CN110907974B - Method and device for quickly fixing PPP ambiguity based on VRS difference - Google Patents

Method and device for quickly fixing PPP ambiguity based on VRS difference Download PDF

Info

Publication number
CN110907974B
CN110907974B CN201811085263.1A CN201811085263A CN110907974B CN 110907974 B CN110907974 B CN 110907974B CN 201811085263 A CN201811085263 A CN 201811085263A CN 110907974 B CN110907974 B CN 110907974B
Authority
CN
China
Prior art keywords
vrs
ambiguity
carrier phase
station
observed quantity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201811085263.1A
Other languages
Chinese (zh)
Other versions
CN110907974A (en
Inventor
徐军
陈亮
倪成岗
张希
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qianxun Spatial Intelligence Inc
Original Assignee
Qianxun Spatial Intelligence Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qianxun Spatial Intelligence Inc filed Critical Qianxun Spatial Intelligence Inc
Priority to CN201811085263.1A priority Critical patent/CN110907974B/en
Publication of CN110907974A publication Critical patent/CN110907974A/en
Application granted granted Critical
Publication of CN110907974B publication Critical patent/CN110907974B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • 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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view

Abstract

The invention provides a method and a device for quickly fixing PPP ambiguity based on VRS difference, wherein the method comprises the following steps: fixing the VRS single-station ambiguity through PPP ambiguity fixing to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user; a user receives VRS carrier phase observed quantity without integer ambiguity, and carries out differential solution by combining the carrier phase observed quantity of the rover station to obtain rover carrier phase single-difference ambiguity, and fixes the rover carrier phase single-difference ambiguity; and outputting the mobile station PPP fixation solution. The invention adds VRS difference technology to fuse, and can realize the quick fixation of the ambiguity under complex conditions.

Description

Method and device for quickly fixing PPP ambiguity based on VRS difference
Technical Field
The invention relates to the technical field of ambiguity fixing, in particular to a method and a device for quickly fixing PPP ambiguity based on VRS difference.
Background
The single-station ambiguity fixing is one of the key problems that the PPP (precision Point Position) needs to solve, and the positioning accuracy of the PPP can be improved to the cm level after the ambiguity fixing is realized. Patent CN103176188A discloses a regional foundation enhanced PPP-RTK ambiguity single epoch fixing method, which optimizes and sequences the fixing feasibility of alternative inter-satellite single-difference ambiguities to improve the ambiguity convergence time of the PPP-RTK method, respectively models a CA/P1 pseudorange observation value residual error and L1 and L2 phase observation value residual errors by adopting a PPP-RTK technology-based single reference station processing mode, realizes single epoch fixing without ionospheric combined ambiguity by gradually solving ambiguity in consideration of higher pseudorange observation value accuracy, longer wide lane observation value wavelength and linear constraint relationship between wide lane ambiguity and L1 ambiguity after model refinement of a user, thereby shortening the PPP ambiguity determination time to the shortest and improving the working efficiency of a precision positioning user to the greatest extent.
However, in the prior art, under the condition of good observation conditions, the first fixation of the PPP ambiguity still needs a long-time convergence process; under the condition of complex observation environment conditions, the difficulty of ambiguity fixing is greatly increased.
Disclosure of Invention
The invention solves the technical problem of difficulty in fixing the ambiguity, and realizes the quick fixation of the ambiguity under complex conditions by adding the VRS (Virtual Reference Station) difference technology for fusion.
The technical scheme adopted by the invention is as follows:
a PPP ambiguity fast fixing method based on VRS difference comprises the following steps:
fixing the VRS single-station ambiguity through PPP ambiguity fixing to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
a user receives VRS carrier phase observed quantity without integer ambiguity, and carries out differential solution by combining the carrier phase observed quantity of the rover station to obtain rover carrier phase single-difference ambiguity, and fixes the rover carrier phase single-difference ambiguity;
and outputting the mobile station PPP fixation solution.
Further, the fixing the VRS single-station ambiguity specifically includes the following steps:
the data center receives the parameters, generates VRS observed quantity and accurate coordinates of VRS, and performs PPP resolving on a VRS single station according to the parameters;
performing pseudo-range code deviation and carrier phase hardware delay correction on VRS observed quantity, estimating single-station ambiguity of troposphere, ionosphere and VRS as parameters, and calculating a VRS single-station ambiguity floating solution;
obtaining a VRS single-station ambiguity fixed solution by an ambiguity fixed solution searching method;
adding the VRS carrier phase observed quantity to VRS single-station ambiguity to complete the de-ambiguity processing of the VRS carrier phase observed quantity;
and transmitting the VRS carrier phase observed quantity without the integer ambiguity to a user.
Further, the single-difference ambiguity is searched by an LAMBDA method, and the single-difference ambiguity of the carrier phase of the rover station is obtained.
Further, the output rover PPP fixation solution specifically includes the following steps:
receiving a precise ephemeris, a precise satellite clock error, a pseudo-range code deviation and a carrier phase hardware delay parameter;
after the accurate position and the clock error of the satellite are obtained through calculation, pseudo range code deviation and carrier phase hardware delay correction are carried out on the VRS observed quantity, and the positions of the troposphere, the ionosphere and the rover station are estimated to obtain a PPP fixed solution of the rover station and output the PPP fixed solution.
Further, the parameters received by the data center include ephemeris, pseudorange code bias, and carrier phase hardware delay.
Further, the precise coordinates of the VRS are used as constraint conditions to calculate the VRS single-station ambiguity floating solution.
Further, the accuracy of the VRS single-station ambiguity fixing solution is checked through the accurate coordinates of the VRS.
Further, the single-difference ambiguity of the carrier phase of the mobile station is fixed through the observation epoch.
The invention also provides an alternative scheme of a PPP ambiguity quick fixing method based on VRS difference, which comprises the following steps:
fixing the VRS single-station ambiguity through PPP ambiguity fixing to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
a user receives VRS carrier phase observed quantity without integer ambiguity, and carries out differential solution by combining the carrier phase observed quantity of the rover station to obtain rover station carrier phase double-difference ambiguity, and fixes the rover station double-difference carrier phase ambiguity;
and outputting the mobile station PPP fixation solution.
The invention also provides a device for quickly fixing the PPP ambiguity based on the VRS difference, which comprises:
the VRS single-station ambiguity fixing unit is used for fixing the VRS single-station ambiguity to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
the rover carrier phase single-difference ambiguity fixing unit is used for carrying out differential solution by combining the VRS carrier phase observed quantity and the rover carrier phase observed quantity to obtain rover carrier phase single-difference ambiguity and fixing the rover carrier phase single-difference ambiguity;
and the mobile station PPP fixed solution output unit is used for outputting the mobile station PPP fixed solution.
Further, the fixing the VRS single-station ambiguity specifically includes the following steps:
the data center receives the parameters, generates VRS observed quantity and accurate coordinates of VRS, and performs PPP resolving on a VRS single station according to the parameters;
performing pseudo-range code deviation and carrier phase hardware delay correction on VRS observed quantity, estimating single-station ambiguity of troposphere, ionosphere and VRS as parameters, and calculating a VRS single-station ambiguity floating solution;
obtaining a VRS single-station ambiguity fixed solution by an ambiguity fixed solution searching method;
adding the VRS carrier phase observed quantity to VRS single-station ambiguity to complete the de-ambiguity processing of the VRS carrier phase observed quantity;
and transmitting the VRS carrier phase observed quantity without the integer ambiguity to a user.
The invention also provides a memory, in which a computer program is stored, the computer program performing the steps of:
fixing the VRS single-station ambiguity through PPP ambiguity fixing to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
a user receives VRS carrier phase observed quantity without integer ambiguity, and carries out differential solution by combining the carrier phase observed quantity of the rover station to obtain rover carrier phase single-difference ambiguity, and fixes the rover carrier phase single-difference ambiguity;
and outputting the mobile station PPP fixation solution.
The invention broadcasts the carrier phase observed quantity after the ambiguity correction through the network, and has the following beneficial effects:
1) the VRS observed quantity is generally generated by a better reference station based on the observed quantity condition, the coordinate of the VRS observed quantity is known, and the ambiguity of a single station can be accurately and quickly fixed by combining PPP service, so that the calculation quantity of resolving the ambiguity of the single station by a user can be reduced, the operation efficiency is improved, and the power consumption of a mobile station is reduced;
2) because most errors can be eliminated when the VRS and the user perform the single-difference between stations, the fixation of the single-difference ambiguity can be completed in a short time;
3) when the single-station ambiguity is fixed by the traditional PPP ambiguity fixing method, the speed and the accuracy of the fixed ambiguity are difficult to guarantee, the method for assisting the PPP ambiguity fixing by VRS difference can shorten the single-station ambiguity fixing time of the rover station, and the accuracy is improved.
Drawings
FIG. 1 is a fixed flow chart of VRS single station ambiguity of the present invention;
FIG. 2 is a flow chart of user carrier phase single-difference ambiguity fixing according to the present invention;
FIG. 3 is a flow chart of the user PPP fixed solution output of the present invention;
FIG. 4 is a diagram illustrating user carrier phase double-difference ambiguity fixing according to the present invention;
fig. 5 is a diagram showing a structure of a PPP ambiguity quick fixing apparatus based on VRS difference.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
The first embodiment is as follows:
the invention provides a quick PPP ambiguity fixing method based on VRS difference, which comprises the following steps:
step 1, fixing the VRS single-station ambiguity, as shown in fig. 1, specifically as follows:
step 11, the data center may receive the ephemeris, the precision satellite clock error, the pseudorange code bias, and the carrier phase hardware delay through the network, which all belong to parameters required in the PPP calculation process. And the data center also generates VRS observed quantity and accurate coordinates of VRS, and the data center performs PPP calculation on the VRS station according to the parameters.
And step 12, after the accurate position and the clock error of the satellite are obtained through calculation, pseudo-range code deviation and carrier phase hardware delay correction are carried out on the observed value, and the single-station ambiguity of the troposphere, the ionosphere and the VRS is used as parameters for estimation. The traditional PPP solution also needs to estimate the position parameter, and because the precise coordinate of the VRS is known, the coordinate parameter can be used as strong constraint to calculate the single-station ambiguity floating solution of the VRS, and the convergence of the ambiguity can be accelerated.
And step 13, after continuously observing a plurality of epochs, starting convergence of the ambiguity floating point. The ambiguity fixed solution can be obtained by the ambiguity fixed solution searching method. After the fixed solution of the ambiguity is obtained, the accuracy of the fixed solution is checked through the known accurate coordinates of the VRS.
And step 14, after obtaining the VRS single-station ambiguity, performing ambiguity removing processing on the carrier phase observation value, and adding the VRS single-station ambiguity to the carrier phase observation value to complete the ambiguity removing processing.
And step 15, after the data center completes steps 11, 12, 13 and 14, the data center sends the carrier phase observed value without ambiguity to a user through a network.
Observed quantities broadcasted by a traditional network RTK (Real Time Kinematic) are mainly broadcasted to users through a VRS technology (mainly including pseudo-range observed quantities and carrier phase observed quantities), where the carrier phase observed quantities include whole-cycle ambiguity, and the whole-cycle ambiguity is a whole-cycle unknown corresponding to a first observed value of a phase difference between a carrier phase and a reference phase when carrier phase measurement is performed by a global positioning system technology. The method completes the fixation of the VRS single-station ambiguity through a PPP ambiguity fixing technology before the VRS observation value is broadcasted to the user, so that the broadcasted VRS carrier phase observation value does not contain the whole-cycle ambiguity, and the method is favorable for the user to carry out the next processing on the data.
Step 2, fixing the single-difference ambiguity of the user carrier phase, as shown in fig. 2, specifically as follows:
when a user receives VRS observed quantity through a network, the difference calculation can be carried out by combining the observed quantity of a local receiver, and a carrier phase observation equation of the VRS and a carrier phase observation equation of the local receiver are as follows:
Figure GDA0003463196920000051
Figure GDA0003463196920000052
wherein, the VRS observation station is i, the rover station is j, and the observation satellite is p.
Figure GDA0003463196920000053
Is the carrier phase observation for the VRS,
Figure GDA0003463196920000054
is the carrier phase observation of the rover (user),
Figure GDA0003463196920000055
is the distance between the VRS and the defense area,
Figure GDA0003463196920000056
for a rover gauge, ViFor VRS receiver clock error, VjFor rover clock error, VpIn order to be the clock error of the satellite,
Figure GDA0003463196920000057
is the integer ambiguity of the VRS carrier-phase observations,
Figure GDA0003463196920000058
is the carrier phase integer ambiguity for the rover,
Figure GDA0003463196920000059
for the VRS ionospheric delay,
Figure GDA00034631969200000510
for the rover ionospheric delay,
Figure GDA00034631969200000511
for the purpose of VRS tropospheric delay,
Figure GDA00034631969200000512
for rover tropospheric delay, f is the satellite carrier frequency and c represents the speed of light.
Since the fixing of the ambiguity of the VRS carrier-phase observations has been completed before the dissemination of the VRS observations, the disseminated carrier-phase observations have an integer ambiguity of 0, i.e.
Figure GDA00034631969200000513
Making a difference to the above equation can be:
Figure GDA00034631969200000514
wherein
Figure GDA00034631969200000515
Is a single-difference carrier-phase observation,
Figure GDA00034631969200000516
is the difference value of the VRS gauge and the station gauge, VijFor the VRS receiver clock difference and rover receiver clock difference,
Figure GDA00034631969200000517
is the difference between the VRS ionospheric delay and the rover ionospheric delay,
Figure GDA0003463196920000061
is the difference between the VRS tropospheric delay and the rover tropospheric delay.
The distance between the VRS grid point and the user position generally does not exceed 5KM, and the formed base line belongs to a short base line, so that the VRS grid point is not influenced by the user position
Figure GDA0003463196920000062
The above equation can be simplified as follows:
Figure GDA0003463196920000063
simultaneously observing more than four satellites, and searching the single difference ambiguity by an LAMBDA method to accurately obtain
Figure GDA0003463196920000064
The LAMBDA expression is an anonymous function, named based on the LAMBDA calculus in mathematics, i.e., a function without a function name. When the observation environment is good, a single epoch can fix the single station ambiguity.
Step 3, the user PPP fixation solution is output, as shown in fig. 3, specifically as follows:
step 31, after the steps 1 and 2, the single-station ambiguity of the rover station is fixed, and the precise ephemeris, the precise satellite clock error, the pseudo-range code bias and the carrier phase hardware delay can be received through the network.
And step 32, after the accurate position and the clock error of the satellite are obtained through calculation, pseudo range code deviation and carrier phase hardware delay correction are carried out on the observed value, and the position parameters of the troposphere, the ionosphere and the rover station are estimated. Different from the step 1, since the carrier phase integer ambiguity known in the step 3 only needs to estimate the position parameter, the parameters to be calculated are reduced, the convergence speed of the parameters to be estimated is accelerated, and the high-precision position result of the rover station can be obtained in a short time.
When the user receives the VRS information and the PPP information service at the same time, the user can perform RTK and PPP resolution at the same time. After the RTK single-difference ambiguity is fixed, the single-station ambiguity of a user can be calculated, and after the VRS network service is interrupted, a high-precision positioning result can be obtained through PPP resolving.
Because the carrier phase observed value received by the user has no integer ambiguity, the single-difference ambiguity is quickly fixed through RTK resolving, and then the single-station ambiguity fixed solution of the rover station can be obtained. The method for realizing the ambiguity fixing is very fast, and even a single epoch can obtain a single-station ambiguity fixing solution, so that a high-precision position resolving result is obtained.
The step 1 of the invention is realized on a network platform, and the step 2 and the step 3 are realized inside a user receiver. Alternatively, step 1 can also be implemented inside the user receiver, but this increases the calculation amount of the receiver, and it takes some time to fix the VRS ambiguity in the receiver.
Optionally, the single-difference ambiguity in step 2 may also be fixed by the user carrier-phase double-difference ambiguity, as shown in fig. 4, specifically as follows:
when a user receives VRS observed quantity through a network, the difference calculation can be carried out by combining the observed quantity of a local receiver, and a carrier phase observation equation of the VRS and a carrier phase observation equation of the local receiver are as follows:
Figure GDA0003463196920000071
Figure GDA0003463196920000072
wherein, the VRS observation station is i, the rover station is j, and the observation satellite is p.
Figure GDA0003463196920000073
Is the carrier phase observation for the VRS,
Figure GDA0003463196920000074
is the carrier phase observation of the rover (user),
Figure GDA0003463196920000075
is the distance between the VRS and the defense area,
Figure GDA0003463196920000076
for a rover gauge, ViFor VRS receiver clock error, VjFor rover clock error, VpIn order to be the clock error of the satellite,
Figure GDA0003463196920000077
is the integer ambiguity of the VRS carrier-phase observations,
Figure GDA0003463196920000078
is the carrier phase integer ambiguity for the rover,
Figure GDA0003463196920000079
for the VRS ionospheric delay,
Figure GDA00034631969200000710
for the rover ionospheric delay,
Figure GDA00034631969200000711
for the purpose of VRS tropospheric delay,
Figure GDA00034631969200000712
for rover tropospheric delay, f is the satellite carrier frequency.
The carrier phase observation equation for observing the observation satellite q is as follows:
Figure GDA00034631969200000713
Figure GDA00034631969200000714
wherein, the VRS observation station is i, the rover station is j, and the observation satellite is q.
Figure GDA00034631969200000715
Is the carrier phase observation for the VRS,
Figure GDA00034631969200000716
is the carrier phase observation of the rover (user),
Figure GDA00034631969200000717
is the distance between the VRS and the defense area,
Figure GDA00034631969200000718
for a rover gauge, ViFor VRS receiver clock error, VjFor rover clock error, VqIn order to be the clock error of the satellite,
Figure GDA00034631969200000719
is the integer ambiguity of the VRS carrier-phase observations,
Figure GDA00034631969200000720
is the carrier phase integer ambiguity for the rover,
Figure GDA00034631969200000721
for the VRS ionospheric delay,
Figure GDA00034631969200000722
for the rover ionospheric delay,
Figure GDA00034631969200000723
for the purpose of VRS tropospheric delay,
Figure GDA00034631969200000724
for rover tropospheric delay, f is the satellite carrier frequency.
Since the fixing of the ambiguity of the VRS carrier-phase observations has been completed before the dissemination of the VRS observations, the disseminated carrier-phase observations have an integer ambiguity of 0, i.e.
Figure GDA00034631969200000725
Making a difference to the above equation can be:
Figure GDA00034631969200000726
Figure GDA00034631969200000727
wherein
Figure GDA00034631969200000728
A single-difference carrier-phase observation,
Figure GDA00034631969200000729
is the difference value of the VRS gauge and the station gauge, VijFor the VRS receiver clock difference and rover receiver clock difference,
Figure GDA00034631969200000730
is the difference between the VRS ionospheric delay and the rover ionospheric delay,
Figure GDA00034631969200000731
is the difference between the VRS tropospheric delay and the rover tropospheric delay.
The distance between the VRS grid point and the user position generally does not exceed 5KM, and the formed base line belongs to a short base line, so that the VRS grid point is not influenced by the user position
Figure GDA0003463196920000081
The above equation can be simplified as follows:
Figure GDA0003463196920000082
Figure GDA0003463196920000083
making a difference to the above formula:
Figure GDA0003463196920000084
wherein
Figure GDA0003463196920000085
Is a carrier-phase double-difference observation,
Figure GDA0003463196920000086
is a double-difference distance between a defense and a ground,
Figure GDA0003463196920000087
is the rover double-differenced ambiguity.
More than four satellites are observed at the same time, and the double-difference ambiguity is searched by the LAMBDA method, so that the accurate calculation can be carried out
Figure GDA0003463196920000088
Due to the fact that
Figure GDA0003463196920000089
The double-difference ambiguity is the inter-satellite difference ambiguity, and the ambiguity can also be used for PPP resolution of the user. Compared with single-station ambiguity, when a user utilizes the inter-satellite ambiguity PPP to solve, errors are introduced into a receiver clock error, and the resolving result is not influenced. The double-difference observation value can eliminate the ionosphere and troposphere errors more thoroughly, and can improve the double-difference ambiguity fixing speed.
Example two:
the invention also provides a device for quickly fixing the PPP ambiguity based on the VRS difference, as shown in FIG. 5, comprising:
the VRS single-station ambiguity fixing unit is used for fixing the VRS single-station ambiguity to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
the rover carrier phase single-difference ambiguity fixing unit is used for carrying out differential solution by combining the VRS carrier phase observed quantity and the rover carrier phase observed quantity to obtain rover carrier phase single-difference ambiguity and fixing the rover carrier phase single-difference ambiguity;
and the mobile station PPP fixed solution output unit is used for outputting the mobile station PPP fixed solution.
Further, the fixing the VRS single-station ambiguity specifically includes the following steps:
the data center receives the parameters, generates VRS observed quantity and accurate coordinates of VRS, and performs PPP resolving on a VRS single station according to the parameters;
performing pseudo-range code deviation and carrier phase hardware delay correction on VRS observed quantity, estimating single-station ambiguity of troposphere, ionosphere and VRS as parameters, and calculating a VRS single-station ambiguity floating solution;
obtaining a VRS single-station ambiguity fixed solution by an ambiguity fixed solution searching method;
adding the VRS carrier phase observed quantity to VRS single-station ambiguity to complete the de-ambiguity processing of the VRS carrier phase observed quantity;
and transmitting the VRS carrier phase observed quantity without the integer ambiguity to a user.
Example three:
the invention also provides a memory storing a computer program executed by a processor to perform the steps of:
fixing the VRS single-station ambiguity through PPP ambiguity fixing to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
a user receives VRS carrier phase observed quantity without integer ambiguity, and carries out differential solution by combining the carrier phase observed quantity of the rover station to obtain rover carrier phase single-difference ambiguity, and fixes the rover carrier phase single-difference ambiguity;
and outputting the mobile station PPP fixation solution.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (9)

1. A PPP ambiguity fast fixing method based on VRS difference is characterized by comprising the following steps:
fixing the VRS single-station ambiguity through PPP ambiguity fixing to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
a user receives VRS carrier phase observed quantity without integer ambiguity, and carries out differential solution by combining the carrier phase observed quantity of the rover station to obtain rover carrier phase single-difference ambiguity, and fixes the rover carrier phase single-difference ambiguity;
outputting a mobile station PPP fixed solution;
the fixing of the VRS single-station ambiguity specifically comprises the following steps:
the data center receives the parameters, generates VRS observed quantity and accurate coordinates of VRS, and performs PPP resolving on a VRS single station according to the parameters;
performing pseudo-range code deviation and carrier phase hardware delay correction on VRS observed quantity, estimating single-station ambiguity of troposphere, ionosphere and VRS as parameters, and calculating a VRS single-station ambiguity floating solution;
obtaining a VRS single-station ambiguity fixed solution by an ambiguity fixed solution searching method;
adding the VRS carrier phase observed quantity to VRS single-station ambiguity to complete the de-ambiguity processing of the VRS carrier phase observed quantity;
sending the VRS carrier phase observed quantity without integer ambiguity to a user;
the output streaming station PPP fixation solution specifically comprises the following steps:
receiving a precise ephemeris, a precise satellite clock error, a pseudo-range code deviation and a carrier phase hardware delay parameter;
after the accurate position and the clock error of the satellite are obtained through calculation, pseudo range code deviation and carrier phase hardware delay correction are carried out on the VRS observed quantity, and the positions of the troposphere, the ionosphere and the rover station are estimated to obtain a PPP fixed solution of the rover station and output the PPP fixed solution.
2. The method as claimed in claim 1, wherein the single-difference ambiguity is searched by the lamb da method to obtain the rover carrier phase single-difference ambiguity.
3. The method of claim 1, wherein the parameters received by the data center include ephemeris, precision satellite clock error, pseudorange code bias, and carrier phase hardware delay.
4. The method for fast fixing the VRS difference-based PPP ambiguity of claim 3, wherein the precise coordinates of the VRS are used as constraint condition to calculate the VRS single-station ambiguity floating solution.
5. The method for fast fixing the ambiguity of the PPP based on the difference of the VRS as claimed in claim 4, wherein the accuracy of the ambiguity fixing solution of the VRS single station is checked by the precise coordinates of the VRS.
6. The method of claim 2, wherein the mobile station carrier phase single-difference ambiguity is fixed by observation epoch.
7. A PPP ambiguity fast fixing method based on VRS difference is characterized by comprising the following steps:
fixing the VRS single-station ambiguity through PPP ambiguity fixing to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
a user receives VRS carrier phase observed quantity without integer ambiguity, and carries out differential solution by combining the carrier phase observed quantity of the rover station to obtain rover station carrier phase double-difference ambiguity, and fixes the rover station double-difference carrier phase ambiguity;
outputting a mobile station PPP fixed solution;
the fixing of the VRS single-station ambiguity specifically comprises the following steps:
the data center receives the parameters, generates VRS observed quantity and accurate coordinates of VRS, and performs PPP resolving on a VRS single station according to the parameters;
performing pseudo-range code deviation and carrier phase hardware delay correction on VRS observed quantity, estimating single-station ambiguity of troposphere, ionosphere and VRS as parameters, and calculating a VRS single-station ambiguity floating solution;
obtaining a VRS single-station ambiguity fixed solution by an ambiguity fixed solution searching method;
adding the VRS carrier phase observed quantity to VRS single-station ambiguity to complete the de-ambiguity processing of the VRS carrier phase observed quantity;
sending the VRS carrier phase observed quantity without integer ambiguity to a user;
the output streaming station PPP fixation solution specifically comprises the following steps:
receiving a precise ephemeris, a precise satellite clock error, a pseudo-range code deviation and a carrier phase hardware delay parameter;
after the accurate position and the clock error of the satellite are obtained through calculation, pseudo range code deviation and carrier phase hardware delay correction are carried out on VRS observed quantity, the position parameters of a troposphere, an ionosphere and a rover are estimated, a PPP fixed solution of the rover is obtained and output
And transmitting the VRS carrier phase observed quantity without the integer ambiguity to a user.
8. A device for fast fixing PPP ambiguity based on VRS difference, which is characterized in that the device comprises:
the VRS single-station ambiguity fixing unit is used for fixing the VRS single-station ambiguity to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
the rover carrier phase single-difference ambiguity fixing unit is used for carrying out differential solution by combining the VRS carrier phase observed quantity and the rover carrier phase observed quantity to obtain rover carrier phase single-difference ambiguity and fixing the rover carrier phase single-difference ambiguity;
the mobile station PPP fixed solution output unit is used for outputting the mobile station PPP fixed solution;
the fixing of the VRS single-station ambiguity specifically comprises the following steps:
the data center receives the parameters, generates VRS observed quantity and accurate coordinates of VRS, and performs PPP resolving on a VRS single station according to the parameters;
performing pseudo-range code deviation and carrier phase hardware delay correction on VRS observed quantity, estimating single-station ambiguity of troposphere, ionosphere and VRS as parameters, and calculating a VRS single-station ambiguity floating solution;
obtaining a VRS single-station ambiguity fixed solution by an ambiguity fixed solution searching method;
adding the VRS carrier phase observed quantity to VRS single-station ambiguity to complete the de-ambiguity processing of the VRS carrier phase observed quantity;
sending the VRS carrier phase observed quantity without integer ambiguity to a user;
the output streaming station PPP fixation solution specifically comprises the following steps:
receiving a precise ephemeris, a precise satellite clock error, a pseudo-range code deviation and a carrier phase hardware delay parameter;
after the accurate position and the clock error of the satellite are obtained through calculation, pseudo range code deviation and carrier phase hardware delay correction are carried out on the VRS observed quantity, and the positions of the troposphere, the ionosphere and the rover station are estimated to obtain a PPP fixed solution of the rover station and output the PPP fixed solution.
9. A memory storing a computer program, the computer program performing the steps of:
fixing the VRS single-station ambiguity through PPP ambiguity fixing to obtain a VRS carrier phase observed quantity without the whole-cycle ambiguity and sending the VRS carrier phase observed quantity to a user;
a user receives VRS carrier phase observed quantity without integer ambiguity, and carries out differential solution by combining the carrier phase observed quantity of the rover station to obtain rover carrier phase single-difference ambiguity, and fixes the rover carrier phase single-difference ambiguity;
outputting a mobile station PPP fixed solution;
the fixing of the VRS single-station ambiguity specifically comprises the following steps:
the data center receives the parameters, generates VRS observed quantity and accurate coordinates of VRS, and performs PPP resolving on a VRS single station according to the parameters;
performing pseudo-range code deviation and carrier phase hardware delay correction on VRS observed quantity, estimating single-station ambiguity of troposphere, ionosphere and VRS as parameters, and calculating a VRS single-station ambiguity floating solution;
obtaining a VRS single-station ambiguity fixed solution by an ambiguity fixed solution searching method;
adding the VRS carrier phase observed quantity to VRS single-station ambiguity to complete the de-ambiguity processing of the VRS carrier phase observed quantity;
sending the VRS carrier phase observed quantity without integer ambiguity to a user;
the output streaming station PPP fixation solution specifically comprises the following steps:
receiving a precise ephemeris, a precise satellite clock error, a pseudo-range code deviation and a carrier phase hardware delay parameter;
after the accurate position and the clock error of the satellite are obtained through calculation, pseudo range code deviation and carrier phase hardware delay correction are carried out on the VRS observed quantity, and the positions of the troposphere, the ionosphere and the rover station are estimated to obtain a PPP fixed solution of the rover station and output the PPP fixed solution.
CN201811085263.1A 2018-09-17 2018-09-17 Method and device for quickly fixing PPP ambiguity based on VRS difference Active CN110907974B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811085263.1A CN110907974B (en) 2018-09-17 2018-09-17 Method and device for quickly fixing PPP ambiguity based on VRS difference

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811085263.1A CN110907974B (en) 2018-09-17 2018-09-17 Method and device for quickly fixing PPP ambiguity based on VRS difference

Publications (2)

Publication Number Publication Date
CN110907974A CN110907974A (en) 2020-03-24
CN110907974B true CN110907974B (en) 2022-03-15

Family

ID=69812849

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811085263.1A Active CN110907974B (en) 2018-09-17 2018-09-17 Method and device for quickly fixing PPP ambiguity based on VRS difference

Country Status (1)

Country Link
CN (1) CN110907974B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113552606B (en) * 2020-04-23 2022-07-26 千寻位置网络有限公司 Method for determining bit ambiguity
CN113359166A (en) * 2021-04-16 2021-09-07 黑龙江惠达科技发展有限公司 Method for rapidly realizing VRS (virtual Router redundancy System) fixation solution by combining PPP-RTK (Point-to-Point protocol-real time kinematic)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69841174D1 (en) * 1997-03-21 2009-11-05 Univ R NAVIGATION SYSTEM WITH CENTRALIZED ACCURACY USING LOW-SATELLITE SATELLITES
JP4105614B2 (en) * 2003-09-08 2008-06-25 測位衛星技術株式会社 RTK positioning system and positioning method thereof
US7079075B1 (en) * 2005-06-07 2006-07-18 Trimble Navigation Limited GPS rover station for synthesizing synthetic reference phases for controlling accuracy of high integrity positions
CN102353969B (en) * 2011-09-02 2013-07-31 东南大学 Method for estimating phase deviation in precise single-point positioning technology
CN103176188B (en) * 2013-03-19 2014-09-17 武汉大学 Single-epoch fixing method for enhancing PPP-RTK ambiguity of regional foundation
US10422884B2 (en) * 2015-02-26 2019-09-24 Profound Positioning Inc. Method and system for performing precise point positioning (PPP) ambiguity resolution using GNSS triple frequency signals
CN108415049B (en) * 2018-04-19 2022-05-06 千寻位置网络有限公司 Method for improving network RTK double-difference wide lane ambiguity fixing accuracy

Also Published As

Publication number Publication date
CN110907974A (en) 2020-03-24

Similar Documents

Publication Publication Date Title
CN103176188B (en) Single-epoch fixing method for enhancing PPP-RTK ambiguity of regional foundation
DK2912490T3 (en) PPP-RTK method and system for GNSS positioning signal
CN103344978B (en) Area enhanced precision positioning service method suitable for large-scale users
JP6279078B2 (en) Conversion device and program
CN112230252B (en) Terminal positioning method, device, computer equipment and storage medium
CN105353391A (en) Location augmentation system of multi-network integration supporting multi-type location terminals and location augmentation method of multi-network integration supporting multi-type location terminals
Zhang et al. Investigating GNSS PPP–RTK with external ionospheric constraints
CN111381264B (en) Method and platform for fixing long baseline ambiguity in network RTK
CN111290005B (en) Differential positioning method and device for carrier phase, electronic equipment and storage medium
US20090160703A1 (en) Assistance to a mobile sps receiver
CN1833180A (en) Method for generating clock corrections for a wide-area or global differential GPS system
CN108549095A (en) A kind of region CORS nets non-poor Enhancement Method and system parallel
CN110109158A (en) Subsequent supper-fast RTK location algorithm based on GPS, GLONASS and BDS multisystem
CN109975849B (en) Baseline vector determination method, server and computer storage medium
CN104316943A (en) Pseudo distance and Doppler combination differential positioning system and pseudo distance and Doppler combination differential positioning method
US8223068B2 (en) Method and system for logging position data
CN105738934A (en) Un-differenced real-time kinematic (URTK) fuzziness rapid fixing method with additional atmosphere information dynamic constraint
CN115933356B (en) High-precision time synchronization system and method for virtual atomic clock
CN110907974B (en) Method and device for quickly fixing PPP ambiguity based on VRS difference
CN109752747B (en) Differential data determination method, device, server and storage medium
CN115308781B (en) BDGIM-assisted phase smoothing pseudo-range high-precision time transfer method
Chen et al. Undifferenced zenith tropospheric modeling and its application in fast ambiguity recovery for long-range network RTK reference stations
CN116088019A (en) Real-time dynamic positioning method and device, electronic equipment and storage medium
CN111198394A (en) Method and device for quickly fixing ambiguity of virtual reference station switching
Liu et al. Triple-frequency gps precise point positioning ambiguity resolution using dual-frequency based igs precise clock products

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information

Address after: 200438 9 / F, 10 / F, 11 / F, 12 / F, 38 Lane 1688, Guoquan North Road, Yangpu District, Shanghai

Applicant after: QIANXUN SPATIAL INTELLIGENCE Inc.

Address before: Room j165, 1st floor, building 64, 1436 Jungong Road, Yangpu District, Shanghai, 200433

Applicant before: QIANXUN SPATIAL INTELLIGENCE Inc.

CB02 Change of applicant information
GR01 Patent grant
GR01 Patent grant