CN112782741B - Ambiguity fixing method based on RTK positioning and positioning terminal - Google Patents
Ambiguity fixing method based on RTK positioning and positioning terminal Download PDFInfo
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- CN112782741B CN112782741B CN201911103619.4A CN201911103619A CN112782741B CN 112782741 B CN112782741 B CN 112782741B CN 201911103619 A CN201911103619 A CN 201911103619A CN 112782741 B CN112782741 B CN 112782741B
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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 is suitable for the technical field of satellite positioning, and provides an ambiguity fixing method based on RTK positioning and a positioning terminal, wherein the method comprises the following steps: acquiring real-time observation data, wherein the observation data comprises observation data of a base station and observation data of a mobile station; acquiring a common-view satellite of the mobile station and the base station; using MW combination to calculate to obtain a wide lane ambiguity fixed solution corresponding to the common-view satellite as a prior solution; constructing a MW constraint pseudo range carrier wide lane model based on the prior solution and a pseudo range carrier wide lane observation equation obtained according to the real-time observation data, wherein the MW constraint pseudo range carrier wide lane model comprises a weight matrix; adjusting the weight matrix based on the observation data; and carrying out ambiguity fixing on the basis of the MW constraint pseudo range carrier wide lane model, and obtaining a final wide lane ambiguity fixing solution when the fixing is successful. The invention can improve the precision of ambiguity fixing.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to an ambiguity fixing method based on RTK positioning and a positioning terminal.
Background
With the construction of satellite systems and the continuous development of chip technology, multi-frequency point devices have become the mainstream. The wavelength corresponding to the original frequency point is 18-25 cm, and due to the influence of positioning errors of three links, namely a satellite end, a propagation path and a receiving end, even though the model and the parameters are corrected, the original observed quantity still has a large error, and the accuracy of cycle slip detection and ambiguity fixing can be influenced by directly using the original observed quantity.
In order to reduce errors, a plurality of scholars research various virtual observation values formed by linear combinations of different frequencies and different types, including wide lane observation values, and the wavelength of the wide lane observation values is about 4 times of that of an original carrier wave, so that the wide lane observation values can be used for a middle link of cycle slip detection and ambiguity fixing.
Because the measurement noise of a chip type receiver of mobile equipment (such as a vehicle-mounted device) is generally larger than that of a traditional measurement type board card, the matched antenna is mostly a ceramic antenna, the multipath difference resistance and the gain are low, in the application of urban road environment, for example, multipath effect and the like are caused by shielding of severe overhead, high-rise canyon, tree shadow and the like, so that the error is increased, and due to the influence of the installation position of the antenna, the satellite signal is further attenuated, the precision of pseudo range is greatly influenced, and the fixing difficulty of lane ambiguity is increased.
In order to solve the above problems, two methods are proposed in the prior art: firstly, a MW combination mode is adopted, each satellite is analyzed independently, the combination eliminates ionospheric delay, satellite clock error and receiver clock error, and eliminates the geometric distance between the satellite and a receiver, but because pseudo-range observed quantity is used, and the influence of measurement noise exceeds half of wide lane wavelength, the fixation of a single epoch is difficult to realize directly; secondly, an equation is established by utilizing pseudo-range and carrier wide lane virtual observation values, and the wide lane ambiguity and position are integrally solved, the method eliminates clock error, hardware delay, initial phase deviation and the like at a satellite end and a receiver end, weakens space-related ionosphere delay and troposphere delay, and residual errors mainly come from space-related errors which are not completely eliminated.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
In view of this, the embodiment of the invention provides an ambiguity fixing method based on RTK positioning and a positioning terminal, which solve the problem of low ambiguity fixing accuracy in the prior art.
A first aspect of an embodiment of the present invention provides an ambiguity fixing method based on RTK positioning, including:
acquiring real-time observation data, wherein the observation data comprises observation data of a base station and observation data of a mobile station;
acquiring a common-view satellite of the mobile station and the base station;
resolving by adopting MW combination to obtain a wide lane ambiguity fixed solution corresponding to the common view satellite as a prior solution;
constructing a MW constraint pseudo range carrier wide lane model based on the prior solution and a pseudo range carrier wide lane observation equation obtained according to the real-time observation data, wherein the MW constraint pseudo range carrier wide lane model comprises a weight matrix;
adjusting the weight matrix based on the observation data;
and carrying out ambiguity fixing on the basis of the MW constraint pseudo range carrier wide lane model, and obtaining a final wide lane ambiguity fixing solution when the fixing is successful. A second aspect of an embodiment of the present invention provides a positioning terminal, where the positioning terminal is configured to execute the method for ambiguity fixing based on RTK positioning mentioned in the first aspect.
A third aspect of the embodiments of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method mentioned in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: and obtaining a prior wide lane ambiguity fixed solution by adopting an MW mode, and obtaining a final wide lane ambiguity fixed solution based on an MW constraint pseudo-range carrier wide lane model and the prior wide lane ambiguity fixed solution, so that the ambiguity fixed precision can be provided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flowchart of an ambiguity fixing method based on an RTK positioning according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a preferred embodiment of an ambiguity fixing method based on an RTK positioning according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning terminal according to a third embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiment of the present invention.
It should be noted that, in this embodiment, descriptions such as "first" and "second" are used to distinguish different regions, modules, and the like, and do not represent a sequence nor limit that "first" and "second" are different types.
In order to illustrate the technical solution of the present invention, the following description is given by way of specific examples.
Example one
Fig. 1 is a schematic flowchart of an ambiguity fixing method based on an RTK positioning according to an embodiment of the present invention, where the method may include the following steps:
step S1, acquiring real-time observation data;
specifically, first, observation data including observation data of the mobile station and observation data of the base station is prepared.
S2, acquiring a common-view satellite of the mobile station and the base station;
specifically, a co-view satellite for the mobile station and the base station is acquired, which may be a single epoch co-view satellite.
S3, resolving by adopting MW combination to obtain a wide lane ambiguity fixed solution corresponding to the co-view satellite as a prior solution;
specifically, firstly, resolving observation data of a single-epoch common-view satellite by adopting MW combination to obtain a floating solution of corresponding widelane ambiguity; smoothing and rounding the obtained wide lane ambiguity floating point solution to obtain a fixed solution as a prior solution and obtain a decimal deviation corresponding to the fixed solution;
s4, constructing a MW constraint pseudo range carrier wide lane model based on a priori solution and a pseudo range carrier wide lane observation equation obtained according to real-time observation data;
specifically, a MW constraint pseudo range carrier wide lane model is constructed based on a prior solution and a pseudo range carrier wide lane observation equation obtained according to real-time observation data, and the MW constraint pseudo range carrier wide lane model is as follows:
The MW-constrained pseudorange-carrier wide-lane model contains a corresponding weight matrix, e.g.
Etc.; the corresponding weight matrix comprises a weight matrix of prior solutions
The weight matrix of the prior solution is specifically:
Further, the pseudorange carrier wide-lane observation equation that is not constrained by MW may be expressed as:
S5, adjusting the weight matrix based on the observation data;
specifically, the weight matrix is adjusted based on observation data, such as: the single-difference wide-lane standard deviation between stations of all the common-view satellites can be adjusted according to the observation data, so that the weight matrix of the prior solution is adjusted.
And S6, carrying out ambiguity fixing on the basis of the MW constraint pseudo range carrier wide lane model, and obtaining a final wide lane ambiguity fixing solution when the fixing is successful.
In this embodiment, a MW mode is adopted to obtain a widelane ambiguity fixed solution as a prior solution, and a pseudo-range carrier widelane model is constrained based on the prior solution to obtain a more accurate fixed solution, that is, a final widelane ambiguity fixed solution.
In a further preferred embodiment of this embodiment, the step S2 specifically includes:
the analysis is performed according to the aforementioned observation data, and corresponding co-view satellites are obtained, and the number of the co-view satellites may be one or more, which is not limited herein. Further, a co-view satellite in the mobile station and the base station that is detected by the quality of the observed data and has complete dual-frequency data may be selected.
In a further preferred embodiment of this embodiment, the quality detection is performed on the observation data of the mobile station, and a specific process of acquiring the observation data passing the quality detection is as follows:
acquiring a pseudo range Doppler consistency array between observation data of adjacent epochs of the mobile station;
specifically, a pseudorange doppler consistency array between observed data (of mobile stations) of adjacent epochs is computed, specifically: diffPD = [ ] 1 diffPD 2 … diffPD n ]Wherein diffPD represents the array of pseudoranges and Doppler differences in the mobile station, diffPD n ＝P k -(P k-1 +(D k +D k-1 )·ΔT/2)，P k 、P k-1 、D k 、D k-1 Respectively representing the pseudo range and Doppler observed quantity of the current epoch and the last epoch; Δ T represents the observation interval of the previous and subsequent epochs. diffPD n The smaller the corresponding observed data quality is, the better.
Specifically, in an embodiment, a pseudo range doppler consistency value of each adjacent epoch may be obtained based on the pseudo range doppler consistency array; if the value of the pseudo range Doppler consistency is not greater than the first preset value, determining that the observation data of the corresponding epoch pass quality detection to obtain the observation data passing the quality detection; the calculated pseudo-range doppler consistency value can be compared with a first preset value, if the pseudo-range doppler consistency value is not greater than the first preset value, it is determined that the observed data of the corresponding epoch passes through quality detection, so that observed data passing through quality detection is obtained, if the pseudo-range doppler consistency value is greater than the first preset value, the observed data of the epoch is poor in quality, so that the quality detection result of the observed data of each epoch is obtained through the method, and the observed data of all epochs passing through quality detection is obtained.
In a preferred aspect of this embodiment, for example, in an onboard scene, due to the complexity of the onboard environment, the observed quantity is often blocked by an overhead or high-rise building, and the observed quantity which is subjected to single-point positioning quality detection, double-frequency pseudo range, carrier signal integrity and is viewed together with the reference station is taken for RTK positioning, so that positioning accuracy can be provided to some extent. And through the single-point positioning quality detection, part of low-quality pseudo range observed quantity is removed, and the accuracy of subsequent widelane ambiguity calculation can be improved.
In a further preferable embodiment of this embodiment, the step S5 specifically includes: and adjusting the standard deviation of the single-difference wide lane between the stations of all the common-view satellites according to the observation data, for example, obtaining the standard deviation of the single-difference wide lane between the stations of the common-view satellites based on pseudo-range simulation errors, decimal deviations and base line lengths.
In a further preferable scheme of this embodiment, the step S5 specifically further includes:
acquiring one or more of a pseudo range Doppler consistency array, a posterior residual array of the mobile station, a base length and decimal deviation of a corresponding prior solution according to the observation data;
for example: performing Kalman filtering processing on observation data of the mobile station to obtain an a posteriori residual error array of the mobile station;
in particular, the Kalman filtering mode can be adoptedObtaining a pseudo-range posterior residual error array, specifically: Δ V n ＝P-(ρ 0 +H·Δx+ct s -ct i -I-T), where Δ V represents the pseudorange a posteriori residual array, and Δ V n ＝P-(ρ 0 +H·ΔX+ct s -ct i -I-T)，ρ 0 Is an approximate satellite-to-ground distance; h, designing a matrix; Δ x coordinate correction; t is t s Satellite clock error; t is t i A receiver clock error; i, ionospheric error; t tropospheric error; and c is the speed of light. The pseudo-range posterior residual array can be used for evaluating the observation quality of the pseudo-range and providing reference information for whole and fixed widelane ambiguity. Then, the single-point positioning processing is carried out on the observation data of the mobile station by adopting a Kalman filtering mode to obtain an error array of pseudo-range observation quantity,
wherein σ P Indicates the pseudo-range error and n indicates the satellite number.
Adjusting a weight matrix of the MW-constrained pseudo-range carrier wide-lane model according to the obtained one or more weight matrices;
specifically, the pseudorange doppler consistency array, the a posteriori residual array of the mobile station, the length of the base line, and the decimal deviation of the corresponding prior solution may be obtained according to the observation data, or only one, two, three, or four of the pseudorange doppler consistency array, the a posteriori residual array of the mobile station, the length of the base line, and the decimal deviation of the corresponding prior solution may be obtained according to the actual situation, which is not limited herein. And adjusting a weight matrix of the MW-constrained pseudo-range carrier wide-lane model according to the obtained one or more.
Further, the MW constraint pseudorange carrier wide lane model specifically includes:
In a further preferred aspect of this embodiment, when the obtained one or more obtained pseudorange doppler consistency data sets include pseudorange doppler consistency data, that is, when a weight matrix needs to be adjusted according to the pseudorange doppler consistency data set, adjusting a weight matrix of the MW-constrained pseudorange carrier wide-lane model according to the obtained one or more obtained pseudorange doppler consistency data sets specifically includes:
calculating the median of the consistency array of the pseudo range Doppler, obtaining the difference value between each value of the consistency array of the pseudo range Doppler and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch, and adjusting the weight matrix according to the obtained consistency deviation of the pseudo range Doppler;
in a further preferred solution of this embodiment, when one or more of the obtained pseudorange posterior residual arrays includes the pseudorange posterior residual array, that is, when the weight matrix needs to be adjusted according to the pseudorange posterior residual array, adjusting the weight matrix of the MW constrained pseudorange carrier wide-lane model according to the obtained one or more is specifically:
calculating the median of the pseudo-range posterior residual error array, obtaining the difference value between each value of the pseudo-range posterior residual error and the median of the pseudo-range posterior residual error as the pseudo-range posterior residual error of the current epoch, and adjusting the weight matrix according to the pseudo-range posterior residual error.
In another preferable solution of this embodiment, the step S3 specifically includes:
firstly, resolving observation data of a single-epoch co-view satellite by adopting MW combination to obtain a corresponding floating solution of the widelane ambiguity, wherein the process is as follows:
resolving data of each common view satellite by adopting MW combination to obtain corresponding widelane ambiguity, according to a formula:
wherein Δ = (—) represents an inter-station single difference operator;
an estimate representing a widelane ambiguity;
representing narrow lane pseudorange observed values;
representing wide lane carrier observations;
and P 1 、P 2 Are respectively the frequency f 1 、f 2 A carrier phase observation (unit: week) and a pseudorange observation (unit: meter); lambda w ＝c/(f 1 -f 2 ) Indicating a wide lane carrier wavelength. Selecting a target co-view satellite from the co-view satellites, and processing the widelane ambiguity of the target co-view satellite by adopting an epoch smoothing method to obtain a smoothed widelane ambiguity floating solution and corresponding standard deviation information;
specifically, for the common-view satellite, a satellite without cycle slip or capable of being repaired is selected as a target common-view satellite, and then, continuous m epochs are used for smoothing the widelane ambiguity to reduce measurement noise, so as to obtain a smoothed widelane ambiguity floating solution and corresponding standard deviation information, such as:
then, smoothing and rounding the obtained wide lane ambiguity floating point solution to obtain a fixed solution as a prior solution and obtain a decimal deviation corresponding to the fixed solution;
specifically, forAnd (3) rounding the obtained wide lane ambiguity floating point solution by adopting a principle of rounding nearby, and obtaining a priori wide lane ambiguity fixed solution when the following formula is satisfied, wherein the formula is as follows:
fixed solution representing single-differenced widelane ambiguity (i.e., a priori widelane ambiguity fixed solution), [ ·]The expression is for the operator to be rounded up nearby,
to round the error, b m Represents a rounding threshold; sigma m Is a medium error threshold, wherein b m And sigma m The value of (b) can be set according to practical situations, and is not limited herein.
In one scenario of this embodiment, for static differences similar to the CORS or the ground based augmentation system, the real baseline back-calculation wide-lane ambiguity may be used to check the correctness of the wide-lane ambiguity rounding.
For a measurement type receiver and a choke coil antenna which are used in the traditional RTK positioning, the performance of resisting errors and multipath is strong, so that the rounding threshold b is used m When the condition is checked, the correct widelane ambiguity can be obtained.
In a further preferable embodiment of this embodiment, the step S5 specifically includes: and adjusting the weight matrix according to the decimal deviation.
In a further preferable embodiment of this embodiment, the step S5 further includes: one or more of a pseudorange doppler consistency array, an a posteriori residual array for the mobile station, and a baseline length are obtained from the observation data and used to adjust the weight matrix. In this case, in one embodiment, the fractional offset is necessary data for adjusting the weight matrix of the prior solution, and the pseudorange doppler consistency array, the a posteriori residual array of the mobile station, and the base length are optional data. However, the present application is not limited thereto.
In a still further preferred aspect of this embodiment, when one or more of the obtained pseudorange doppler consistency data sets includes pseudorange doppler consistency, that is, when the weight matrix needs to be adjusted according to the pseudorange doppler consistency data set, calculating a median of the pseudorange doppler consistency data set, obtaining a difference between each value of the pseudorange doppler consistency data set and the median of the pseudorange doppler consistency data set as a consistency bias of the pseudorange doppler of the current epoch, and adjusting the weight matrix according to the pseudorange doppler consistency bias; or alternatively
When one or more of the previous descriptions comprises a pseudo-range posterior residual array, namely the weight matrix needs to be adjusted according to the pseudo-range posterior residual array, calculating the median of the pseudo-range posterior residual array, obtaining the difference value between each value of the pseudo-range posterior residual and the median of the pseudo-range posterior residual as the pseudo-range posterior residual deviation of the current epoch, and adjusting the weight matrix according to the pseudo-range posterior residual deviation.
In an actual application scenario of the invention, a weight matrix is adjusted according to the decimal deviation, the consistency deviation of pseudo-range doppler, the pseudo-range posterior residual deviation and the length of a base line, and it should be noted that the adjusted weight matrix refers to a weight matrix of a MW constraint pseudo-range carrier wide-lane model. This step S5 is preceded by (see fig. 2):
s7, resolving by adopting MW combination to obtain decimal deviation corresponding to a fixed solution;
for example: and resolving observation data of the single-epoch common-view satellite by adopting MW combination to obtain a corresponding widelane ambiguity floating-point solution, smoothing and rounding the obtained widelane ambiguity floating-point solution to obtain a fixed solution serving as a prior solution, and obtaining a decimal deviation corresponding to the fixed solution.
Step S8, acquiring a pseudo range Doppler consistency array according to observation data of adjacent epochs of the mobile station, calculating the median of the pseudo range Doppler consistency array, and acquiring the difference value between each value of the pseudo range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch;
specifically, the consistency number of the pseudorange doppler is an array that can be calculated firstMedian Med of the sequence diffPD Then, the difference (absolute value) between each data in each array and the median is calculated
And taking the difference value as a consistency value of the current pseudorange Doppler.
Step S9, kalman filtering is carried out on the observation data of the mobile station to obtain a posterior residual error array of the mobile station, the median of the pseudo-range posterior residual error array is calculated, and the difference value between each value of the pseudo-range posterior residual error array and the median of the posterior residual error is obtained and is used as the pseudo-range posterior residual error deviation of the current epoch;
specifically, calculating the median Med of the pseudo-range a posteriori residual error ΔV Then calculating the difference between each value of the pseudo-range a posteriori residuals and said median
And taking the difference value as a pseudo range posterior residual of the current epoch.
Acquiring the length of a base line according to the observation data of the base station and the observation data of the mobile station;
in a further preferable scheme of this embodiment, the step S5 specifically includes:
adjusting a weight matrix according to the decimal deviation, the consistency deviation of pseudo-range Doppler, the pseudo-range posterior residual deviation and the base length;
specifically, the sum of the consistency deviation of the pseudo range Doppler and the pseudo range posterior residual deviation is obtained, and normalization is carried out to obtain a corresponding pseudo range simulation error;
in a preferred embodiment of this embodiment, the adjusting the weight matrix according to the decimal deviation, the pseudorange doppler consistency deviation, the pseudorange posterior residual deviation, and the base length specifically includes:
obtaining the sum of the consistency value of the current pseudo range Doppler and the pseudo range posterior residual error, and normalizing to obtain a corresponding pseudo range analog error; for example: the sum of the consistency value of the current pseudorange Doppler and the pseudorange posterior residual is normalized and simulatedObtaining corresponding pseudo range analog error to obtain Bias = [ ] 1 Bias 2 … Bias n ]；
Obtaining the standard deviation of the single difference wide lane between stations of the common view satellite based on the pseudo-range simulation error, the decimal deviation and the length of the base line, which specifically comprises the following steps:
wherein the content of the first and second substances,
is a fractional deviation; k is an amplification factor obtained from the base length, and further, the relationship between the amplification factor k and the base length l is:
wherein the unit of l is kilometer. The relation between the amplification factor k and the base length l may be of other variable types, for example, the amplification factor k is proportional to the base length l, and the application is not limited thereto. It should be noted that, if the adaptive adjustment is performed without using the consistency value of the pseudorange doppler and/or the pseudorange posterior residual, the formula Bias is modified according to the current situation n If no baseline length is used, k =1 by default.
In a further preferable scheme of this embodiment, the step S6 specifically includes:
processing the MW constrained pseudo range carrier wide lane model by adopting a least square method to obtain a double-difference wide lane ambiguity floating solution;
specifically, the MW constrained pseudo-range carrier wide lane model is processed by a least square method to obtain a double-difference wide lane ambiguity floating solution
And (4) carrying out widelane ambiguity fixing by adopting a lambda algorithm, and obtaining a final widelane ambiguity fixing solution when the fixing is successful.
Specifically, a lambda algorithm is adopted to search the widelane ambiguity, when the ratio is smaller than a second preset value, the widelane ambiguity is considered to be successfully fixed, a search result of each epoch is obtained, a numerical value when the ratio is smaller than the second preset value is used as an ambiguity fixed solution, and an ambiguity fixing agent is used as a final widelane ambiguity fixed solution. The value of the second preset value may be set according to actual conditions, which is not limited herein.
In this embodiment, a MW mode is adopted to obtain a prior wide lane ambiguity fixed solution, and a final wide lane ambiguity fixed solution is obtained based on a MW constrained pseudo-range carrier wide lane model and the prior wide lane ambiguity fixed solution, which can provide ambiguity fixed accuracy.
Example two
Fig. 3 is a schematic structural diagram of a positioning terminal according to a second embodiment of the present invention. As shown in fig. 3, the positioning terminal 3 of this embodiment includes: a processor 30, a memory 31 and a computer program 32 stored in said memory 31 and executable on said processor 30. The processor 30 implements the steps of the first embodiment of the method described above when executing the computer program 32.
The computer program 32 is particularly adapted to cause the processor 30 to perform the following operations:
acquiring real-time observation data, wherein the observation data comprises observation data of a base station and observation data of a mobile station;
acquiring a common-view satellite of the mobile station and the base station;
resolving by adopting MW combination to obtain a wide lane ambiguity fixed solution corresponding to the common view satellite as a prior solution;
constructing a MW constraint pseudo range carrier wide lane model based on the prior solution and a pseudo range carrier wide lane observation equation obtained according to the real-time observation data, wherein the MW constraint pseudo range carrier wide lane model comprises a weight matrix;
adjusting the weight matrix based on the observation data;
and carrying out ambiguity fixing on the basis of the MW constraint pseudo range carrier wide lane model, and obtaining a final wide lane ambiguity fixing solution when the fixing is successful.
In an alternative mode, the weight matrix of the MW-constrained pseudo-range carrier wide-lane model comprises a weight matrix of a prior solution, and the weight matrix of the prior solutionThe matrix is:
wherein the content of the first and second substances,
a conversion matrix representing single differences to double differences,
representing an inter-station single-difference wide-lane ambiguity covariance matrix, said
Representing the standard deviation of the single-difference wide lane between stations of the common-view satellite n;
the computer program 32 is specifically adapted to cause the processor 30 to perform the following operations:
and adjusting the standard deviation of the inter-station single-difference wide lane of all the common-view satellites based on the observation data.
In an alternative approach, the computer program 32 is specifically configured to cause the processor 30 to perform the following operations:
obtaining one or more of a pseudorange doppler consistency array, an a posteriori residual array of the mobile station, a baseline length, and a fractional deviation corresponding to the prior solution according to the observation data;
adjusting the weight matrix according to the obtained one or more.
In an alternative approach, the computer program 32 is specifically configured to cause the processor 30 to perform the following operations:
when the weight matrix needs to be adjusted according to the pseudo-range Doppler consistency array, calculating the median of the pseudo-range Doppler consistency array, acquiring the difference between each value of the pseudo-range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo-range Doppler of the current epoch, and adjusting the weight matrix according to the consistency deviation of the pseudo-range Doppler;
when the weight matrix needs to be adjusted according to the pseudo-range a-posteriori residual error array, calculating the median of the pseudo-range a-posteriori residual error array, obtaining the difference between each value of the pseudo-range a-posteriori residual error and the median of the pseudo-range a-posteriori residual error as the pseudo-range a-posteriori residual error deviation of the current epoch, and adjusting the weight matrix according to the pseudo-range a-posteriori residual error deviation.
In an alternative approach, where the common-view satellite is a single-epoch common-view satellite, the computer program 32 is specifically configured to cause the processor 30 to perform the following operations:
resolving the observation data of the single-epoch common-view satellite by adopting MW combination to obtain a corresponding floating point solution of the widelane ambiguity;
smoothing and rounding the obtained wide lane ambiguity floating point solution to obtain a fixed solution serving as the prior solution and a decimal deviation corresponding to the fixed solution;
the computer program 32 is specifically adapted to cause the processor 30 to perform the following operations:
and adjusting the weight matrix according to the decimal deviation.
In an alternative form, the computer program 32 is specifically adapted to cause the processor 30 to:
one or more of a pseudorange doppler consistency array, an a posteriori residual array of the mobile station, and a baseline length are obtained from the observation data and used to adjust the weight matrix.
In an alternative approach, the computer program 32 is specifically configured to cause the processor 30 to perform the following operations:
when the weight matrix needs to be adjusted according to the pseudo range Doppler consistency array, calculating the median of the pseudo range Doppler consistency array, acquiring the difference value between each value of the pseudo range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch, and adjusting the weight matrix according to the consistency deviation of the pseudo range Doppler;
when the weight matrix needs to be adjusted according to the pseudo-range posterior residual error array, calculating the median of the pseudo-range posterior residual error array, obtaining the difference value between each value of the pseudo-range posterior residual error and the median of the pseudo-range posterior residual error as the pseudo-range posterior residual error deviation of the current epoch, and adjusting the weight matrix according to the pseudo-range posterior residual error deviation.
In an alternative approach, the computer program 32 is specifically configured to cause the processor 30 to perform the following operations:
calculating by adopting MW combination to obtain decimal deviation corresponding to the fixed solution;
acquiring a pseudo-range Doppler consistency array according to observation data of adjacent epochs of the mobile station, calculating the median of the pseudo-range Doppler consistency array, and acquiring the difference between each value of the pseudo-range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo-range Doppler of the current epoch;
performing Kalman filtering on observation data of the mobile station to obtain an a posteriori residual error array of the mobile station, calculating a median of the pseudo-range a posteriori residual error array, and acquiring a difference value between each value of the pseudo-range a posteriori residual error array and the median of the pseudo-range a posteriori residual error as a pseudo-range a posteriori residual error deviation of a current epoch;
acquiring the length of a base station according to the observation data of the base station and the observation data of the mobile station;
the computer program 32 is particularly adapted to cause the processor 30 to perform the following operations:
and adjusting the weight matrix according to the decimal deviation, the consistency deviation of the pseudo range Doppler, the pseudo range posterior residual deviation and the base length.
In an optional manner, the weight matrix of the MW-constrained pseudorange carrier wide-lane model includes a weight matrix of a prior solution, where the weight matrix of the prior solution is:
wherein the content of the first and second substances,
a conversion matrix representing single differences to double differences,
representing an inter-station single-difference wide-lane ambiguity covariance matrix, wherein
Representing the standard deviation of single difference wide lane between stations of the common-view satellite n;
the computer program 32 is specifically adapted to cause the processor 30 to perform the following operations:
acquiring the sum of the consistency deviation of the pseudo range Doppler and the pseudo range posterior residual deviation, and normalizing to obtain a corresponding pseudo range simulation error;
and obtaining the standard deviation of the single difference wide lane between stations of the common view satellite based on the pseudo-range simulation error, the decimal deviation and the base length as follows:
wherein the content of the first and second substances,
is a fractional deviation; k is the amplification factor obtained from the base length.
In an alternative mode, the relationship between the amplification factor k and the base length l is:
In an alternative approach, the computer program 32 is specifically configured to cause the processor 30 to perform the following operations:
processing the MW constrained pseudo range carrier wide lane model by adopting a least square method to obtain a double-difference wide lane ambiguity floating solution;
and (4) carrying out widelane ambiguity fixing by adopting a lambda algorithm, and obtaining a final widelane ambiguity fixing solution when the fixing is successful.
In an alternative mode, the pseudorange carrier wide lane observation equation is:
the MW constraint pseudo range carrier wide lane model is as follows:
wherein the content of the first and second substances,
a residual representing the solution of the prior is determined,
representing the two-difference widelane ambiguities obtained based on the prior solution,
a weight matrix representing a prior solution.
In this embodiment, a MW mode is adopted to obtain a prior wide lane ambiguity fixed solution, and a final wide lane ambiguity fixed solution is obtained based on a MW constrained pseudo-range carrier wide lane model and the prior wide lane ambiguity fixed solution, which can provide ambiguity fixed accuracy. The positioning terminal 3 may be a desktop computer, a notebook, a palm computer, a cloud positioning terminal, or other computing devices. The positioning terminal may include, but is not limited to, a processor 30, a memory 31. It will be appreciated by those skilled in the art that fig. 3 is only an example of a positioning terminal 3 and does not constitute a limitation of the positioning terminal 3 and may comprise more or less components than those shown, or some components may be combined, or different components, e.g. the positioning terminal may further comprise input output devices, network access devices, buses, etc.
The Processor 30 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the positioning terminal 3, such as a hard disk or a memory of the positioning terminal 3. The memory 31 may also be an external storage device of the positioning terminal 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the positioning terminal 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the positioning terminal 3. The memory 31 is used for storing the computer program and other programs and data required by the positioning terminal. The memory 31 may also be used to temporarily store data that has been output or is to be output.
EXAMPLE III
The third embodiment of the present invention also provides a computer-readable storage medium including a computer program stored on a computer storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to execute the method for fixing an ambiguity based on an RTK positioning in the first embodiment described above.
The executable instructions may be specifically configured to cause the processor to perform the following operations:
acquiring real-time observation data, wherein the observation data comprises observation data of a base station and observation data of a mobile station;
acquiring a common-view satellite of the mobile station and the base station;
resolving by adopting MW combination to obtain a wide lane ambiguity fixed solution corresponding to the common view satellite as a prior solution;
constructing a MW constraint pseudo range carrier wide lane model based on the prior solution and a pseudo range carrier wide lane observation equation obtained according to the real-time observation data, wherein the MW constraint pseudo range carrier wide lane model comprises a weight matrix;
adjusting the weight matrix based on the observation data;
and carrying out ambiguity fixing on the basis of the MW constraint pseudo range carrier wide lane model, and obtaining a final wide lane ambiguity fixing solution when the fixing is successful.
In an optional manner, the weight matrix of the MW-constrained pseudorange carrier wide-lane model includes a weight matrix of a prior solution, where the weight matrix of the prior solution is:
wherein the content of the first and second substances,
a transformation matrix representing single differences to double differences,
representing an inter-station single-difference wide-lane ambiguity covariance matrix, said
Representing the standard deviation of single difference wide lane between stations of the common-view satellite n;
the executable instructions may be specifically configured to cause the processor to:
and adjusting the standard deviation of the inter-station single-difference wide lane of all the common-view satellites based on the observation data.
In an alternative, the executable instructions may be specifically configured to cause the processor to:
obtaining one or more of a pseudorange doppler consistency array, an a posteriori residual array of the mobile station, a baseline length, and a fractional deviation corresponding to the prior solution according to the observation data;
adjusting the weight matrix according to the obtained one or more.
In an alternative, the executable instructions may be specifically configured to cause the processor to:
when the weight matrix needs to be adjusted according to the pseudo range Doppler consistency array, calculating the median of the pseudo range Doppler consistency array, acquiring the difference value between each value of the pseudo range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch, and adjusting the weight matrix according to the consistency deviation of the pseudo range Doppler;
when the weight matrix needs to be adjusted according to the pseudo-range a-posteriori residual error array, calculating the median of the pseudo-range a-posteriori residual error array, obtaining the difference between each value of the pseudo-range a-posteriori residual error and the median of the pseudo-range a-posteriori residual error as the pseudo-range a-posteriori residual error deviation of the current epoch, and adjusting the weight matrix according to the pseudo-range a-posteriori residual error deviation.
In an alternative implementation, where the common-view satellite is a single-epoch common-view satellite, the executable instructions may be specifically configured to cause the processor to:
resolving the observation data of the single-epoch common-view satellite by adopting MW combination to obtain a corresponding floating point solution of the widelane ambiguity;
smoothing and rounding the obtained wide lane ambiguity floating point solution to obtain a fixed solution serving as the prior solution and a decimal deviation corresponding to the fixed solution;
the executable instructions may be specifically configured to cause the processor to perform the following operations:
and adjusting the weight matrix according to the decimal deviation.
In an alternative manner, the executable instructions may be specifically configured to cause the processor to perform the following operations:
one or more of a pseudorange doppler consistency array, an a posteriori residual array of the mobile station, and a baseline length are obtained from the observation data and used to adjust the weight matrix.
In an alternative manner, the executable instructions may be specifically configured to cause the processor to perform the following operations:
when the weight matrix needs to be adjusted according to the pseudo range Doppler consistency array, calculating the median of the pseudo range Doppler consistency array, acquiring the difference value between each value of the pseudo range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch, and adjusting the weight matrix according to the consistency deviation of the pseudo range Doppler;
when the weight matrix needs to be adjusted according to the pseudo-range posterior residual error array, calculating the median of the pseudo-range posterior residual error array, obtaining the difference value between each value of the pseudo-range posterior residual error and the median of the pseudo-range posterior residual error as the pseudo-range posterior residual error deviation of the current epoch, and adjusting the weight matrix according to the pseudo-range posterior residual error deviation.
In an alternative, the executable instructions may be specifically configured to cause the processor to:
resolving by adopting MW combination to obtain decimal deviation corresponding to the fixed solution;
acquiring a pseudo range Doppler consistency array according to observation data of adjacent epochs of the mobile station, calculating the median of the pseudo range Doppler consistency array, and acquiring the difference between each value of the pseudo range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch;
performing Kalman filtering on observation data of the mobile station to obtain an a posteriori residual error array of the mobile station, calculating a median of the pseudo-range a posteriori residual error array, and acquiring a difference value between each value of the pseudo-range a posteriori residual error array and the median of the pseudo-range a posteriori residual error as a pseudo-range a posteriori residual error deviation of a current epoch;
acquiring the length of a base station according to the observation data of the base station and the observation data of the mobile station;
the executable instructions may be specifically configured to cause the processor to:
and adjusting the weight matrix according to the decimal deviation, the consistency deviation of the pseudo range Doppler, the pseudo range posterior residual deviation and the base length.
In an optional manner, the weight matrix of the MW-constrained pseudorange carrier wide-lane model includes a weight matrix of a prior solution, where the weight matrix of the prior solution is:
wherein, the first and the second end of the pipe are connected with each other,
a transformation matrix representing single differences to double differences,
representing an inter-station single-difference wide-lane ambiguity covariance matrix, wherein
Representing the standard deviation of single difference wide lane between stations of the common-view satellite n;
the executable instructions may be specifically configured to cause the processor to perform the following operations:
acquiring the sum of the consistency deviation of the pseudo range Doppler and the pseudo range posterior residual deviation, and normalizing to obtain a corresponding pseudo range simulation error;
and obtaining the standard deviation of the single-difference wide-lane between the stations of the common-view satellite based on the pseudo-range simulation error, the decimal deviation and the base line length as follows:
wherein the content of the first and second substances,
is a fractional deviation; k is the amplification factor obtained from the base length.
In an alternative mode, the amplification factor k is related to the base length l by:
In an alternative, the executable instructions may be specifically configured to cause the processor to: processing the MW constrained pseudo range carrier wide lane model by adopting a least square method to obtain a double-difference wide lane ambiguity floating solution;
and (4) carrying out widelane ambiguity fixing by adopting a lambda algorithm, and obtaining a final widelane ambiguity fixing solution when the fixing is successful.
In an alternative manner, the pseudo-range carrier wide-lane observation equation is:
the MW constraint pseudo range carrier wide lane model is as follows:
wherein, the first and the second end of the pipe are connected with each other,
represents the residual of the prior solution and,
representing the two-difference widelane ambiguities obtained based on the prior solution,
a weight matrix representing a prior solution.
In the invention, a prior wide lane ambiguity fixed solution is obtained by adopting a MW mode, and a final wide lane ambiguity fixed solution is obtained based on a MW constraint pseudo-range carrier wide lane model and the prior wide lane ambiguity fixed solution, so that the ambiguity fixed precision can be provided.
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 above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed system, 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 type of logical functional division, and other divisions may be realized in practice, for example, multiple 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 invention 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, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, and software distribution medium, etc. It should be noted that the computer readable medium may contain content that has been appropriately increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may 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 of the embodiments of the present invention.
Claims (14)
1. An ambiguity fixing method based on RTK positioning comprises the following steps:
acquiring real-time observation data, wherein the observation data comprises observation data of a base station and observation data of a mobile station;
acquiring a common-view satellite of the mobile station and the base station;
resolving by adopting MW combination to obtain a wide lane ambiguity fixed solution corresponding to the common view satellite as a prior solution;
constructing a MW constraint pseudo range carrier wide lane model based on the prior solution and a pseudo range carrier wide lane observation equation obtained according to the real-time observation data, wherein the MW constraint pseudo range carrier wide lane model comprises a weight matrix;
adjusting the weight matrix based on the observation data;
and carrying out ambiguity fixing on the basis of the MW constraint pseudo range carrier wide lane model, and obtaining a final wide lane ambiguity fixing solution when the fixing is successful.
2. The method of claim 1, wherein the weight matrix of the MW-constrained pseudorange carrier wide-lane model comprises a prior solution weight matrix, the prior solution weight matrix being:
wherein, the first and the second end of the pipe are connected with each other,
a transformation matrix representing single differences to double differences,
representing an inter-station single-difference wide-lane ambiguity covariance matrix, said
Representing the standard deviation of single difference wide lane between stations of the common-view satellite n;
wherein the adjusting the weight matrix based on the observation data comprises:
and adjusting the standard deviation of the single-difference wide lane between stations of all the common-view satellites based on the observation data.
3. The method of claim 1 or 2, wherein said adjusting the weight matrix based on the observation data comprises:
obtaining one or more of a pseudorange doppler consistency array, an a posteriori residual array of the mobile station, a baseline length, and a fractional deviation corresponding to the prior solution according to the observation data;
adjusting the weight matrix according to the obtained one or more.
4. The method of claim 3, wherein said adjusting the weight matrix according to one or more of the obtained weights comprises:
when the weight matrix needs to be adjusted according to the pseudo range Doppler consistency array, calculating the median of the pseudo range Doppler consistency array, acquiring the difference value between each value of the pseudo range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch, and adjusting the weight matrix according to the consistency deviation of the pseudo range Doppler;
when the weight matrix needs to be adjusted according to the pseudo-range posterior residual error array, calculating the median of the pseudo-range posterior residual error array, obtaining the difference value between each value of the pseudo-range posterior residual error and the median of the pseudo-range posterior residual error as the pseudo-range posterior residual error deviation of the current epoch, and adjusting the weight matrix according to the pseudo-range posterior residual error deviation.
5. The method of claim 1 or 2, wherein the common-view satellite is a single-epoch common-view satellite;
the method for obtaining the widelane ambiguity fixed solution corresponding to the common-view satellite by using MW combined solution as a prior solution comprises the following steps:
resolving the observation data of the single-epoch common-view satellite by adopting MW combination to obtain a corresponding floating point solution of the widelane ambiguity;
smoothing and rounding the obtained wide lane ambiguity floating point solution to obtain a fixed solution serving as the prior solution and a decimal deviation corresponding to the fixed solution;
the adjusting the weight matrix based on the observation data comprises:
and adjusting the weight matrix according to the decimal deviation.
6. The method of claim 5, wherein the adjusting the weight matrix based on the observation data further comprises:
one or more of a pseudorange doppler consistency array, an a posteriori residual array for the mobile station, and a baseline length are obtained from the observation data and used to adjust the weight matrix.
7. The method of claim 6, comprising:
when the weight matrix needs to be adjusted according to the pseudo range Doppler consistency array, calculating the median of the pseudo range Doppler consistency array, acquiring the difference value between each value of the pseudo range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch, and adjusting the weight matrix according to the consistency deviation of the pseudo range Doppler;
when the weight matrix needs to be adjusted according to the pseudo-range posterior residual error array, calculating the median of the pseudo-range posterior residual error array, obtaining the difference value between each value of the pseudo-range posterior residual error and the median of the pseudo-range posterior residual error as the pseudo-range posterior residual error deviation of the current epoch, and adjusting the weight matrix according to the pseudo-range posterior residual error deviation.
8. The method of claim 1, further comprising:
calculating by adopting MW combination to obtain decimal deviation corresponding to the fixed solution;
acquiring a pseudo range Doppler consistency array according to observation data of adjacent epochs of the mobile station, calculating the median of the pseudo range Doppler consistency array, and acquiring the difference between each value of the pseudo range Doppler consistency array and the median of the consistency array as the consistency deviation of the pseudo range Doppler of the current epoch;
performing Kalman filtering on observation data of the mobile station to obtain an a posteriori residual error array of the mobile station, calculating a median of the pseudo-range a posteriori residual error array, and acquiring a difference value between each value of the pseudo-range a posteriori residual error array and the median of the pseudo-range a posteriori residual error as a pseudo-range a posteriori residual error deviation of a current epoch;
acquiring the length of a base station according to the observation data of the base station and the observation data of the mobile station;
the adjusting the weight matrix based on the observation data comprises:
and adjusting the weight matrix according to the decimal deviation, the consistency deviation of the pseudo range Doppler, the pseudo range posterior residual deviation and the base length.
9. The method of claim 8, wherein a weight matrix of the MW-constrained pseudorange carrier wide-lane model comprises a weight matrix of a prior solution, the weight matrix of the prior solution being:
wherein the content of the first and second substances,
a transformation matrix representing single differences to double differences,
representing an inter-station single-difference wide-lane ambiguity covariance matrix, wherein
Representing the standard deviation of single difference wide lane between stations of the common-view satellite n;
wherein, the adjusting the weight matrix according to the decimal deviation, the consistency deviation of the pseudo-range Doppler, the pseudo-range posterior residual deviation and the base length comprises:
acquiring the sum of the consistency deviation of the pseudo range Doppler and the pseudo range posterior residual deviation, and normalizing to obtain a corresponding pseudo range simulation error;
and obtaining the standard deviation of the single difference wide lane between stations of the common view satellite based on the pseudo-range simulation error, the decimal deviation and the base length as follows:
wherein the content of the first and second substances,
is a fractional deviation; k is the amplification factor obtained from the base length.
10. The method of claim 9, wherein the amplification factor k and the base length l are related by:
11. The method according to claim 1 or 2, wherein the ambiguity fixing is performed based on the MW-constrained pseudo range-carrier wide-lane model, and when the fixing is successful, a final wide-lane ambiguity fixing solution is obtained, including:
processing the MW constrained pseudo range carrier wide lane model by adopting a least square method to obtain a double-difference wide lane ambiguity floating solution;
and (4) fixing the ambiguity of the wide lane by adopting a lambda algorithm, and obtaining a final ambiguity fixing solution of the wide lane when the fixation is successful.
12. The method of claim 1, wherein the pseudorange carrier wide-lane observation equation is:
wherein, V P 、
Respectively representing the residual of a double-difference pseudo-range wide-lane observation value and the residual of a double-difference carrier wide-lane observation value obtained through the real-time observation data;
representing a double difference operator; b represents a design matrix; e represents a unit array; dx represents the rover coordinate correction; l is P 、
Respectively representing pseudo-range wide-lane observations and carrier wide-lane observations,
respectively representing a pseudo-range wide-lane weight matrix and a carrier wide-lane weight matrix; lambda w Wavelength, N, of wide-lane observation w Representing a double-difference wide-lane ambiguity unknown;
the MW constraint pseudo range carrier wide lane model is as follows:
wherein the content of the first and second substances,
a residual representing the solution of the prior is determined,
representing the double-differenced widelane ambiguities obtained based on a prior solution,
a weight matrix representing a prior solution.
13. A positioning terminal, characterized in that it is adapted to perform the method of claim 1.
14. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method as set forth in claim 1.
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