CN107102341B - A kind of GNSS precision speed-measuring method based on amendment Doppler observation - Google Patents
A kind of GNSS precision speed-measuring method based on amendment Doppler observation Download PDFInfo
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- CN107102341B CN107102341B CN201710286290.4A CN201710286290A CN107102341B CN 107102341 B CN107102341 B CN 107102341B CN 201710286290 A CN201710286290 A CN 201710286290A CN 107102341 B CN107102341 B CN 107102341B
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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
- G01S19/52—Determining velocity
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to a kind of GNSS precision speed-measuring methods based on amendment Doppler observation, using the raw carrier phase observation of GNSS receiver output to time derivation, obtain export Doppler observation, it exports Doppler observation and combines original Doppler observation, construction symbol corrects function；When original Doppler observation is not consistent with the Doppler that the actual motion of dynamic carrier generates, original Doppler observation is judged and corrected using symbol correction function；It tests the speed using by modified Doppler observation, obtains the correct movement velocity of dynamic carrier.Through the invention, GNSS receiver internal signal treatment process need not be investigated, it can ensure that the rate results for calculating dynamic carrier using the Doppler observation of GNSS under any circumstance are correct always reliable, it tests the speed the technical need in field to meet GNSS navigator fix, technical support can be provided for the hardware and software product that GNSS tests the speed.
Description
Technical field
The invention belongs to the technical fields of Global Navigation Satellite System positioning-speed-measuring, more particularly to one kind is based on amendment
The GNSS precision speed-measuring method of Doppler observation.
Background technique
Currently, Global Navigation Satellite System (global navigation satellite system, GNSS) is extensively
Ground is applied to scientific researches and the engineer application fields such as geodesic survey, space science, geophysics and meteorology.Such as: sea, land and air
PNT in range, i.e. positioning (positioning), navigation (navigation) and time service (timing), Orbit determination for LEOs,
The positioning of static and dynamic precision, dynamic carrier test the speed and determine appearance, ocean surface monitoring, atmospheric research etc..GNSS technology has been made
For advanced measurement means and new productivity, each application of the development of the national economy, national defense construction and social development has been incorporated
Field.
GNSS velocity measuring technique plays an important role in the precision of dynamic carrier tests the speed: such as airborne gravity measurement, vehicle
Navigator fix etc..
In the prior art, there are three types of common GNSS speed-measuring methods:
(1) based on the position result of the GNSS dynamic carrier determined directly to time method of derivation；
(2) it is based on the original Doppler observation velocimetry of GNSS；
(3) Doppler velocimetry is exported based on GNSS carrier phase.
These three methods respectively have advantage and disadvantage: first method due to be using between position result epoch to time derivation, because
This, required speed is the average speed between epoch；Second method is one based on original Doppler observation, required speed
Kind instantaneous velocity, theoretical model is more stringent, but since original Doppler observation observation noise is larger, speed knot
The noise of fruit is also big；The third method is also the average speed between epoch, but since carrier phase exports Doppler noise
It is small, the rate results of degree of precision can be obtained in aircraft smooth flight.Since second method theoretical model is most stringent,
The field of testing the speed the GNSS of high dynamic motion carrier still has apparent advantage.
However, when using being tested the speed based on the original Doppler observation velocimetry of GNSS, due to GNSS receiver output
Original Doppler observation is not consistent with dynamic carrier actual motion and the Doppler effect of output sometimes, then will lead to institute
The rate results asked are wrong.The reason of this phenomenon occur is the GNSS receiver internal signal tupe that different manufacturers produce
Different, there is difference in the sign so as to cause the original Doppler observation of output.It to distinguish for a user every
The mode of kind model receiver output Doppler result, is very complicated work.Therefore, there is an urgent need for one kind can ignore that respectively
The difference of kind GNSS receiver internal signal tupe, and the Doppler speed-measuring method of simple general-purpose.
In conclusion how to solve in the prior art be based on the original Doppler observation velocimetry of GNSS in because of GNSS
The difference of receiver internal signal tupe, the original Doppler observation of caused GNSS receiver output sometimes with
The Doppler effect of dynamic carrier actual motion and output is not consistent, and eventually leads to the wrong problem of required rate results, still
Lack effective solution scheme.
Summary of the invention
The present invention to solve the above-mentioned problems, overcomes in the prior art using based on the original Doppler observation of GNSS
During velocimetry is tested, since the GNSS receiver internal signal tupe of different brands is different, lead to part
The symbol and dynamic carrier of the original Doppler observation of GNSS receiver output move and the Doppler effect not phase of generation
Symbol occurs and real motion speed side so as to cause the speed directly using dynamic carrier required by original Doppler observation
To opposite or wrong velocity amplitude problem, a kind of GNSS precision speed-measuring method based on amendment Doppler observation is provided, it should
Method ensures to make any receiver at any time in the case where not taking GNSS receiver internal signal treatment process into account
Correct rate results can be calculated with original Doppler observation.
To achieve the goals above, the present invention is using a kind of following technical solution:
A kind of GNSS precision speed-measuring method based on amendment Doppler observation, this method are exported based on GNSS receiver
Raw carrier phase observation and original Doppler observation, specific steps include:
(1) is obtained by export Doppler and is seen for time derivation using the raw carrier phase observation of GNSS receiver output
Measured value, export Doppler observation combine original Doppler observation, and construction symbol corrects function；
(2) it when original Doppler observation is not consistent with the Doppler that the actual motion of dynamic carrier generates, utilizes
The symbol correction function is judged and is corrected to original Doppler observation；
(3) it tests the speed using by modified Doppler observation, obtains the correct movement velocity of dynamic carrier.
Further, the raw carrier phase observation of GNSS receiver output include: single-frequency, double frequency, multifrequency and
The raw carrier phase of the emitted signal of each frequency of GNSS；
The observation model of raw carrier phase observation based on GNSS receiver output are as follows:
Wherein, s indicates GNSS satellite number；R indicates the GNSS receiver being fixed on dynamic carrier number；J expression is defended
Star signal frequency；Indicate the carrier phase observation data from satellite s to receiver r frequency for j；Indicate receiver r to defending
Theoretical geometric distance between star s；Indicate the wavelength for the electromagnetic wave signal that the frequency of GNSS satellite s transmitting is j；C is vacuum
In the light velocity；dtrAnd dtsRespectively indicate receiver clock-offsets and satellite clock correction；WithIt respectively indicates in signal propagation path
Ionospheric error and tropospheric error；Indicate integer ambiguity；dr,jWithCarrier phase observation data is respectively indicated to receive
The hardware delay deviation at the end machine r and satellite s end；Indicate error, model error and the observation noise not modeled.
Further, the observation model of the original Doppler observation are as follows:
Wherein,Frequency is original Doppler frequency displacement observation of the electromagnetic wave signal of j from satellite s to receiver r；Indicate the signal frequency of satellite s end transmitting；Indicate that receiver r receives the frequency of signal；Indicate satellite s and reception
The relative radial rate of machine r；C is the light velocity in vacuum；Indicate the electromagnetic wave signal that the frequency of GNSS satellite s transmitting is j
Wavelength.
Further, the model of Doppler observation is exported described in the step (1) are as follows:
Wherein,Indicate raw carrier phase observationChange rate in t moment or the derivative to time t；δ t is indicated
The sampling time interval of GNSS data.
Further, the correction of symbol described in the step (1) function can construct are as follows:
The symbol correction function shows: when original Doppler observationWith export Doppler observationJack per line
When, sign function f (j) value is 1；When original Doppler observationWith export Doppler observationWhen contrary sign, symbol letter
Number f (j) value is -1.
Further, original Doppler observation is judged using symbol correction function in the step (2)
With modified formula are as follows:
I.e. when original Doppler observationThe Doppler effect generated with the actual motion of dynamic carrier is not consistent
When, then symbol correction function is modified original Doppler observation, by modified Doppler observationEnergy
It is enough to keep and Doppler observation derived from carrier phaseSymbol is consistent.
Further, original Doppler observation is judged using symbol correction function in the step (2)
With modified specific steps are as follows:
When original Doppler observationWith export Doppler observationWhen symbol is consistent, sign function value is 1,
Original Doppler observationThe value for correcting front and back is unchanged；
When original Doppler observationWith export Doppler observationWhen symbol is different, sign function value is -1,
Original Doppler observationIt is corrected for
Further, the specific steps to test the speed by modified Doppler observation are utilized in the step (3)
Are as follows:
According to GNSS measuring principle according to the dynamic carrier for utilizing following equation to calculate by modified Doppler observation
Correct movement velocity:
Wherein,The relative velocity being expressed as between satellite s and receiver r, VsThe movement velocity for indicating satellite, can pass through
Satellite broadcasting ephemeris or precise ephemeris are calculated, and are given value；VrFor the movement velocity of the receiver on dynamic carrier, for institute
The correct movement velocity of unknown motion carrier to be calculated.
Further, GNSS measuring principle described in the step (3) are as follows:
It can receive the signal of n (n > 3) satellite in a certain observation moment t receiver r, just there is n observational equation, foundation
Least square (Least Square) estimation theory calculates the correct movement velocity of motion carrier.
Further, GNSS measuring principle described in the step (3) are as follows:
It can receive the signal of n (n > 3) satellite in a certain observation moment t receiver r, just have n observational equation, may be used also
The correct movement velocity of motion carrier is calculated according to Kalman (kalman) filtering estimation theory.
Beneficial effects of the present invention:
1. a kind of GNSS precision speed-measuring method based on amendment Doppler observation of the invention, the invention avoids straight
When connecing the original Doppler observation exported using Partial Receiver, GNSS dynamic is caused to carry because Doppler observation is wrong
Body tests the speed the wrong consequence of result.
2. a kind of GNSS precision speed-measuring method based on amendment Doppler observation of the invention through the invention can not
GNSS receiver internal signal treatment process must be investigated, it can be ensured that utilize the Doppler observation meter of GNSS under any circumstance
The rate results for calculating dynamic carrier are correct reliable always, test the speed the technical need in field to meet GNSS navigator fix.
3. a kind of GNSS precision speed-measuring method based on amendment Doppler observation of the invention, the present invention can be
By realizing the invention algorithm write circuit board to the correction before original Doppler output inside GNSS receiver；It can also
In the hardware product that GNSS tests the speed and GNSS tests the speed and realizes in software product.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is flow chart of the method for the present invention.
Specific embodiment:
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.It ties below
Closing attached drawing, the invention will be further described with embodiment.
Embodiment 1:
As background technique is introduced, exist in the prior art in the prior art using original based on GNSS
During Doppler observation velocimetry is tested, due to each not phase of GNSS receiver internal signal tupe of different brands
Together, what the symbol for the original Doppler observation for causing part GNSS receiver to export was generated with dynamic carrier movement
Doppler effect is not consistent, so as to cause directly using the speed of dynamic carrier required by original Doppler observation occur with
The problem that real motion directional velocity is opposite or velocity amplitude is wrong provides a kind of GNSS based on amendment Doppler observation
Accurate speed-measuring method, this method ensure to connect in the case where not taking GNSS receiver internal signal treatment process into account for any
Receipts machine can calculate correct rate results using original Doppler observation at any time.
To achieve the goals above, the present invention is using a kind of following technical solution:
A kind of GNSS precision speed-measuring method based on amendment Doppler observation, as shown in Figure 1, this method is based on GNSS
The raw carrier phase observation and original Doppler observation of receiver output, firstly, from being fixed on dynamic carrier
The carrier phase observation data and original Doppler observation that GNSS satellite emits are obtained in GNSS receiver；
In the present embodiment, GNSS system includes existing Global Navigation Satellite System and its system in combination.Its GNSS system
System includes: the systems such as GPS, GLONASS, BDS, Galileo, QZSS and IRNSS.
GNSS precision speed-measuring method includes: Single-point velocity determination method and opposite speed-measuring method.
In the present embodiment, brand and the manufacturer of GNSS receiver are not limited, and for the original of all outputs
The wrong GNSS receiver of Doppler observation.The wrong result that tests the speed includes required dynamic carrier movement velocity side
It is wrong to opposite or velocity amplitude.
This method specific steps include:
(1) is obtained by export Doppler and is seen for time derivation using the raw carrier phase observation of GNSS receiver output
Measured value, export Doppler observation combine original Doppler observation, and construction symbol corrects function；
The raw carrier phase observation of the GNSS receiver output includes: single-frequency, double frequency, multifrequency and GNSS each
The raw carrier phase of the emitted signal of frequency；
The observation model of raw carrier phase observation based on GNSS receiver output are as follows:
Wherein, s indicates GNSS satellite number；R indicates the GNSS receiver being fixed on dynamic carrier number；J expression is defended
Star signal frequency；Indicate the carrier phase observation data from satellite s to receiver r frequency for j；Indicate receiver r to defending
Theoretical geometric distance between star s；Indicate the wavelength for the electromagnetic wave signal that the frequency of GNSS satellite s transmitting is j；C is vacuum
In the light velocity；dtrAnd dtsRespectively indicate receiver clock-offsets and satellite clock correction；WithIt respectively indicates in signal propagation path
Ionospheric error and tropospheric error；Indicate integer ambiguity；dr,jWithCarrier phase observation data is respectively indicated to receive
The hardware delay deviation at the end machine r and satellite s end；Indicate error, model error and the observation noise not modeled.
The observation model of the original Doppler observation are as follows:
Wherein,Frequency is original Doppler frequency displacement observation of the electromagnetic wave signal of j from satellite s to receiver r；Indicate the signal frequency of satellite s end transmitting；Indicate that receiver r receives the frequency of signal；Indicate satellite s and receiver
The relative radial rate of r；C is the light velocity in vacuum；Indicate the wave for the electromagnetic wave signal that the frequency of GNSS satellite s transmitting is j
It is long.
The model of Doppler observation is exported described in the step (1) are as follows:
Wherein,Indicate raw carrier phase observationChange rate in t moment or the derivative to time t；δ t is indicated
The sampling time interval of GNSS data.
The correction function of symbol described in the step (1) can construct are as follows:
The symbol correction function shows: when original Doppler observationWith export Doppler observationJack per line
When, sign function f (j) value is 1；When original Doppler observationWith export Doppler observationWhen contrary sign, symbol letter
Number f (j) value is -1.
(2) it when original Doppler observation is not consistent with the Doppler that the actual motion of dynamic carrier generates, utilizes
The symbol correction function is judged and is corrected to original Doppler observation；Function is corrected by the symbol, it is ensured that when
When original Doppler observation is not consistent with the Doppler that the actual motion of dynamic carrier generates, symbol corrects function can be to original
Beginning Doppler observation is modified.The amendment cross refer under any circumstance will first to original Doppler observation carry out
Judgement and amendment.When original Doppler observation is consistent with export Doppler observation symbol, sign function value is 1, right
The value of correction front and back is unchanged for original Doppler observation；When original Doppler observation and export Doppler are seen
When measured value symbol is different, sign function value is -1, its value is corrected for original Doppler observation.
In the step (2) using symbol correction function to original Doppler observation carry out judgement with it is modified
Formula are as follows:
I.e. when original Doppler observationThe Doppler effect generated with the actual motion of dynamic carrier is not consistent
When, then symbol correction function is modified original Doppler observation, by modified Doppler observationEnergy
It is enough to keep and Doppler observation derived from carrier phaseSymbol is consistent.
In the step (2) using symbol correction function to original Doppler observation carry out judgement with it is modified
Specific steps are as follows:
When original Doppler observationWith export Doppler observationWhen symbol is consistent, sign function value is 1,
Original Doppler observationThe value for correcting front and back is unchanged；
When original Doppler observationWith export Doppler observationWhen symbol is different, sign function value is -1,
Original Doppler observationIt is corrected for
(3) it tests the speed using by modified Doppler observation, obtains the correct movement velocity of dynamic carrier.Institute
Stating dynamic carrier includes: dynamic carrier, platform or the target in sea, land and air, such as: aircraft, vehicle, ship etc..
The specific steps to test the speed by modified Doppler observation are utilized in the step (3) are as follows:
According to GNSS measuring principle according to the dynamic carrier for utilizing following equation to calculate by modified Doppler observation
Correct movement velocity:
Wherein,The relative velocity being expressed as between satellite s and receiver r, VsThe movement velocity for indicating satellite, can pass through
Satellite broadcasting ephemeris or precise ephemeris are calculated, and are given value；VrFor the movement velocity of the receiver on dynamic carrier, for institute
The correct movement velocity of unknown motion carrier to be calculated.
GNSS measuring principle described in the step (3) are as follows:
It can receive the signal of n (n > 3) satellite in a certain observation moment t receiver r, just there is n observational equation, foundation
Least square (Least Square) estimation theory calculates the correct movement velocity of motion carrier.
Optionally, GNSS measuring principle described in the step (3) are as follows:
It can receive the signal of n (n > 3) satellite in a certain observation moment t receiver r, just have n observational equation, may be used also
The correct movement velocity of motion carrier is calculated according to Kalman (kalman) filtering estimation theory.
Beneficial effects of the present invention:
1. a kind of GNSS precision speed-measuring method based on amendment Doppler observation of the invention, the invention avoids straight
When connecing the original Doppler observation exported using Partial Receiver, GNSS dynamic is caused to carry because Doppler observation is wrong
Body tests the speed the wrong consequence of result.
2. a kind of GNSS precision speed-measuring method based on amendment Doppler observation of the invention through the invention can not
GNSS receiver internal signal treatment process must be investigated, it can be ensured that utilize the Doppler observation meter of GNSS under any circumstance
The rate results for calculating dynamic carrier are correct reliable always, test the speed the technical need in field to meet GNSS navigator fix.
3. a kind of GNSS precision speed-measuring method based on amendment Doppler observation of the invention, the present invention can be
By realizing the invention algorithm write circuit board to the correction before original Doppler output inside GNSS receiver；It can also
In the hardware product that GNSS tests the speed and GNSS tests the speed and realizes in software product.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (8)
1. a kind of GNSS precision speed-measuring method based on amendment Doppler observation, this method are exported based on GNSS receiver
Raw carrier phase observation and original Doppler observation, it is characterized in that: specific steps include:
(1) export Doppler observation is obtained to time derivation using the raw carrier phase observation of GNSS receiver output
Value, export Doppler observation combine original Doppler observation, and construction symbol corrects function；
(2) when the Doppler that the actual motion of original Doppler observation and dynamic carrier generates is not consistent, using described
Symbol correction function is judged and is corrected to original Doppler observation；
(3) it tests the speed using by modified Doppler observation, obtains the correct movement velocity of dynamic carrier；
The correction function of symbol described in the step (1) can construct are as follows:
The symbol correction function shows: when original Doppler observationWith export Doppler observationWhen jack per line, symbol
Number function f (j) value is 1；When original Doppler observationWith export Doppler observationWhen contrary sign, sign function f
(j) value is -1；
Judgement and modified formula are carried out to original Doppler observation using symbol correction function in the step (2)
Are as follows:
When original Doppler observationWhen not being consistent with the Doppler effect that the actual motion of dynamic carrier generates, symbol
Correction function is modified original Doppler observation, by modified Doppler observationIt is able to maintain and carries
Doppler observation derived from wave phaseSymbol is consistent.
2. a kind of GNSS precision speed-measuring method based on amendment Doppler observation as described in claim 1, it is characterized in that:
The raw carrier phase observation of the GNSS receiver output includes: that single-frequency, double frequency, multifrequency and each frequency of GNSS are sent out
Penetrate the raw carrier phase of signal；
The observation model of raw carrier phase observation based on GNSS receiver output are as follows:
Wherein, s indicates GNSS satellite number；R indicates the GNSS receiver being fixed on dynamic carrier number；J indicates satellite letter
Number frequency；Indicate the carrier phase observation data from satellite s to receiver r frequency for j；Indicate receiver r to satellite s it
Between theoretical geometric distance；Indicate the wavelength for the electromagnetic wave signal that the frequency of GNSS satellite s transmitting is j；C is the light in vacuum
Speed；dtrAnd dtsRespectively indicate receiver clock-offsets and satellite clock correction；WithRespectively indicate the ionosphere in signal propagation path
Error and tropospheric error；Indicate integer ambiguity；dr,jWithCarrier phase observation data is respectively indicated at the end receiver r
With the hardware delay deviation at satellite s end；Indicate error, model error and the observation noise not modeled.
3. a kind of GNSS precision speed-measuring method based on amendment Doppler observation as described in claim 1, it is characterized in that:
The observation model of the original Doppler observation are as follows:
Wherein,Frequency is original Doppler frequency displacement observation of the electromagnetic wave signal of j from satellite s to receiver r；Table
Show the signal frequency of satellite s end transmitting；Indicate that receiver r receives the frequency of signal；Indicate satellite s and receiver r
Relative radial rate；C is the light velocity in vacuum；Indicate the wavelength for the electromagnetic wave signal that the frequency of GNSS satellite s transmitting is j.
4. a kind of GNSS precision speed-measuring method based on amendment Doppler observation as claimed in claim 2, it is characterized in that:
The model of Doppler observation is exported described in the step (1) are as follows:
Wherein,Indicate raw carrier phase observationChange rate in t moment or the derivative to time t；δ t indicates GNSS number
According to sampling time interval.
5. a kind of GNSS precision speed-measuring method based on amendment Doppler observation as described in claim 1, it is characterized in that:
Judgement and modified specific steps are carried out to original Doppler observation using symbol correction function in the step (2)
Are as follows:
When original Doppler observationWith export Doppler observationWhen symbol is consistent, sign function value is 1, original
Doppler observationThe value for correcting front and back is unchanged；
When original Doppler observationWith export Doppler observationWhen symbol is different, sign function value is -1, original
Doppler observationIt is corrected for
6. a kind of GNSS precision speed-measuring method based on amendment Doppler observation as claimed in claim 5, it is characterized in that:
The specific steps to test the speed by modified Doppler observation are utilized in the step (3) are as follows:
It is correct according to the dynamic carrier calculated by modified Doppler observation using following equation according to GNSS measuring principle
Movement velocity:
Wherein,The relative velocity being expressed as between satellite s and receiver r, VsThe movement velocity for indicating satellite, can pass through satellite
Broadcast ephemeris or precise ephemeris are calculated, and are given value；VrFor the movement velocity of the receiver on dynamic carrier, to be counted
The correct movement velocity of unknown motion carrier calculated.
7. a kind of GNSS precision speed-measuring method based on amendment Doppler observation as claimed in claim 6, it is characterized in that:
GNSS measuring principle described in the step (3) are as follows:
It can receive the signal of n satellite in a certain observation moment t receiver r, just there is n observational equation, according to least square
(Least Square) estimation theory calculates the correct movement velocity of motion carrier, and n is greater than 3.
8. a kind of GNSS precision speed-measuring method based on amendment Doppler observation as claimed in claim 6, it is characterized in that:
GNSS measuring principle described in the step (3) are as follows:
It can receive the signal of n satellite in a certain observation moment t receiver r, just there is n observational equation, according to Kalman
(kalman) filtering estimation theory calculates the correct movement velocity of motion carrier, and n is greater than 3.
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