is write tropospheric delay error as website zenith tropospheric delay and is thrown
The product of shadow function forms Kalman filtering observational equation；According to website zenith tropospheric delay and L1 integer ambiguity
Feature forms Kalman filtering state equation；
Step 5, on the basis of Kalman filtering observational equation and state equation in step 4, the card of discrete system is used
Kalman Filtering model is solved, and the floating point values of L1 integer ambiguity is filtered out；
Step 6, according to the relationship between L1 integer ambiguity and L2 integer ambiguity, in the L1 integer ambiguity floating-point filtered out
Value scans for up and down, determines L1 integer ambiguity；
Step 7, accurately known according to benchmark station coordinates in network RTK, the L1 integer ambiguity determined in step 6 is tested
Card；
In the step 2, the specific works for carrying out cycle-slip detection and repair are as follows：In network RTK Baselines, due to benchmark
Station coordinates is accurately known, therefore each satellite is handled as follows, its carrier phase observation data is added with integer ambiguity
Later multiplied by the wavelength of the carrier phase observation data, the measurement distance of carrier phase observation data is obtained；Integer ambiguity not yet
In the case where determination, integer ambiguity is eliminated by doing difference between the epoch of front and back；Before and after carrier phase the difference of epoch with
There was only the double difference Ionosphere Residual Error of front and back epoch baseline, double difference troposphere between satellite and website before and after distance in the difference of epoch
The difference of residual error and double difference noise, theoretically its value is 0：
Δ D=Dj(tk)-Dj(tk-1)；
ΔL1=L1(tk)-L1(tk-1)；
ΔL2=L2(tk)-L2(tk-1)；
Wherein：J indicates observation satellite number；tkIndicate that current epoch observes the moment, tk-1Indicated that a upper epoch observed the moment；ΔD
Difference of the front and back epoch satellite to receiver actual distance；ΔL1、ΔL2It is poor for front and back epoch L1 and L2 carrier phase observation data
Value, as unit of m；
Compare front and back epoch satellite to receiver actual distance difference and front and back epoch L1 carrier phase observed difference, the two
The absolute value that difference is subtracted each other | Δ D- Δ L1|, when it is greater than threshold value, the threshold value is one third wavelength, that is, thinks L1 load at this time
Cycle slip occurs on wave；For L2；If cycle slip occurs on L1 carrier phase observation data or L2 carrier phase observation data,
Cycle slip is repaired using following formula：
λ1, λ2The respectively corresponding wavelength of L1 and L2 carrier wave.
2. the CORS base station net baseline Ambiguity Solution Methods according to claim 1 for taking troposphere influence into account, special
Sign is, in the step 1, specific implementation is the GNSS dual-frequency data received according to geodetic type receiver, first
A difference of standing is carried out between base station, obtains single poor observational equation；Reference is chosen from the public satellite observed between base station
Satellite, the selection principle of reference satellite is that elevation of satellite is greater than 50 degree, when elevation of satellite is less than given threshold value 50, weight
The new highest satellite of elevation of satellite of choosing is as reference satellite；By the poor side of list of the single eikonal equation and reference satellite of other satellites
Journey makes the difference, to arrange vertical double difference observation equation.
3. the CORS base station net baseline Ambiguity Solution Methods according to claim 1 for taking troposphere influence into account, special
Sign is, in the step 3, the solution and verifying for carrying out wide lane ambiguity is combined using MW, specific step is as follows：
Step 3.1, wide lane ambiguity is solved between single epoch using MW combination, MW combination solves wide lane ambiguity and is expressed as：
Wherein：NwFor the wide lane ambiguity of double difference；λwFor wavelength；Lw=L1-L2For the wide lane observed quantity of double difference；P1, P2Respectively L1 and L2
Double difference Pseudo-range Observations；λ1, λ2The respectively corresponding wavelength of L1 and L2 carrier wave；
Step 3.2, to the wide lane ambiguity and the wide lane ambiguity with actual distance solution solved with MW combination single epoch observation
Degree is compared, and in conjunction with the resolving numerical analysis to above two wide lane ambiguity, sets two wide lane ambiguity difference threshold；
If two wide lane ambiguity angle value differs by more than 0.25 week, then it is assumed that contain rough error in MW combination, by this group of MW combination observation
Value is rejected；
Step 3.3, the wide lane ambiguity solved between single epoch is carried out epoch smoothly, to eliminate the influence of noise.
4. the CORS base station net baseline Ambiguity Solution Methods according to claim 1 for taking troposphere influence into account, special
Sign is, in the step 4, Kalman filtering state equation and observational equation column are vertical, and specific step is as follows：
Step 4.1, according to tropospheric delay error the characteristics of, tropospheric delay error is by projection function and website zenith convection current
Layer delay indicates：
DTrop=MdryTzddry+MwetTzdwet；
For dry component, model value is used；For wet component, the influence of double difference troposphere is expressed as：
Dwet=(Mwet j-Mwet Ref)*(TzdBase1-TzdBase2)；
Wherein：J indicates that observation satellite, Ref indicate reference satellite；TzdBase1, TzdBase2Respectively indicate baseline both ends base station
Zenith tropospheric delay；
Step 4.2, Kalman filtering observational equation and state equation column are stood into：
K1L1-K2(L2-Nw)-R-DryModle=Δ Mwet*ΔTzd+K3N1；
Wherein：K3=K2-K1, Δ MwetValue is the observation satellite in survey station and ginseng
Examine the difference of satellite projection function；NwFor the wide lane ambiguity of double difference；R is satellite to base station actual distance double difference value；λ1, λ2Point
It Wei not the corresponding wavelength of L1 and L2 carrier wave；
In the modeling of above system state, Tzd is regarded as random walk process, N1Then it is set as random constant.
5. the CORS base station net baseline Ambiguity Solution Methods according to claim 4 for taking troposphere influence into account, special
Sign is, in the step 5, Kalman filtering observation model is：
Wherein：J subscript indicates corresponding satellite；N is observation satellite number.
6. the CORS base station net baseline Ambiguity Solution Methods according to claim 5 for taking troposphere influence into account, special
Sign is, in the step 6, according to the relationship between L1 integer ambiguity and L2 integer ambiguity, in the L1 complete cycle filtered out
Fuzziness floating point values scans for up and down, determines L1 integer ambiguity, is implemented as L1 integer ambiguity and L2 complete cycle mould
Relational expression between paste degree is by simple transformation：
V=N2-K4(L1+N1)-K5(R+DryModle+ΔMwet*ΔTzd)+L2；
The N gone out according to Kalman filtering1, it is scanned in a certain range at left and right sides of it, V minimum value in above formula is absolute
Value | VSecMin| with minimum value absolute value | VMin| ratio is as Ratio value：
When Ratio value is greater than given threshold value 3, illustrate at this time | VMin| corresponding one group of N1With N2It is correct.
7. the CORS base station net baseline Ambiguity Solution Methods according to claim 6 for taking troposphere influence into account, special
Sign is, in the step 7, according to this accurately known feature of benchmark station coordinates in network RTK, to the L1 determined in step 6
Integer ambiguity is verified, and is formed without ionospheric combination observational equation：
(Lc+Nc)λc=R+DryModle+ΔMwet*ΔTzd+ε；
Wherein：Lc=f1L1-f2L2, for no ionospheric combination observation；Nc=f1N1-f2N2, fuzzy for no ionospheric combination double difference
Degree；λcFor no ionospheric combination wavelength；R is satellite to base station actual distance double difference value.
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