CN110441805A - Long-baseline three-frequency ambiguity resolution method based on unequal measurement variance - Google Patents
Long-baseline three-frequency ambiguity resolution method based on unequal measurement variance Download PDFInfo
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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 provides a long-baseline three-frequency ambiguity resolution method based on unequal measurement variance, which solves the problem that when the combined coefficient is calculated by taking the minimum combined noise as an optimal target, the combined coefficient is not optimal and the combined noise is larger because the difference of pseudo-range noise of different frequency points is not considered in the conventional method. The invention considers the fact that pseudo-range noise of different frequency points is different, introduces the condition into the combination coefficient calculation, minimizes the combined noise, reduces the number of required epochs when using the ambiguity detection quantity of the second and third combinations of multi-epoch smoothing, reduces the requirement on data continuity, and has great significance for improving the success rate of fixing the three-frequency ambiguity and further finally improving the positioning accuracy.
Description
Technical field
The present invention relates to satellite navigation system high accuracy data processing technology fields, more particularly to a kind of Long baselines condition
Under three frequency Ambiguity Solution Methods.
Background technique
Solution of fuzzy degree is Static Precise Point Positioning (Precise Point Position, PPP), real-time dynamic positioning
The basis of the processing such as (Real-time Kinematic, RTK) satellite navigation systems high accuracy data.Currently, being with Beidou, GPS
The satellite navigation system of representative can broadcast three frequency navigation signals, and it is superfluous that three frequency navigation signals are that ambiguity resolution brings information
It is remaining, improve the success rate of ambiguity resolution.
Under the conditions of Long baselines, since ionosphere spatial coherence weakens, Ionosphere Residual Error is larger after double difference, therefore, long base
Generally pseudo range observed quantity is added in observation combination under lines part, to meet the constraint without geometry without ionosphere.Due to pseudorange
Introducing, noise is larger after combination, thus constrain combination coefficient when, meet without geometry without ionosphere constrain on the basis of, with
The minimum constraint criterion of noise after combination.When calculating combination noise at present, generally assume that pseudorange noise is identical on three frequency points, but
In the actual environment, the code ring parameter, front end bandwidth, multipath effect etc. due to receiver in different frequent points are all different, and three
The pseudorange noise of frequency point is significantly different.To dipper system, the pseudorange noise on B1I and B2I is significantly greater than B3I.To GPS system,
Pseudorange noise on L1 and L2 is significantly greater than the pseudorange noise on L5.
Therefore, at present it is assumed that three frequency point pseudorange noises under the premise of identical calculated combination noise it is not actual
Noise is combined, calculated combination coefficient is not optimum combination coefficient accordingly, needs to consider pseudo range measurement variance on different frequent points
Difference determine optimum combination coefficient.
Summary of the invention
In view of the defects existing in the prior art, the purpose of the present invention is to propose to a kind of Long baselines based on non-equal measurement variance
Three frequency Ambiguity Solution Methods.The method provided through the invention can reduce combination noise, provides fuzziness and fixes successfully
Rate.
The calculating of three frequency ambiguity resolution combination coefficients is generally meeting without geometry without ionosphere constraint under the conditions of Long baselines
Under the premise of, with the minimum optimal objective of noise after combination.Conventional method is in noise after calculating combination, it is assumed that three frequency points
Pseudorange noise is identical, does not consider the different frequencies as caused by the difference such as code loop bandwidth, front end bandwidth, multipath effect of different frequent points
The different fact of pseudorange noise on point, therefore its calculated combination coefficient is not real optimal coefficient, it is thus calculated
It is also and non-minimum to combine noise.The fact that the present invention will consider that pseudorange noise is different on different frequent points calculates optimum combination coefficient,
Combination noise is reduced, the fixed success rate of fuzziness is improved.
To realize the above-mentioned technical purpose, the technical scheme is that
A kind of three frequency Ambiguity Solution Methods of Long baselines based on non-equal measurement variance, comprising the following steps:
(1) satellite navigation system broadcasts three frequency navigation signals, provide its 3 frequency point pseudoranges of three frequency navigation signal of t moment with
And the carrier phase of three frequency points, extract each frequency point pseudorange noise；
(2) it is poor to calculate each frequency point pseudorange noise criteria；
(3) carrier coefficient for giving first combination, calculates the fuzziness of first combination；
(4) carrier coefficient for giving second combination, calculates the fuzziness of second combination；
(5) carrier coefficient for giving third combination, calculates the fuzziness of third combination；
(6) restore the fuzziness of three frequency points.
In the present invention, the satellite navigation system is can to broadcast the global positioning system of three frequency navigation signals.Satellite is led
Boat system can be global positioning system (GPS), GLONASS satellite navigation system, Beidou satellite navigation system etc. and can broadcast
The satellite navigation system of three frequency navigation signals.
In step (1) of the present invention, each frequency point pseudorange noise is extracted according to formula (1):
MPind=ρind-(a0φ1+b0φ2+c0φ3) (1)
Wherein, MPind, wherein ind=1,2,3, are respectively f for three frequency points to be extracted1,f2,f3The pseudorange of frequency point is made an uproar
Sound.ρind, wherein ind=1,2,3, are respectively f for three frequencies1,f2,f3Frequency point pseudorange.φ1,φ2,φ3Respectively three frequencies
Rate is respectively f1,f2,f3Carrier phase of the frequency point as unit of rice.a0,b0,c0Respectively three frequencies are respectively f1,f2,f3Frequently
The corresponding coefficient of point.
In formula (1), a0,b0,c0It is calculated by formula (2):
Wherein, f1,f2,f3The frequency of respectively three frequency points, α0,β0It, can one by formula (2) for the auxiliary coefficient of introducing
And it calculates.
In step (2) of the present invention, it is poor that each frequency point pseudorange noise criteria is calculated according to formula (3):
Wherein,Indicate that three frequency points calculated are respectively f1,f2,f3The pseudorange noise criteria of frequency point is poor.MPind
It is respectively f for three frequency points to be extracted1,f2,f3The pseudorange noise of frequency point is calculated by formula (1).N is indicated for calculating
Epoch number needed for pseudorange noise criteria difference, generally takes which epoch 50, h and g respectively indicate.
Calculating frequency according to formula (4) is respectively f1,f2Two frequency bins be compared to frequency be f3The pseudorange of frequency point make an uproar
The magnification ratio of sound standard deviation:
Wherein,It is poor for pseudorange noise criteria, it is calculated by formula (3)
In step (3) of the present invention, the fuzziness of first combination is calculated according to formula (5):
Wherein, c is the light velocity.(i, j, k) is the carrier coefficient of first combination, is taken as (0, -1,1) respectively.λijkIt is such as public
The wavelength of first combination shown in formula (5), is calculated by formula (6):
(a1,b1,c1) it is pseudorange coefficient, it is calculated by formula (7):
Wherein, σρ3It is poor for pseudorange noise criteria, it is calculated by formula (3).λ1Indicate frequency point f1On carrier wave phase
The wavelength of position, value c/f1。α1,β1For the auxiliary coefficient of introducing, can be calculated together by formula (7).
In step (4) of the present invention, the fuzziness of second combination is calculated according to formula (8):
Wherein, λmntThe wavelength combined for second is calculated by formula (9):
(m, n, t) is the carrier coefficient of second combination, is (1, -1,0)；(i, j, k) is the carrier wave system of first combination
Number, is taken as (0, -1,1) respectively.
NijkFor fuzziness after the combination of first group of combination, it is defined as Nijk=iN1+jN2+kN3, N1,N2,N3Respectively three
A frequency point f1,f2,f3Fuzziness, NijkValue be the L being calculated by formula (5)1Value after rounding.
a2,b2,c2,d2The respectively coefficient of respective items is calculated by formula (10):
Wherein, α2,β2For the auxiliary coefficient of introducing, can be calculated together by formula (10)；For as unit of rice
Carrier phase variance, take 0.0009.
In step (5) of the present invention, the fuzziness of third combination is calculated according to formula (11):
Wherein, λuvwFor the wavelength of third combination, calculated by formula (12):
(u, v, w) is the carrier coefficient of third combination, is (0,1,0)；(m, n, t) is the carrier wave system of second combination
Number, for (1, -1,0)；(i, j, k) is the carrier coefficient of first combination, is (0, -1,1).
NmntFor fuzziness after the combination of second group of combination, it is defined as Nmnt=mN1+nN2+tN3, NmntValue by formula
(8) result L2It is rounded and obtains after being averaged on 10 epoch.
a3,b3,c3,d3,e3The respectively coefficient of respective items is calculated by formula (13):
α3,β3For the auxiliary coefficient of introducing, can be calculated together by formula (13).
In step (6) of the present invention, restore the fuzziness of each frequency point according to formula (14):
Wherein, N1,N2,N3Respectively three frequencies are f1,f2,f3The fuzziness of frequency point, int (L1) it is formula (5) Dan Li
Member be rounded as a result,It is being rounded after being averaged for formula (8) to the result of 10 epoch as a result,For formula
(11) result being rounded after being averaged to the result of 200 epoch.
Present invention method compared with prior art has following obvious advantage:
1, the present invention considers the different fact of different frequent points pseudorange noise, and by the fact that be applied to combination coefficient
In calculating process, combination noise is reduced
2, the present invention is due to reducing combination noise, in the mould using smooth second of more epoch and third combination
When paste degree detection amount, reduce required epoch number, reduces to the successional requirement of data.
Detailed description of the invention
Fig. 1 is three frequency ambiguity resolution block diagrams of the invention under the conditions of Long baselines.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to side in real time of the invention
Formula is described in further detail.
Referring to Fig.1, for global positioning system (GPS), GLONASS satellite navigation system, Beidou satellite navigation system etc.
The satellite navigation system of three frequency navigation signals can be broadcast, the present invention provides a kind of three frequency of Long baselines based on non-equal measurement variance
Ambiguity Solution Methods, comprising the following steps:
(1) each frequency point pseudorange noise is extracted according to formula (1):
MPind=ρind-(a0φ1+b0φ2+c0φ3) (1)
Wherein, MPindIt is respectively f for three frequencies being extracted1,f2,f3The pseudorange noise of frequency point, ρindFor three frequencies
Respectively f1,f2,f3Frequency point pseudorange, wherein ind=1,2,3, represent which frequency point, φ1,φ2,φ3Respectively three frequencies
Respectively f1,f2,f3Carrier phase of the frequency point as unit of rice, a0,b0,c0Respectively three frequencies are respectively f1,f2,f3Frequency point
Corresponding coefficient.
a0,b0,c0It is calculated by formula (2):
Wherein, f1,f2,f3The frequency of respectively three frequency points, α0,β0It, can one by formula (2) for the auxiliary coefficient of introducing
And it calculates.
(2) poor according to each frequency point pseudorange noise criteria of formula (3) calculating:
Wherein,Indicate that three frequency points calculated are respectively f1,f2,f3The pseudorange noise criteria of frequency point is poor.MPind
It is respectively f for three frequency points to be extracted1,f2,f3The pseudorange noise of frequency point is calculated by formula (1).N is indicated for calculating
Epoch number needed for pseudorange noise criteria difference, generally takes which epoch 50, h and g respectively indicate.
Calculating frequency according to formula (4) is respectively f1,f2Two frequency bins be compared to frequency be f3The pseudorange of frequency point make an uproar
The magnification ratio of sound standard deviation:
Wherein,It is poor for pseudorange noise criteria, it is calculated by formula (3).
(3) fuzziness of first combination is calculated according to formula (5):
Wherein, c is the light velocity, and (i, j, k) is the carrier coefficient of first combination, is taken as (0, -1,1) respectively.λijkIt is first
A combined wavelength is calculated by formula (6):
(a1,b1,c1) it is pseudorange coefficient, it is calculated by formula (7):
Wherein, σρ3It is poor for pseudorange noise criteria, it is calculated by formula (3), λ1Indicate frequency point f1On carrier phase
Wavelength, value c/f1。α1,β1For the auxiliary coefficient of introducing, can be calculated together by formula (7).
(4) fuzziness of second combination is calculated according to formula (8):
Wherein, λmntThe wavelength combined for second is calculated by formula (9):
(m, n, t) is the carrier coefficient of second combination, is (1, -1,0).(i, j, k) is the carrier wave system of first combination
Number, is taken as (0, -1,1) respectively.
NijkFor fuzziness after the combination of first group of combination, it is defined as Nijk=iN1+jN2+kN3, N1,N2,N3Respectively three
A frequency is f1,f2,f3The fuzziness of frequency point, NijkValue be the L being calculated by formula (5)1Value after rounding.
a2,b2,c2,d2The respectively coefficient of respective items is calculated by formula (10):
Wherein, α2,β2For the auxiliary coefficient of introducing, can be calculated together by formula (10)；For as unit of rice
Carrier phase variance, take 0.0009.
(5) fuzziness of third combination is calculated according to formula (11):
Wherein, λuvwFor the wavelength of third combination, calculated by formula (12):
(u, v, w) is the carrier coefficient of third combination, is (0,1,0)；(m, n, t) is the carrier wave system of second combination
Number is (1, -1,0) that (i, j, k) is the carrier coefficient of first combination, is taken as (0, -1,1) respectively.NmntFor second group of combination
Combination after fuzziness, be defined as Nmnt=mN1+nN2+tN3, NmntValue by formula (8) result L2It is taken on 10 epoch
It is rounded and obtains after average.
a3,b3,c3,d3,e3The respectively coefficient of respective items is calculated by formula (13):
Wherein: α3,β3For the auxiliary coefficient of introducing, can be calculated together by formula (13).
(6) restore the fuzziness of each frequency point according to formula (14):
Wherein, N1,N2,N3Respectively three frequencies are f1,f2,f3The fuzziness of frequency point, int (L1) it is formula (5) Dan Li
Member be rounded as a result,It is being rounded after being averaged for formula (8) to the result of 10 epoch as a result,For formula
(11) result being rounded after being averaged to the result of 200 epoch.
The present invention solves existing method when calculating combination coefficient to combine the minimum optimal objective of noise, due to not examining
The difference for considering different frequent points pseudorange noise causes combination coefficient and non-optimal so that the larger problem of combination noise.The present invention examines
The different fact of different frequent points pseudorange noise is considered, this condition has been introduced into combination coefficient calculating, so that noise after combination
Minimum reduces required epoch number, reduces when using the fuzziness detection amount of smooth second of more epoch and third combination
To the successional requirement of data, there is great meaning to improving the fixed success rate of three frequency fuzzinesses and then finally improving positioning accuracy
Justice.
Contain the explanation of the preferred embodiment of the present invention above, this be for the technical characteristic that the present invention will be described in detail, and
Be not intended to for summary of the invention being limited in concrete form described in embodiment, according to the present invention content purport carry out other
Modification and variation are also protected by this patent.The purport of the content of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (9)
1. a kind of three frequency Ambiguity Solution Methods of Long baselines based on non-equal measurement variance, which comprises the following steps:
(1) satellite navigation system broadcasts three frequency navigation signals, provides its 3 frequency point pseudorange and three of three frequency navigation signal of t moment
The carrier phase of a frequency point extracts each frequency point pseudorange noise；
(2) it is poor to calculate each frequency point pseudorange noise criteria；
(3) carrier coefficient for giving first combination, calculates the fuzziness of first combination；
(4) carrier coefficient for giving second combination, calculates the fuzziness of second combination；
(5) carrier coefficient for giving third combination, calculates the fuzziness of third combination；
(6) restore the fuzziness of three frequency points.
2. the Long baselines three frequency Ambiguity Solution Methods according to claim 1 based on non-equal measurement variance, feature exist
In in step (1), satellite navigation system is that the global positioning system that can broadcast three frequency navigation signals, GLONASS satellite are led
Boat system or Beidou satellite navigation system.
3. the Long baselines three frequency Ambiguity Solution Methods according to claim 1 based on non-equal measurement variance, feature exist
In in step (1), according to each frequency point pseudorange noise of formula (1) extraction:
MPind=ρind-(a0φ1+b0φ2+c0φ3) (1)
Wherein, MPind, wherein ind=1,2,3, three frequencies respectively being extracted are respectively f1,f2,f3The pseudorange of frequency point is made an uproar
Sound；ρind, it is respectively f for three frequencies1,f2,f3Frequency point pseudorange；φ1,φ2,φ3Respectively three frequencies are respectively f1,f2,f3
Carrier phase of the frequency point as unit of rice；a0,b0,c0Respectively three frequencies are respectively f1,f2,f3The corresponding coefficient of frequency point.
4. the Long baselines three frequency Ambiguity Solution Methods according to claim 3 based on non-equal measurement variance, feature exist
In, in formula (1), a0,b0,c0It is calculated by formula (2):
Wherein, f1,f2,f3The frequency of respectively three frequency points, α0,β0It is the auxiliary coefficient of introducing.
5. the Long baselines three frequency Ambiguity Solution Methods according to claim 4 based on non-equal measurement variance, feature exist
In poor according to each frequency point pseudorange noise criteria of formula (3) calculating in step (2):
Wherein: N indicates that h and g respectively indicate h-th and g-th of epoch for epoch number needed for calculating pseudorange noise criteria difference；
Calculating frequency according to formula (4) is respectively f1,f2Two frequency bins be compared to frequency be f3Frequency point pseudorange noise mark
The magnification ratio of quasi- difference:
6. the Long baselines three frequency Ambiguity Solution Methods according to claim 5 based on non-equal measurement variance, feature exist
In in step (3), according to the fuzziness of first combination of formula (5) calculating:
Wherein, c is the light velocity；
λijkThe wavelength combined for first is calculated by formula (6):
(i, j, k) is the carrier coefficient of first combination, is (0, -1,1)；
(a1,b1,c1) it is pseudorange coefficient, it is calculated by formula (7):
Wherein, σρ3It is poor for pseudorange noise criteria, it is calculated by formula (3)；λ1Indicate frequency point f1On carrier phase wave
It is long, value c/f1；α1,β1For the auxiliary coefficient of introducing, calculated together by formula (7).
7. the Long baselines three frequency Ambiguity Solution Methods according to claim 6 based on non-equal measurement variance, feature exist
In in step (4), according to the fuzziness of second combination of formula (8) calculating:
Wherein, λmntThe wavelength combined for second is calculated by formula (9):
(m, n, t) is the carrier coefficient of second combination, is (1, -1,0)；
NijkFor fuzziness after the combination of first group of combination, it is defined as Nijk=iN1+jN2+kN3, N1,N2,N3Respectively three frequencies
Rate is f1,f2,f3The fuzziness of frequency point, NijkValue be the L being calculated by formula (5)1Value after rounding；
a2,b2,c2,d2The respectively coefficient of respective items is calculated by formula (10):
Wherein α2,β2For the auxiliary coefficient of introducing, calculated together by formula (10)；For the carrier wave phase as unit of rice
Position variance, takes 0.0009.
8. the Long baselines three frequency Ambiguity Solution Methods according to claim 7 based on non-equal measurement variance, feature exist
In in step (5), according to the fuzziness of formula (11) calculating third combination:
Wherein, λuvwFor the wavelength of third combination, calculated by formula (12):
(u, v, w) is the carrier coefficient of third combination, is (0,1,0)；
NmntFor fuzziness after the combination of second group of combination, it is defined as Nmnt=mN1+nN2+tN3, NmntValue by formula (8)
As a result L2It is rounded and obtains after being averaged on 10 epoch；
a3,b3,c3,d3,e3The respectively coefficient of respective items is calculated by formula (13):
Wherein, α3,β3For the auxiliary coefficient of introducing, calculated together by formula (13).
9. the Long baselines three frequency Ambiguity Solution Methods according to claim 8 based on non-equal measurement variance, feature exist
In in step (6), according to the fuzziness of each frequency point of formula (14) recovery:
Wherein, int (L1) be formula (5) single epoch be rounded as a result,It makes even for formula (8) to the result of 10 epoch
It is being rounded afterwards as a result,The result being rounded after being averaged for formula (11) to the result of 200 epoch.
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