CN111241718A - Zenith troposphere wet delay calculation method and related device - Google Patents
Zenith troposphere wet delay calculation method and related device Download PDFInfo
- Publication number
- CN111241718A CN111241718A CN202010174441.9A CN202010174441A CN111241718A CN 111241718 A CN111241718 A CN 111241718A CN 202010174441 A CN202010174441 A CN 202010174441A CN 111241718 A CN111241718 A CN 111241718A
- Authority
- CN
- China
- Prior art keywords
- atmospheric
- weighted average
- zenith
- average temperature
- model
- 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.)
- Granted
Links
Images
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
- Complex Calculations (AREA)
Abstract
The application discloses a zenith troposphere wet delay calculation method and a related device, wherein the method comprises the following steps: establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model; inputting the acquired specific humidity, temperature and atmospheric pressure at the earth surface into an atmospheric weighted average temperature model, and outputting an atmospheric weighted average temperature; and inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into the zenith troposphere wet delay model, and outputting a zenith troposphere wet delay value. According to the method, the wet delay of the zenith troposphere is obtained by establishing the atmospheric weighted average temperature model and the wet delay model of the zenith troposphere, wherein the specific humidity, the temperature and the atmospheric pressure are considered in the atmospheric weighted average temperature model, the calculation accuracy of the atmospheric weighted average temperature can be improved through the atmospheric weighted average temperature model, the calculation accuracy of the wet delay of the zenith troposphere is further improved, and the technical problem that the calculation accuracy is low in the traditional calculation method of the wet delay of the zenith troposphere is solved.
Description
The application claims the priority of 2019-12-27, China as nationality and 201911382998.5 as application number.
Technical Field
The application relates to the technical field of troposphere atmosphere measurement, in particular to a zenith troposphere wet delay calculation method and a related device.
Background
A Global Navigation Satellite System (GNSS) is widely used in the military or civil fields, and can provide services such as accurate positioning and Navigation for users. When GNSS satellite signals pass through the troposphere, the troposphere influences two parts of propagation velocity delay and propagation path bending delay of the GNSS satellite signals, and the path delay generated by the troposphere is troposphere delay. And a high-precision zenith troposphere delay calculation model is beneficial to increasing the positioning precision of a long baseline, so that the high-precision zenith troposphere delay calculation method is especially important.
Disclosure of Invention
The application provides a zenith troposphere wet delay calculation method and a related device, which are used for solving the technical problem of low calculation accuracy of the traditional zenith troposphere wet delay calculation method.
In view of the above, a first aspect of the present application provides a zenith troposphere wet delay calculation method, including:
establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model;
inputting the acquired specific humidity, temperature and atmospheric pressure at the earth surface into the atmospheric weighted average temperature model, and outputting an atmospheric weighted average temperature;
and inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into the zenith troposphere wet delay model, and outputting a zenith troposphere wet delay value.
Preferably, the atmosphere weighted average temperature model is:
wherein, TmIs the atmospheric weighted mean temperature, RvIs the wet atmospheric constant, RdIs a dry atmospheric constant, qsIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface of the earth,
is the water vapour pressure, T, at the surfacesIs the temperature at the surface, λ is the atmospheric mixture ratio, β is the temperature decrease rate, gsIs the acceleration of gravity.
Preferably, the zenith troposphere wet delay model is:
wherein ZWD is zenith tropospheric wet retardation, RvIs the wet atmospheric constant, k1、k2、k3Is a constant number, RdIs a dry atmospheric constant, TmWeighted average temperature, q, for the atmospheresIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface, λ is the atmospheric mixing ratio, gsIs the acceleration of gravity.
A second aspect of the present application provides a zenith troposphere wet delay calculation apparatus comprising:
the model establishing module is used for establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model;
the first output module is used for inputting the acquired specific humidity, temperature and atmospheric pressure at the earth surface into the atmospheric weighted average temperature model and outputting an atmospheric weighted average temperature;
and the second output module is used for inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into the zenith troposphere wet delay model and outputting a zenith troposphere wet delay value.
Preferably, the atmosphere weighted average temperature model is:
wherein, TmIs the atmospheric weighted mean temperature, RvIs the wet atmospheric constant, RdIs a dry atmospheric constant, qsIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface of the earth,
is the water vapour pressure, T, at the surfacesIs the temperature at the surface, λ is the atmospheric mixture ratio, β is the temperature decrease rate, gsIs the acceleration of gravity.
Preferably, the zenith troposphere wet delay model is:
wherein ZWD is zenith tropospheric wet retardation, RvIs the wet atmospheric constant, k1、k2、k3Is a constant number, RdIs a dry atmospheric constant, TmWeighted average temperature, q, for the atmospheresIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface, λ is the atmospheric mixing ratio, gsIs the acceleration of gravity.
A third aspect of the present application provides a zenith tropospheric wet delay calculation apparatus comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the zenith tropospheric wet delay calculation method of any one of the first aspect in accordance with instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the zenith troposphere wet delay calculation method of any one of the first aspects.
According to the technical scheme, the method has the following advantages:
the application provides a zenith troposphere wet delay calculation method, which comprises the following steps: establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model; inputting the acquired specific humidity, temperature and atmospheric pressure at the earth surface into an atmospheric weighted average temperature model, and outputting an atmospheric weighted average temperature; and inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into the zenith troposphere wet delay model, and outputting a zenith troposphere wet delay value. According to the zenith troposphere wet delay calculation method, zenith troposphere wet delay is obtained by establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model, wherein the atmosphere weighted average temperature model takes specific humidity, temperature and atmospheric pressure into consideration, the calculation accuracy of the atmosphere weighted average temperature can be improved through the atmosphere weighted average temperature model, and further the calculation accuracy of the zenith troposphere wet delay is improved, so that the technical problem that the calculation accuracy of the traditional zenith troposphere wet delay calculation method is low is solved; and the wet delay of the zenith troposphere can be calculated only by acquiring the specific humidity, the temperature and the atmospheric pressure at the earth surface, and the operation is simple.
Drawings
Fig. 1 is a schematic flow chart of a zenith troposphere wet delay calculation method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a zenith troposphere wet delay calculation apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For ease of understanding, referring to fig. 1, the present application provides an embodiment of a zenith troposphere wet delay calculation method, including:
It should be noted that the atmospheric weighted average temperature is usually estimated through data such as wireless sounding data, wireless occultation products, numerical weather forecast products and the like, and then through a mathematical integral formula, the method needs to provide the atmospheric products with high vertical resolution and high precision, the operation is complex, the cost is high, in order to simplify the operation and reduce the cost on the premise of not reducing the precision, in the embodiment of the application, the atmospheric weighted average temperature model is established to calculate the atmospheric average temperature, and the atmospheric weighted average temperature T is calculatedmGenerally expressed as:
wherein, PwWater vapor pressure, T temperature, hsIs the GNSS rover height.
Under the condition of hydrostatic balance, the embodiment of the application adopts a hydrostatic equation:
where ρ ismAir density, g gravity acceleration, h elevation, and P atmospheric pressure.
The specific humidity q satisfies:
where ρ isvFor the water vapor density, it can be expressed as:
wherein R isvIs the wet atmospheric constant.
As can be seen from equations (2), (3) and (4):
as can be seen from equations (2) and (4):
equation (6) equal number two sides simultaneously take advantage of water vapor pressure PwObtaining:
the equal sign of the formula (7) is divided by the atmospheric temperature T at the same time to obtain:
from equation (8), it can be seen that:
in the formula, RdDry atmospheric constant, β is the rate of temperature decrease.
The water vapor pressure, like atmospheric pressure, decreases rapidly with increasing altitude, and this rate of change can be expressed as:
in the formula, qsIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface, λ is the atmospheric mixing ratio.
According to the formula (10):
in the formula (I), the compound is shown in the specification,
the formula (11) is substituted for the formula (9) for the water vapor pressure at the surface, and the following can be obtained:
by substituting formula (1) with formula (5) and formula (12), the atmosphere weighted average temperature model can be obtained as:
in the formula, RvIs the wet atmospheric constant, RdIs a dry atmospheric constant, qsIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface of the earth,
is the water vapour pressure, T, at the surfacesIs the temperature at the surface, λ is the atmospheric mixture ratio, β is the temperature decrease rate, gsIs the acceleration of gravity.
The atmospheric weighted average temperature model in the embodiment of the application considers specific humidity, temperature, atmospheric pressure and temperature decreasing rate, the accuracy of the atmospheric weighted average temperature calculated by the model is higher, no atmospheric product with high vertical resolution and high accuracy is required to be provided, the operation is simple, and the cost is low.
The total tropospheric zenith delay can be divided into a dry delay and a wet delay, the wet delay being expressed as the water vapour pressureTemperature and refractive index constant, wherein the wet retardation refractive index NwComprises the following steps:
in the formula, RdIs the dry atmospheric constant, k1、k2、k3Is a constant.
The wet delay ZWD is the integral of the wet delay of each height above the GNSS observation station, i.e.:
from equation (1), equation (15) can also be expressed as:
according to the formulae (2), (3) and (4), it is possible to obtain:
substituting the formula (10) into the formula (17), and obtaining a zenith troposphere wet delay model by integrating:
and 102, inputting the acquired specific humidity, temperature and atmospheric pressure at the earth surface into an atmospheric weighted average temperature model, and outputting an atmospheric weighted average temperature.
And 103, inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into a zenith troposphere wet delay model, and outputting a zenith troposphere wet delay value.
It should be noted that the specific humidity q at the earth's surface to be acquired in real timesTemperature T at the earth's surfacesAnd the atmospheric pressure P at the surfacesInputting the temperature into an atmosphere weighted average temperature model, and outputting an atmosphere weighted average temperature TmThen, the acquired specific humidity at the earth surface and the atmospheric pressure at the earth surface are input to the zenith troposphere wet delay model, and the zenith troposphere wet delay value ZWD is output. According to the zenith troposphere wet delay calculation method in the embodiment of the application, the zenith troposphere wet delay can be accurately obtained by inputting the atmospheric temperature, the specific humidity and the atmospheric pressure at the earth surface, a high-precision priori value is provided for GNSS real-time high-precision calculation, particularly long baseline calculation, fast convergence can be conveniently achieved when GNSS is used for calculating, and therefore the calculation speed and precision are improved.
The method for calculating the wet delay of the zenith troposphere provided by the embodiment of the application comprises the following steps: establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model; inputting the acquired specific humidity, temperature and atmospheric pressure at the earth surface into an atmospheric weighted average temperature model, and outputting an atmospheric weighted average temperature; and inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into the zenith troposphere wet delay model, and outputting a zenith troposphere wet delay value. According to the zenith troposphere wet delay calculation method, zenith troposphere wet delay is obtained by establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model, wherein the atmosphere weighted average temperature model takes specific humidity, temperature and atmospheric pressure into consideration, the calculation accuracy of the atmosphere weighted average temperature can be improved through the atmosphere weighted average temperature model, and further the calculation accuracy of the zenith troposphere wet delay is improved, so that the technical problem that the calculation accuracy of the traditional zenith troposphere wet delay calculation method is low is solved; and the wet delay of the zenith troposphere can be calculated only by acquiring the specific humidity, the temperature and the atmospheric pressure at the earth surface, and the operation is simple.
For ease of understanding, referring to fig. 2, the present application provides an embodiment of a zenith tropospheric wet delay calculation apparatus comprising:
the model establishing module 201 is used for establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model.
And a first output module 202, configured to input the acquired specific humidity, temperature and atmospheric pressure at the earth surface to an atmospheric weighted average temperature model, and output an atmospheric weighted average temperature.
And the second output module 203 is used for inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into the zenith troposphere wet delay model and outputting a zenith troposphere wet delay value.
Further, the atmosphere weighted average temperature model is:
wherein, TmIs the atmospheric weighted mean temperature, RvIs the wet atmospheric constant, RdIs a dry atmospheric constant, qsIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface of the earth,
is the water vapour pressure, T, at the surfacesIs the temperature at the surface, λ is the atmospheric mixture ratio, β is the temperature decrease rate, gsIs the acceleration of gravity.
Further, the zenith troposphere wet delay model is:
wherein ZWD is zenith tropospheric wet retardation, RvIs the wet atmospheric constant, k1、k2、k3Is a constant number, RdIs a dry atmospheric constant, TmWeighted average temperature, q, for the atmospheresIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface, λ is the atmospheric mixing ratio, gsIs the acceleration of gravity.
The embodiment of the application also provides zenith troposphere wet delay calculation equipment, which comprises a processor and a memory;
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is configured to execute the zenith tropospheric wet delay calculation method of the foregoing embodiments of zenith tropospheric wet delay calculation method in accordance with instructions in the program code.
An embodiment of the present application further provides a computer-readable storage medium, which is configured to store a program code for executing the zenith troposphere wet delay calculation method in the foregoing zenith troposphere wet delay calculation method embodiment.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (8)
1. A zenith troposphere wet delay calculation method, comprising:
establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model;
inputting the acquired specific humidity, temperature and atmospheric pressure at the earth surface into the atmospheric weighted average temperature model, and outputting an atmospheric weighted average temperature;
and inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into the zenith troposphere wet delay model, and outputting a zenith troposphere wet delay value.
2. The zenith tropospheric wet delay calculation method of claim 1 wherein the atmospheric weighted average temperature model is:
wherein, TmIs the atmospheric weighted mean temperature, RvIs the wet atmospheric constant, RdIs a dry atmospheric constant, qsIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface of the earth,
is the water vapour pressure, T, at the surfacesIs the temperature at the surface, λ is the atmospheric mixture ratio, β is the temperature decrease rate, gsIs the acceleration of gravity.
3. The zenith troposphere wet delay calculation method of claim 1 wherein the zenith troposphere wet delay model is:
wherein ZWD is zenith tropospheric wet retardation, RvIs the wet atmospheric constant, k1、k2、k3Is a constant number, RdIs a dry atmospheric constant, TmWeighted average temperature, q, for the atmospheresIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface, λ is the atmospheric mixing ratio, gsIs the acceleration of gravity.
4. A zenith tropospheric wet delay calculation apparatus comprising:
the model establishing module is used for establishing an atmosphere weighted average temperature model and a zenith troposphere wet delay model;
the first output module is used for inputting the acquired specific humidity, temperature and atmospheric pressure at the earth surface into the atmospheric weighted average temperature model and outputting an atmospheric weighted average temperature;
and the second output module is used for inputting the specific humidity, the atmospheric pressure and the atmospheric weighted average temperature at the earth surface into the zenith troposphere wet delay model and outputting a zenith troposphere wet delay value.
5. The zenith tropospheric wet delay calculation apparatus of claim 4 wherein the atmosphere weighted average temperature model is:
wherein, TmIs the atmospheric weighted mean temperature, RvIs the wet atmospheric constant, RdIs a dry atmospheric constant, qsIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface of the earth,
is the water vapour pressure, T, at the surfacesIs the temperature at the surface, λ is the atmospheric mixture ratio, β is the temperature decrease rate, gsIs the acceleration of gravity.
6. The zenith tropospheric wet delay computation apparatus of claim 4 wherein the zenith tropospheric wet delay model is:
wherein ZWD is zenith tropospheric wet retardation, RvIs the wet atmospheric constant, k1、k2、k3Is a constant number, RdIs a dry atmospheric constant, TmWeighted average temperature, q, for the atmospheresIs the specific humidity at the surface, PsIs the atmospheric pressure at the surface, λ is the atmospheric mixing ratio, gsIs the acceleration of gravity.
7. A zenith tropospheric wet delay calculation apparatus, the apparatus comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the zenith tropospheric wet delay calculation method of any one of claims 1 to 3 in accordance with instructions in the program code.
8. A computer-readable storage medium characterized in that the computer-readable storage medium stores program code for performing the zenith tropospheric wet delay calculation method of any one of claims 1 to 3.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911382998 | 2019-12-27 | ||
| CN2019113829985 | 2019-12-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111241718A true CN111241718A (en) | 2020-06-05 |
| CN111241718B CN111241718B (en) | 2021-09-03 |
Family
ID=70880341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010174441.9A Active CN111241718B (en) | 2019-12-27 | 2020-03-13 | Zenith troposphere wet delay calculation method and related device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111241718B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116203652A (en) * | 2023-04-27 | 2023-06-02 | 武汉依迅北斗时空技术股份有限公司 | Troposphere top height detection method, station, device and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106324620A (en) * | 2016-08-02 | 2017-01-11 | 中国人民解放军空军工程大学 | Tropospheric zenith delay method based not on real-time measurement of surface meteorological data |
| CN108920414A (en) * | 2018-05-18 | 2018-11-30 | 中国人民解放军61540部队 | A kind of utilizing meteorological date calculates the new method of local Zenith tropospheric wet stack emission |
| CN109543353A (en) * | 2018-12-29 | 2019-03-29 | 广东电网有限责任公司 | Three-dimensional water vapor retrieval method, apparatus, equipment and computer readable storage medium |
| CN106814373B (en) * | 2017-01-22 | 2019-09-10 | 武汉大学 | Weighted Atmospheric Temperature Used estimation and tropospheric delay integration method |
| CN110610595A (en) * | 2019-08-01 | 2019-12-24 | 江苏科博空间信息科技有限公司 | Geological disaster early warning method based on Beidou water vapor inversion |
-
2020
- 2020-03-13 CN CN202010174441.9A patent/CN111241718B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106324620A (en) * | 2016-08-02 | 2017-01-11 | 中国人民解放军空军工程大学 | Tropospheric zenith delay method based not on real-time measurement of surface meteorological data |
| CN106814373B (en) * | 2017-01-22 | 2019-09-10 | 武汉大学 | Weighted Atmospheric Temperature Used estimation and tropospheric delay integration method |
| CN108920414A (en) * | 2018-05-18 | 2018-11-30 | 中国人民解放军61540部队 | A kind of utilizing meteorological date calculates the new method of local Zenith tropospheric wet stack emission |
| CN109543353A (en) * | 2018-12-29 | 2019-03-29 | 广东电网有限责任公司 | Three-dimensional water vapor retrieval method, apparatus, equipment and computer readable storage medium |
| CN110610595A (en) * | 2019-08-01 | 2019-12-24 | 江苏科博空间信息科技有限公司 | Geological disaster early warning method based on Beidou water vapor inversion |
Non-Patent Citations (1)
| Title |
|---|
| 乔禛 等: "青海典型地区地基GPS大气可降水量反演及精度分析", 《应用基础与工程科学学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116203652A (en) * | 2023-04-27 | 2023-06-02 | 武汉依迅北斗时空技术股份有限公司 | Troposphere top height detection method, station, device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111241718B (en) | 2021-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109543353A (en) | Three-dimensional water vapor retrieval method, apparatus, equipment and computer readable storage medium | |
| Niu et al. | Development and evaluation of GNSS/INS data processing software for position and orientation systems | |
| Gao et al. | Application of Helmert variance component based adaptive Kalman filter in multi-GNSS PPP/INS tightly coupled integration | |
| CN112327340B (en) | Terminal positioning accuracy evaluation method, device, equipment and medium | |
| US20230052072A1 (en) | Point cloud registration method, apparatus, device and storage medium | |
| CN106814373B (en) | Weighted Atmospheric Temperature Used estimation and tropospheric delay integration method | |
| CN108508463B (en) | Fourier-Hermite orthogonal polynomial based extended ellipsoid collective filtering method | |
| CN104007479A (en) | Ionized layer chromatography technology and ionized layer delay correction method based on multi-scale subdivision | |
| CN111241718B (en) | Zenith troposphere wet delay calculation method and related device | |
| CN108225374A (en) | A kind of Allan methods of analysis of variance of blending inheritance algorithm | |
| CN111143999A (en) | Method, device and equipment for calculating regional surface roughness | |
| RU2539140C1 (en) | Integrated strapdown system of navigation of average accuracy for unmanned aerial vehicle | |
| CN108738132A (en) | A kind of three base station movement communication positioning methods based on TDOA | |
| RU2621692C1 (en) | Method and device for determination of nonmaneuvering aerodynamic target course using range square sampling | |
| CN113219505B (en) | Method, device and equipment for acquiring GPS coordinates for vehicle-road cooperative tunnel scene | |
| CN111679307B (en) | Satellite positioning signal resolving method and device | |
| CN103697857A (en) | Height measuring method and height measuring device | |
| CN104089554A (en) | Method for measuring forest structure parameters through angle gauge counting trees | |
| CN104316905B (en) | The method processing the adaptive Kalman filter of flight time ranging data | |
| CN114002724B (en) | Control point online real-time rapid analysis method and device based on CORS network | |
| Kazmierski et al. | Tropospheric delay modelling for the EGNOS augmentation system | |
| CN113064444B (en) | Prediction method, device, equipment and storage medium for next flight position of unmanned aerial vehicle | |
| RU2594631C1 (en) | Method of determining spatial orientation angles of aircraft and device therefor | |
| CN114674328A (en) | Map generation method, map generation device, electronic device, storage medium, and vehicle | |
| CN111679346B (en) | Atmospheric water-reducing amount estimation method and device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |