CN112799110A - Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment - Google Patents

Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment Download PDF

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CN112799110A
CN112799110A CN202011547554.5A CN202011547554A CN112799110A CN 112799110 A CN112799110 A CN 112799110A CN 202011547554 A CN202011547554 A CN 202011547554A CN 112799110 A CN112799110 A CN 112799110A
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pseudorange
doppler
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observed value
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CN112799110B (en
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高晓
库新勃
张海龙
孟宁
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Northwest Electric Power Design Institute of China Power Engineering Consulting Group
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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
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Abstract

The invention discloses a Doppler considered Beidou corrected pseudorange single-point positioning method, a system and equipment, wherein the method specifically comprises the following steps: firstly, constructing a smoothed pseudorange observation value expression taking account of Doppler:
Figure DDA0002856085800000011
Figure DDA0002856085800000012
wherein ω is a smoothing factor; λ is the carrier wavelength; p and
Figure DDA0002856085800000013
respectively obtaining an original pseudo range observed value and a smooth pseudo range observed value, wherein the unit is meter, and the subscript is epoch identification; and then introducing a weight factor into the smoothed pseudorange observation value expression to adjust the weight of the original pseudorange observation value and the smoothed pseudorange observation value, if so, adding the weight factor into the smoothed pseudorange observation value expression to adjust the weight of the original pseudorange observation value and the smoothed pseudorange observation value
Figure DDA0002856085800000014
Wherein η is a weighting factor;
Figure DDA0002856085800000015
correcting pseudo range; the effect of an independent observation value Doppler is fully exerted, the error of the Beidou original pseudo range observation value is weakened, the influence of the Doppler integral accumulated error is restrained, and the sampling interval does not exceed 30 seconds generally, so the weight factor eta cannot be infinitely close to 0, and the pseudo range is smoothed

Description

Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment
Technical Field
The invention belongs to the technical field of data preprocessing of a Beidou satellite navigation system, and particularly relates to a Doppler-considered Beidou corrected pseudorange single-point positioning method, system and equipment.
Background
At present, a pseudorange single-point positioning module of a Global Navigation Satellite System (GNSS) has the advantages of being all-time, all-weather, small in size, convenient to carry and the like, and a pseudorange single-point positioning technology is widely applied to various fields.
The Beidou Satellite Navigation System (BDS) is formally opened in 7-month and 31-month in 2020, marks that the Beidou is in a new global service era, and also means that the Beidou pseudo-range single-point positioning technology has a wider application prospect
However, since the pseudorange observed value is affected by various error sources, the positioning accuracy is difficult to guarantee, and the individual positioning error is greater than one hundred meters, which becomes a bottleneck restricting the popularization and application of the Beidou pseudorange positioning technology.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a Doppler-considered Beidou correction pseudorange single-point positioning method, system and device, which are used for calculating Beidou pseudorange single-point positioning and improving the accuracy and reliability of the Beidou pseudorange single-point positioning based on the improvement of the accuracy of an observation value of the Beidou pseudorange.
In order to achieve the purpose, the invention adopts the technical scheme that: a Doppler-considered Beidou corrected pseudorange single-point positioning method specifically comprises the following steps:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
Figure BDA0002856085780000021
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,
Figure BDA0002856085780000022
the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk]；
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorange
Figure BDA0002856085780000023
Comprises the following steps:
Figure BDA0002856085780000024
wherein η is a weighting factor;
and performing single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
Setting a smoothing factor in the smoothed pseudorange observed value expression as the reciprocal ω of a smoothing window to 1/k, and then the smoothed pseudorange observed value expression is:
Figure BDA0002856085780000025
wherein T is Tk-tk-1And represents a sampling interval.
Introducing the influence of the satellite elevation angle into a smoothed pseudorange observation value expression, wherein the smoothed pseudorange observation value expression is as follows:
Figure BDA0002856085780000026
wherein θ is the satellite altitude.
The variance of the smoothed pseudoranges is:
Figure BDA0002856085780000027
wherein,
Figure BDA0002856085780000031
noise is observed value of original pseudo range;
Figure BDA0002856085780000032
noise is Doppler observation; determining a variance value of a smoothed pseudorange, a size of a smoothing window and a noise level of an original pseudorange and a Doppler at a sampling interval; with the increase of the smoothing window, the variance value of the smoothed pseudorange is reduced; obtaining an optimal smoothing window value, F1And (5) carrying out derivation on k:
Figure BDA0002856085780000033
Figure BDA0002856085780000034
is a cubic equation about k, namely the k takes 3 values, including 1 real number solution and 2 conjugate complex number solutions; the smoothing window value should be a positive integer that is valid, rounding the 1 real solution, and the amount of epoch data that participates in smoothing is then
Figure BDA0002856085780000035
Figure BDA0002856085780000036
Is 2, i.e., at least 2 epochs are guaranteed to participate in smoothing.
Calculating a modified pseudorange according to the law of error propagation
Figure BDA0002856085780000037
Variance value of (a):
Figure BDA0002856085780000038
F2and (5) deriving k to obtain a calculated value of the weight factor:
Figure BDA0002856085780000039
wherein, tau and mu are both replaced characters without real meaning, and the weight factor calculation value is introduced into the corrected pseudo range
Figure BDA00028560857800000310
Obtain a corrected pseudorange in the expression
Figure BDA00028560857800000311
The invention also provides a Doppler-considered Beidou corrected pseudo-range single-point positioning system, which comprises a data acquisition module, a data processing module and a positioning module, wherein the data acquisition module is used for acquiring a Doppler observed value and an original pseudo-range observed value, and the data processing module corrects the original pseudo-range observed value based on the Doppler observed value and the original pseudo-range observed value, and the Doppler-considered Beidou corrected pseudo-range single-point positioning system specifically comprises the following components:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
Figure BDA0002856085780000041
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,
Figure BDA0002856085780000042
the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk]；
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorange
Figure BDA0002856085780000043
Comprises the following steps:
Figure BDA0002856085780000044
wherein η is a weighting factor;
and the positioning module carries out single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
In order to solve the above technical problem, the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the Doppler-considered beidou modified pseudorange single-point positioning method of the present invention when executing the computer program.
The invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the Doppler-aware, beidou-corrected pseudorange single-point positioning method of the invention.
Compared with the prior art, the invention has at least the following beneficial effects: the effect of an independent observation value Doppler is fully exerted, the error of the original Beidou pseudo range observation value is weakened, the precision of the pseudo range observation value is corrected, and the value of a weight factor depends on the satellite height angle, a smooth window k and a sampling interval T; when the satellite height angle and the smooth window k are determined, the weight factor is mainly determined by the sampling interval TI.e. the greater the sampling interval T, the greater the value of tau, the smaller the weighting factor eta, and the smoothed pseudorange
Figure BDA0002856085780000045
The smaller the weight of (A), the original observed value PκThe greater the weight of (b), the trend corresponds to the initial setting of the weight factor, i.e. suppressing the influence of Doppler integral accumulation errors, since the sampling interval does not typically exceed 30 seconds, the weight factor η is not infinitely close to 0, i.e. the pseudoranges are smoothed
Figure BDA0002856085780000051
The accuracy and reliability of the Beidou pseudorange single-point positioning can be guaranteed by always playing a correcting role, the accuracy of the corrected pseudorange observation value is superior to that of the original pseudorange observation value, and the coordinate accuracy of single-point positioning based on the corrected pseudorange is superior to that of the original pseudorange single-point positioning, so that a foundation is laid for popularization and application of the Beidou pseudorange single-point positioning technology.
Drawings
Fig. 1a is a graph of the noise level of the original pseudorange as a function of the sampling interval, wherein different colors (blue, green and red) respectively represent observed values of frequency points of beidou B1, B2 and B3.
FIG. 1B is a graph of smoothed pseudorange noise levels as a function of sampling interval, wherein different colors (blue, green, and red) correspond to observed values representing Beidou B1, B2, and B3 frequency points, respectively.
Fig. 1c is a diagram of the corrected pseudorange noise level as a function of sampling interval, wherein different colors (blue, green and red) respectively represent observed values of Beidou B1, B2 and B3 frequency points.
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application may be implemented without these technical details and with various changes and modifications based on the following embodiments.
To further clarify the objects, aspects and advantages of the present application, embodiments of the present application will be described in detail below with reference to the accompanying drawings, in which doppler observations and raw pseudorange observations are obtained
Step 1: constructing a smoothed pseudorange observation expression taking account of Doppler:
Figure BDA0002856085780000052
note that equation (1) recursively obtains smoothed pseudoranges
Figure BDA0002856085780000053
Wherein ω is a smoothing factor; λ is the carrier wavelength; p and
Figure BDA0002856085780000054
respectively obtaining an original pseudo range observed value and a smooth pseudo range observed value, wherein the unit is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk]。
Further, the smoothing factor may be set to the reciprocal of the smoothing window (ω ═ 1/k), and the smoothed pseudorange observation is expressed as:
Figure BDA0002856085780000061
note that as the smoothing window increases, the smoothing factor decreases, the weight of the original pseudorange observations decreases, the weight of the Doppler observations increases, and its effect in smoothing the pseudoranges increases.
The satellite elevation angle is used for representing the quality of observation data, the influence of the satellite elevation angle is introduced into a smoothed pseudo range observation value expression, and the smoothed pseudo range can be expressed as
Figure BDA0002856085780000062
Wherein θ is a satellite elevation angle, and since the correlation between the Doppler observation value and time is negligible, the error propagation law is adopted to calculate the variance value of the smoothed pseudorange:
Figure BDA0002856085780000063
it should be noted that, in the case that the sampling interval is fixed and the noise level of the original pseudorange and the Doppler observation is constant, the variance value of the smoothed pseudorange depends mainly on the size of the smoothing window. Since k is both a numerator term and a denominator term, the smoothed pseudorange variance value decreases with increasing smoothing window, but the two are not linearly inversely related.
Further, to determine the smoothing window size, F1For k to derive, then
Figure BDA0002856085780000064
Note that equation (5) is a cubic equation for k, i.e., k has 3 roots. The root of the equation consists of 1 real solution and 2 complex conjugate solutions, considering that the function theoretically has only one intersection with the X-axis. Since the smooth window must be a positive integer, rounding the real solution is necessary, and there are
Figure BDA0002856085780000065
It is noted that, to ensure that the smoothing effect is effective,
Figure BDA0002856085780000071
has a minimum value of 2, i.e. at least 2 epochs participate in the smoothing.
Step 2: introducing a weight factor to construct a modified pseudo range observation value expression:
Figure BDA0002856085780000072
equation (7) aims at adjusting the raw pseudorange observations P by introducing a weighting factor ηκAnd smoothing pseudorange observations
Figure BDA0002856085780000073
The purpose of the weight of (2) is to suppress an integral accumulation error of a Doppler observation value. With the increase of the sampling interval, the Doppler integral accumulated error is significantly increased, the weight of the smoothed pseudorange value needs to be reduced through a weight factor, and the accuracy of the corrected pseudorange observed value is ensured.
Further, according to the error propagation law, the variance value of the modified pseudorange can be expressed as:
Figure BDA0002856085780000074
further, equation (8) is derived for k and assigned the value
Figure BDA0002856085780000075
The calculated value of the weighting factor can be obtained:
Figure BDA0002856085780000076
in the formula (9), the weight factor is mainly determined by the satellite height angle, the smoothing window k and the sampling interval T. When the satellite elevation angle and the smoothing window k are fixed, the weight factor is mainly determined by the sampling interval T, namely the larger the sampling interval T is, the smaller the weight factor eta is, and the smoothed pseudorange is
Figure BDA0002856085780000077
The smaller the weight of (A), the original observed value PκThe greater the weight of (c). It can be seen that the larger the sampling interval, the smaller the effect exerted by the smoothed pseudorange observation, the smaller the influence of the Doppler integration accumulated error; tau and mu are both replaced characters, no sense is realized, and kappa is Kelvin.
Referring to fig. 1a, 1B and 1c, three columns from left to right are shown to respectively represent observed values of beidou B1, B2 and B3, an original pseudorange noise level changes with a sampling interval, fig. 1B is a smoothed pseudorange noise level changes with a sampling interval, fig. 1c is a corrected pseudorange noise level changes with a sampling interval, and it can be seen that pseudorange noise level increases averagely with an increase of a sampling interval, and a pseudorange noise level of a B1 frequency point is greater than that of a B2 frequency point and a B3 frequency point. When the sampling interval is not greater than 2 seconds, the smoothed pseudorange noise level is better than the original pseudorange observations due to the smaller Doppler observation integration error. As the sampling interval continues to increase, the Doppler observation integration error increases significantly and the smoothed pseudorange noise level is greater than the original pseudorange observation. Due to the adjustment of the weight factor, the noise level of the corrected pseudorange is superior to the observed values of the original pseudorange and the smoothed pseudorange, and the correction effect is better when the sampling interval is smaller.
According to the prior literature data, the accumulated error of the Doppler integral does not exceed 2cm/s generally. When the data sampling interval does not exceed 1s, the Doppler integral accumulated error level is superior to the noise level of the original pseudo range observed value, so that the accuracy of the smoothed pseudo range observed value is superior to that of the original pseudo range observed value, and the weight of the smoothed pseudo range observed value is increased. As the sampling interval increases, the Doppler cumulative integration error increases and the smoothed pseudorange observations weight down. Since the sampling interval does not typically exceed 30 seconds, the weight factor η does not approach 0 indefinitely, i.e., the pseudoranges are smoothed
Figure BDA0002856085780000083
Always exert a corrective action.
The invention provides a Doppler-considered Beidou corrected pseudo-range single-point positioning system which comprises a data acquisition module, a data processing module and a positioning module, wherein the data acquisition module is used for acquiring a Doppler observed value and an original pseudo-range observed value, and the data processing module corrects the original pseudo-range observed value based on the Doppler observed value and the original pseudo-range observed value, and the Doppler-considered Beidou corrected pseudo-range single-point positioning system specifically comprises the following components:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
Figure BDA0002856085780000081
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,
Figure BDA0002856085780000082
the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1,tk]；
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorange
Figure BDA0002856085780000091
Comprises the following steps:
Figure BDA0002856085780000092
wherein η is a weighting factor;
and the positioning module carries out single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
The Doppler-considered beidou pseudorange observation value correction method of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The Doppler Beidou pseudo range observation value correction method can be stored in a computer readable storage medium if the Doppler Beidou pseudo range observation value correction method is realized in a software functional unit mode and is used as an independent product for sale or use.
Based on such understanding, in the exemplary embodiment, a computer readable storage medium is also provided, all or part of the processes in the method of the above embodiments of the present invention can be realized by a computer program to instruct related hardware, the computer program can be stored in the computer readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be realized. 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. Computer-readable storage media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease 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 as is required by legislation and patent practice. The computer storage medium may be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical memory (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g., ROM, EPROM, EEPROM, nonvolatile memory (NANDFLASH), Solid State Disk (SSD)), etc.
In an exemplary embodiment, a computer device is also provided, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the Doppler-considered beidou pseudorange observation correction method when executing the computer program. The Processor 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, discrete hardware components, etc.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (8)

1. A Doppler-considered Beidou corrected pseudorange single-point positioning method is characterized by comprising the following steps:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
Figure FDA0002856085770000011
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,
Figure FDA0002856085770000012
the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1，tk]；
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorange
Figure FDA0002856085770000013
Comprises the following steps:
Figure FDA0002856085770000014
wherein η is a weighting factor;
and performing single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
2. The Doppler-enabled Beidou corrected pseudorange single point positioning method according to claim 1,
setting a smoothing factor in the smoothed pseudorange observed value expression as the reciprocal ω of a smoothing window to 1/k, and then the smoothed pseudorange observed value expression is:
Figure FDA0002856085770000015
wherein T is Tk-tk-1And represents a sampling interval.
3. The Doppler-considered beidou modified pseudorange single-point positioning method of claim 1, characterized in that the influence of satellite elevation angles is introduced into a smoothed pseudorange observation expression, which is:
Figure FDA0002856085770000016
wherein θ is the satellite altitude.
4. The Doppler-considered beidou modified pseudorange single-point positioning method of claim 1, wherein the smoothed pseudorange variance is:
Figure FDA0002856085770000021
wherein,
Figure FDA0002856085770000022
noise is observed value of original pseudo range;
Figure FDA0002856085770000023
noise is Doppler observation; sampling interval determining variance value of smoothed pseudorange, smoothing windowMouth size and noise level of original pseudorange and Doppler; with the increase of the smoothing window, the variance value of the smoothed pseudorange is reduced; obtaining an optimal smoothing window value, F1And (5) carrying out derivation on k:
Figure FDA0002856085770000024
Figure FDA0002856085770000025
is a cubic equation about k, namely the k takes 3 values, including 1 real number solution and 2 conjugate complex number solutions; the smoothing window value should be a positive integer that is valid, rounding the 1 real solution, and the amount of epoch data that participates in smoothing is then
Figure FDA0002856085770000026
Figure FDA0002856085770000027
Is 2, i.e., at least 2 epochs are guaranteed to participate in smoothing.
5. The Doppler-considered beidou modified pseudorange single point positioning method of claim 1, wherein the modified pseudoranges are computed according to error propagation law
Figure FDA0002856085770000028
Variance value of (a):
Figure FDA0002856085770000029
F2and (5) deriving k to obtain a calculated value of the weight factor:
Figure FDA0002856085770000031
wherein, tau and mu are both replaced characters without real meaning, and the weight factor calculation value is introduced into the corrected pseudo range
Figure FDA0002856085770000032
Obtain a corrected pseudorange in the expression
Figure FDA0002856085770000033
6. The utility model provides a big dipper correction pseudo range single point positioning system of taking account of Doppler, which characterized in that includes data acquisition module, data processing module and location module, wherein data acquisition module is used for acquireing Doppler observed value and original pseudo range observed value, and data processing module revises original pseudo range observed value based on Doppler observed value and original pseudo range observed value, specifically as follows:
obtaining a Doppler observed value and an original pseudo-range observed value;
constructing a smoothed pseudorange observation expression taking account of Doppler:
Figure FDA0002856085770000034
wherein ω is a smoothing factor; λ is the carrier wavelength; p is the raw pseudorange observations,
Figure FDA0002856085770000035
the unit of the smoothed pseudorange observation value is meter, and the subscript is epoch identification; d is the Doppler observation, k is the smoothing window, and dt is the Doppler observation integration interval [ t ]k-1，tk]；
Introducing a weight factor eta into the smoothed pseudorange observed value expression to adjust the weight of the original pseudorange observed value and the smoothed pseudorange observed value, and correcting the pseudorange
Figure FDA0002856085770000036
Comprises the following steps:
Figure FDA0002856085770000037
wherein η is a weighting factor;
and the positioning module carries out single-point positioning calculation based on the corrected pseudo-range observation value to obtain a space three-dimensional coordinate value of the ground receiver, namely a single-point positioning value of the ground receiver.
7. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program implements the steps of the Doppler-aware beidou-corrected pseudorange single-point positioning method according to any of claims 1 to 5.
8. A computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the Doppler-aware beidou-corrected pseudorange single-point positioning method as claimed in any one of claims 1 to 5.
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