CN113805206A - Method for improving GNSS satellite and receiver DCB resolving precision - Google Patents

Method for improving GNSS satellite and receiver DCB resolving precision Download PDF

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CN113805206A
CN113805206A CN202111385190.XA CN202111385190A CN113805206A CN 113805206 A CN113805206 A CN 113805206A CN 202111385190 A CN202111385190 A CN 202111385190A CN 113805206 A CN113805206 A CN 113805206A
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satellite
value
observation
frequency
dcb
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张明凯
刘欢
赵鹏涛
徐锦龙
陈鼎博
吉青
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Shaanxi Haiji Information Technology Co ltd
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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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

Abstract

The invention relates to a method for improving the DCB resolving precision of a GNSS satellite and a receiver, which comprises the following steps: acquiring observation data and a weighting model; calculating a P4 combined observation value according to the observation data, and calculating a constant weight value according to a constant weight model; combining the weighting model and the P4 combined observation value to identify the difference code deviation type; if the intra-frequency deviation value is the intra-frequency deviation value, calculating the intra-frequency deviation value according to the P4 combined observed value and the fixed weight value; if the inter-frequency deviation exists, calculating a multi-frequency deviation value according to the P4 combined observation value and the fixed weight value; and combining the intra-frequency deviation value and the multi-frequency inter-frequency deviation value to obtain the satellite DCB and the receiver DCB. The invention improves the accuracy of the global survey station for DCB calculation, makes the navigation positioning closer to the true value and improves the navigation positioning accuracy.

Description

Method for improving GNSS satellite and receiver DCB resolving precision
Technical Field
The invention relates to the technical field of navigation high-precision positioning, in particular to a method for improving the DCB resolving precision of a GNSS satellite and a receiver.
Background
The Global Navigation Satellite System (GNSS) is in a new development stage, has basically replaced the ground-based radio Navigation, the traditional geodetic survey and the astronomical survey Navigation positioning technology, and has promoted the brand new development of the field of geodetic survey and Navigation positioning.
In ionospheric remote sensing (inversion), fine single-point positioning and time transfer using GNSS, the differential code bias must be corrected correctly. On one hand, products such as satellite precise orbits, clock errors and the like are influenced by difference code deviation; differential code biases, on the other hand, are critical to multi-frequency GNSS positioning. The difference code deviation is mainly divided into two parts, namely a satellite end and a receiver end DCB, and is the difference of hardware end time delay of two frequency ranging signals of the GNSS in the transmission process between satellite end hardware and receiving end hardware. These delays also exist between different types of signals (e.g., C/a codes and P codes on GPS L1) at the same carrier frequency due to differences between different signal structures using the same carrier frequency.
It can be seen that, no matter whether real-time satellite navigation Positioning or post-processing PPP (precision Point Positioning) is performed, the differential code deviation always exists in the code observed values of GNSS, and is an important parameter that needs to be corrected when using the multi-frequency code observed values. Although a high-precision positioning user can effectively eliminate the influence of hardware delay on navigation positioning through the combination of the dual-frequency deionization layer, a single-frequency navigation user occupying most of the GNSS market still needs to utilize differential code bias parameters broadcasted in GNSS broadcast ephemeris to weaken the influence of hardware delay. Due to the fact that quantization factor errors exist in hardware delay parameters of the satellite when the satellite leaves a factory for calibration, the requirement after long-term on-orbit operation cannot be met. With the improvement of the requirement of a single-frequency user on navigation positioning and time service precision and the requirement of accurate determination of total electron content TEC of an ionized layer, accurate determination of DCB parameters of a satellite and a receiver has very important significance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for improving the resolution precision of a GNSS satellite and a receiver DCB.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for improving GNSS satellite and receiver DCB solution accuracy, comprising the steps of:
acquiring observation data and a weighting model;
calculating P from the observed data4Combining the observed values, and calculating a constant weight value according to a constant weight model;
combining the weight model with P4Combining the observation values and identifying the difference code deviation types;
if the frequency is in-band deviation, according to P4Combining the observed value and the fixed weight value to calculate an intra-frequency deviation value;
if the frequency deviation is between the frequencies, according to P4Combining the observed value and the fixed weight value to calculate a multi-frequency deviation value;
and combining the intra-frequency deviation value and the multi-frequency inter-frequency deviation value to obtain the satellite DCB and the receiver DCB.
The further technical scheme is as follows: the observation data includes k-frequency point codes and carrier phase observations.
The further technical scheme is as follows: the k frequency point code passes
Figure 721081DEST_PATH_IMAGE001
Is calculated to obtain, wherein, PkIs k frequency point code; the carrier phase observations pass
Figure 700538DEST_PATH_IMAGE002
Is calculated to obtain, wherein, LkIs a carrier phase observation; wherein rho is the geometric distance of the satellite stations; c is the speed of light; δ tr、δtsRespectively a receiver and a satellite clock face clock error;
Figure 343923DEST_PATH_IMAGE003
、
Figure 552181DEST_PATH_IMAGE004
code signal of k frequency points in satellite and receiverHardware latency of the end;
Figure 366554DEST_PATH_IMAGE005
、
Figure 251333DEST_PATH_IMAGE006
the observation noise of the code observation value and the observation noise of the carrier phase observation value are respectively;
Figure 518366DEST_PATH_IMAGE007
floating ambiguity resolution for hardware delays of carrier phase signals including a receiver and a satellite;
Figure 530316DEST_PATH_IMAGE008
is tropospheric delay;
Figure 199195DEST_PATH_IMAGE009
the first-order ionospheric group delay term of the k frequency point specifically includes:
Figure 254875DEST_PATH_IMAGE010
wherein, in the step (A),
Figure 9205DEST_PATH_IMAGE011
the frequency is the frequency of a k frequency point;
Figure 559266DEST_PATH_IMAGE012
is the total electron content of the satellite signal propagation path.
The further technical scheme is as follows: the weighting model comprises an observation value weighting model of the same station and the same satellite at different frequencies, an observation value weighting model of the same station and different satellites and an observation value weighting model of multiple stations.
The further technical scheme is as follows: the weighting model of different frequency observed values of the same station and the same satellite passes
Figure 82651DEST_PATH_IMAGE013
And calculating to obtain the result, wherein,
Figure 574812DEST_PATH_IMAGE014
is P4The combined variance of the ionospheric layers,
Figure 816438DEST_PATH_IMAGE015
、
Figure 907540DEST_PATH_IMAGE016
respectively represent
Figure 613328DEST_PATH_IMAGE017
The ionospheric variance of the frequency points, which is derived from the original ionospheric product accuracy;
the observed value weighting model of the same-station different satellites passes
Figure 948495DEST_PATH_IMAGE018
And
Figure 490465DEST_PATH_IMAGE019
calculating to obtain a variance of an observation value of a certain satellite in M time periods;
wherein the content of the first and second substances,
Figure 569280DEST_PATH_IMAGE020
observing the variance of the arc segment for a certain satellite observation value;
Figure 129574DEST_PATH_IMAGE021
a weight of an observed value of a certain satellite at t epoch,
Figure 901221DEST_PATH_IMAGE022
the satellite altitude is the epoch t;
Figure 664909DEST_PATH_IMAGE023
the observation epoch number of the satellite in each continuous observation period;
the observed value weighting model of the multiple sites passes
Figure 547414DEST_PATH_IMAGE024
And calculating to obtain the result, wherein,
Figure 962215DEST_PATH_IMAGE025
variance of each combined observation;
Figure 904763DEST_PATH_IMAGE026
the latitude of the survey station is the value range of (0 +/-90 degrees).
The further technical scheme is as follows: the P is4Combined observed value passing
Figure 155747DEST_PATH_IMAGE027
And
Figure 576364DEST_PATH_IMAGE028
and calculating to obtain the result, wherein,
Figure 111251DEST_PATH_IMAGE029
、
Figure 224700DEST_PATH_IMAGE030
i.e. the differential code deviation of the satellite signal at the satellite and receiver end, respectively
Figure 960051DEST_PATH_IMAGE031
。
The further technical scheme is as follows: said intra-frequency offset value is passed
Figure 246675DEST_PATH_IMAGE032
Calculating to obtain the result, wherein z is the sequence number of the observation epoch; z represents the total number of observation epochs for a certain satellite.
The further technical scheme is as follows: said inter-frequency offset value is given by
Figure 308172DEST_PATH_IMAGE033
And (4) calculating.
The further technical scheme is as follows: the satellite DCB passes
Figure 405573DEST_PATH_IMAGE034
Calculating to obtain; said receiver DCB passes
Figure 818099DEST_PATH_IMAGE035
Calculating to obtain; wherein the content of the first and second substances,
Figure 908415DEST_PATH_IMAGE036
waiting quantity of satellite and receiver DCB for multi-frequency observed value
Figure 89998DEST_PATH_IMAGE037
N is the SPR observed quantity
Figure 92720DEST_PATH_IMAGE038
The number of rows of (c).
Compared with the prior art, the invention has the beneficial effects that: the accuracy of the global survey station for DCB calculation is improved, so that the navigation positioning is closer to the true value, and the navigation positioning accuracy is improved.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions 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 it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating a method for improving the resolution accuracy of a GNSS satellite and a receiver DCB according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to the embodiment shown in fig. 1, the present invention discloses a method for improving the resolution accuracy of a GNSS satellite and a receiver DCB, comprising the following steps:
s1, acquiring observation data and a weighting model;
s2, calculating P from the observation data4Combining the observed values, and calculating a constant weight value according to a constant weight model;
s3, combining the weighting model and P4Combining the observation values and identifying the difference code deviation types;
s4, if the deviation is in-frequency, according to P4Combining the observed value and the fixed weight value to calculate an intra-frequency deviation value;
s5, if the frequency deviation is between the frequencies, according to P4Combining the observed value and the fixed weight value to calculate a multi-frequency deviation value;
and S6, combining the intra-frequency deviation value and the multi-frequency deviation value to obtain the satellite DCB and the receiver DCB.
In the embodiment, according to the classification of the GNSS satellite and the broadcast ranging signal thereof, when there are n code observation value types, only n-1 types of intra-frequency and inter-frequency offsets are required.
Wherein, the said viewThe measured data includes PkAnd Lk，PkIs a k-frequency dot code, LkIs a carrier phase observation.
Wherein, the PkAnd LkThe calculation formula of (a) is as follows:
Figure 54860DEST_PATH_IMAGE039
（1）
Figure 620970DEST_PATH_IMAGE002
（2）
wherein rho is the geometric distance of the satellite stations; c is the speed of light; δ tr、δtsRespectively a receiver and a satellite clock face clock error;
Figure 735688DEST_PATH_IMAGE003
、
Figure 96262DEST_PATH_IMAGE004
hardware delays of k frequency point code signals at the satellite and the receiver end respectively;
Figure 545698DEST_PATH_IMAGE005
、
Figure 915499DEST_PATH_IMAGE006
the observation noise of the code observation value and the observation noise of the carrier phase observation value are respectively;
Figure 633793DEST_PATH_IMAGE007
floating ambiguity resolution for hardware delays of carrier phase signals including a receiver and a satellite;
Figure 430848DEST_PATH_IMAGE008
is tropospheric delay;
Figure 102000DEST_PATH_IMAGE009
the first-order ionospheric group delay term of the k frequency point specifically includes:
Figure 275493DEST_PATH_IMAGE010
（3）
wherein the content of the first and second substances,
Figure 99223DEST_PATH_IMAGE011
the frequency is the frequency of a k frequency point;
Figure 67179DEST_PATH_IMAGE012
is the total electron content of the satellite signal propagation path.
In the present embodiment, the ionosphere model of the spherical harmonic function in the solar-terrestrial-magnetic coordinate system is used as the ionosphere mathematical model in the SPR calculation. When the synchronous calculation is carried out on the multi-frequency DCB, in order to fully utilize an observation value with higher precision, the DCB comprehensive weighting model of the satellite and the observation station is distinguished. The weighting model comprises an observation value weighting model of the same station and the same satellite at different frequencies, an observation value weighting model of the same station and different satellites and an observation value weighting model of multiple stations.
The weighting values are three and respectively correspond to an observation value weighting model of different frequencies of the same station and the same satellite, an observation value weighting model of different satellites of the same station and an observation value weighting model of multiple stations.
For the observation values of different frequencies, according to the precision of the existing ionosphere data model, on the basis of considering the combination of the observation values of different frequency point codes, the calculation formula of the weighting model of the observation values of different frequencies of the same station and the same satellite is as follows:
Figure 225628DEST_PATH_IMAGE013
（4）
wherein the content of the first and second substances,
Figure 937232DEST_PATH_IMAGE014
is P4The combined variance of the ionospheric layers,
Figure 615469DEST_PATH_IMAGE015
、
Figure 754327DEST_PATH_IMAGE016
respectively represent
Figure 400072DEST_PATH_IMAGE017
The ionospheric variance of the frequency points, which is derived from the original ionospheric product accuracy;
for different satellites at the same site, due to different satellite orbits, the altitude angle change in the observation period of each satellite is different. When the satellite altitude is large, the satellite observation signal is less influenced by errors such as atmospheric delay and the like, the multipath generated at the receiver end is relatively low, and the observation noise of the code observation value is greatly reduced; conversely, when the elevation angle is low, the influence of various factors is also greater. In order to comprehensively consider the precision influence of the external environment on the observation data and improve the accuracy of DCB calculation, a weighting model of observation values of different satellites based on altitude angles is provided. In a continuous observation (i.e. no cycle slip or cycle slip repaired) arc segment, if the number of observation epochs is equal, the arc segment is weighted by the satellite altitude, and the calculation formula of the observation weighting model of different satellites in the same station is as follows:
Figure 649787DEST_PATH_IMAGE018
（5）
Figure 448110DEST_PATH_IMAGE019
（6）
wherein the content of the first and second substances,
Figure 757869DEST_PATH_IMAGE020
observing the variance of the arc segment for a certain satellite observation value;
Figure 890910DEST_PATH_IMAGE021
a weight of an observed value of a certain satellite at t epoch,
Figure 944317DEST_PATH_IMAGE022
is an epoch tThe altitude of the satellite;
Figure 594216DEST_PATH_IMAGE023
the observation epoch number of the satellite in each continuous observation period; the variance of a certain satellite observation value of M time intervals can be obtained through the above equations (5) and (6); if there are M time intervals, the variance can be calculated by using variance propagation rate to obtain the variance of the observed value of a certain satellite of the observation station.
The ionosphere activity degree of the zenith direction of the stations is different in one day, wherein the ionosphere above the equator changes most obviously, when the stations are at the noon of the local time, the ionosphere becomes most active, the TEC content of the ionosphere reaches the peak, the ionosphere modeling is complex at the moment, and the model error is large; the calculation formula of the observation value weighting model of the multiple sites is as follows:
Figure 74876DEST_PATH_IMAGE024
（7）
wherein the content of the first and second substances,
Figure 429634DEST_PATH_IMAGE025
variance of each combined observation;
Figure 286732DEST_PATH_IMAGE026
the latitude of the survey station is the value range of (0 +/-90 degrees). According to the formula, a comprehensive weight-fixing model for the multi-frequency observation value DCB calculation can be obtained.
In this embodiment, when two different frequencies i and j are used for observation, the total deviation of the observed values of the two frequencies is P4The combined observations are calculated as follows:
Figure 794068DEST_PATH_IMAGE027
（8）
Figure 445629DEST_PATH_IMAGE028
（9）
wherein the content of the first and second substances,
Figure 553262DEST_PATH_IMAGE029
、
Figure 948471DEST_PATH_IMAGE030
i.e. the differential code deviation of the satellite signal at the satellite and receiver ends, respectively expressed as
Figure 310314DEST_PATH_IMAGE031
（10）。
For the intra-frequency deviation, the ionospheric delay amount is the same as two different code observed values modulated on the same carrier phase; according to the formulas (8) and (9), after two code observed values are directly subtracted, an ionospheric delay term is eliminated, and then a Satellite Receiver combined bias (SPR) can be obtained, wherein the calculation formula of the intra-frequency bias value is as follows:
Figure 398355DEST_PATH_IMAGE032
（11）
wherein z is the observation epoch serial number; z represents the total number of observation epochs for a certain satellite.
For inter-frequency deviation, as ionospheric delay of observed values of different frequency points cannot be eliminated, SPR at this time needs to be obtained from equations (8) and (9) according to existing ionospheric products, and the calculation formula of the inter-frequency deviation value is as follows:
Figure 727706DEST_PATH_IMAGE033
（12）。
as can be seen from equations (11) and (12), the DCB sum of the satellite and the receiver, i.e., the sum of DCBs, can be obtained through the above-mentioned series of processing
Figure 926606DEST_PATH_IMAGE040
FromThe DCBs of the satellite and the receiver are unknown parameters, and the two cannot be separated directly, and a certain conditional reference is required for limitation. Reference bases for achieving separation of the satellite from the receiver DCB can be classified into the following three categories: 1. the GPS ground operation and control system realizes the separation of the DCB parameters of the satellite and the receiver by taking a certain receiver DCB which is calibrated by hardware delay as a reference datum; 2. the construction of all satellite DCBs is 'zero mean reference', and the DCB products issued by the existing IGS and MGEX both adopt the processing strategy; 3. a part of satellites are selected to construct a 'quasi-stable reference', namely, a zero reference is only applied to a satellite with more stable partial DCB parameters, so that the deviation of all satellite DCB parameter estimation values caused by instability of partial satellite DCB parameters when the 'zero mean reference' is adopted is avoided.
At present, GNSS satellite signals show a multi-frequency trend, and for a DCB, the number of DCB resolving constraint conditions can be increased by utilizing multi-frequency observation of the GNSS, so that the resolving precision is improved. The calculation model based on the dual-frequency DCB performs zero-mean reference constraint on the multi-frequency DCB simultaneously, and provides a DCB synchronous calculation model based on the multi-frequency observation value, wherein the calculation formulas of the satellite DCB and the receiver DCB are as follows:
Figure 142955DEST_PATH_IMAGE034
（13）
Figure 401898DEST_PATH_IMAGE035
（14）
wherein the content of the first and second substances,
Figure 218544DEST_PATH_IMAGE036
waiting quantity of satellite and receiver DCB for multi-frequency observed value
Figure 955556DEST_PATH_IMAGE037
Number of column vectors of when
Figure 294920DEST_PATH_IMAGE041
Indicating that DCB solution uses tri-band code observations,taking the first frequency as a reference, and solving the difference code deviation between the second, third and first frequency code observed values; n is SPR observed quantity
Figure 787081DEST_PATH_IMAGE038
The number of rows of (c); other quantities are also intended to be
Figure 763127DEST_PATH_IMAGE037
And expanding corresponding rows or columns by increasing the dimension. It can be seen that when the observation value does not satisfy multiple frequencies or only a dual-frequency observation value exists, the method becomes a traditional dual-frequency code observation value DCB resolving method.
The invention aims to improve the resolving precision of differential code deviation, improve the precision of ionosphere remote sensing (inversion), non-combined precise single-point positioning and time transfer of GNSS, consider a comprehensive correction model of factors such as satellite and receiver antenna phase center change, and the like, and aiming at a Beidou system satellite, the model also comprises satellite in-satellite multipath correction; the comprehensive weight-fixing model considering factors such as satellite altitude angle and receiver latitude distribution is beneficial to improving the accuracy of DCB calculation by using a survey station in a global range, so that navigation positioning is closer to a true value, and the navigation positioning accuracy is improved.
The above embodiments are preferred implementations of the present invention, and the present invention can be implemented in other ways without departing from the spirit of the present invention.

Claims (9)

1. A method for improving the DCB solution accuracy of GNSS satellites and receivers is characterized by comprising the following steps:
acquiring observation data and a weighting model;
calculating P from the observed data4Combining the observed values, and calculating a constant weight value according to a constant weight model;
combining the weight model with P4Combining the observation values and identifying the difference code deviation types;
if the frequency is in-band deviation, according to P4Combined viewCalculating an intra-frequency deviation value by the measured value and the fixed weight value;
if the frequency deviation is between the frequencies, according to P4Combining the observed value and the fixed weight value to calculate a multi-frequency deviation value;
and combining the intra-frequency deviation value and the multi-frequency inter-frequency deviation value to obtain the satellite DCB and the receiver DCB.
2. The method for improving GNSS satellite and receiver DCB solution accuracy of claim 1 wherein the observation data comprises k-frequency point code and carrier phase observations.
3. The method of claim 2, wherein the k-bin codes are obtained by encoding the k-bin codes according to the frequency domain of the GNSS satellite and receiver DCB
Figure 912396DEST_PATH_IMAGE001
Is calculated to obtain, wherein, PkIs k frequency point code; the carrier phase observations pass
Figure 365987DEST_PATH_IMAGE002
Is calculated to obtain, wherein, LkIs a carrier phase observation; wherein rho is the geometric distance of the satellite stations; c is the speed of light; δ tr、δtsRespectively a receiver and a satellite clock face clock error;
Figure 701153DEST_PATH_IMAGE003
、
Figure 492392DEST_PATH_IMAGE004
hardware delays of k frequency point code signals at the satellite and the receiver end respectively;
Figure 571206DEST_PATH_IMAGE005
、
Figure 882233DEST_PATH_IMAGE006
observed noise and carrier, respectively, of code observationsObservation noise of the wave phase observation;
Figure 388301DEST_PATH_IMAGE007
floating ambiguity resolution for hardware delays of carrier phase signals including a receiver and a satellite;
Figure 666835DEST_PATH_IMAGE008
is tropospheric delay;
Figure 362390DEST_PATH_IMAGE009
the first-order ionospheric group delay term of the k frequency point specifically includes:
Figure 714874DEST_PATH_IMAGE010
wherein, in the step (A),
Figure 719739DEST_PATH_IMAGE011
the frequency is the frequency of a k frequency point;
Figure 157674DEST_PATH_IMAGE012
is the total electron content of the satellite signal propagation path.
4. The method of claim 3, wherein the weighting models comprise observation weighting models of different frequencies of the same station and the same satellite, observation weighting models of different satellites of the same station and a multi-station observation weighting model.
5. The method for improving the resolution accuracy of the GNSS satellite and the receiver DCB as claimed in claim 4, wherein the weighting model of different frequency observation values of the same station and the same satellite is obtained by
Figure 391340DEST_PATH_IMAGE013
And calculating to obtain the result, wherein,
Figure 863910DEST_PATH_IMAGE014
is composed of
Figure 774097DEST_PATH_IMAGE015
The combined variance of the ionospheric layers,
Figure 699328DEST_PATH_IMAGE016
respectively represent
Figure 751333DEST_PATH_IMAGE017
The ionospheric variance of the frequency points, which is derived from the original ionospheric product accuracy;
the observed value weighting model of the same-station different satellites passes
Figure 78409DEST_PATH_IMAGE018
And
Figure 425077DEST_PATH_IMAGE019
calculating to obtain a variance of an observation value of a certain satellite in M time periods;
wherein the content of the first and second substances,
Figure 837604DEST_PATH_IMAGE020
observing the variance of the arc segment for a certain satellite observation value;
Figure 413073DEST_PATH_IMAGE021
a weight of an observed value of a certain satellite at t epoch,
Figure 594655DEST_PATH_IMAGE022
the satellite altitude is the epoch t;
Figure 112224DEST_PATH_IMAGE023
the observation epoch number of the satellite in each continuous observation period;
the observed value weighting model of the multiple sites passes
Figure 12047DEST_PATH_IMAGE024
And calculating to obtain the result, wherein,
Figure 391207DEST_PATH_IMAGE025
variance of each combined observation;
Figure 427296DEST_PATH_IMAGE026
the latitude of the survey station is the value range of (0 +/-90 degrees).
6. The method for improving the resolution accuracy of the GNSS satellite and receiver DCB of claim 5, wherein P is the number of the above-mentioned P4Combined observed value passing
Figure 115767DEST_PATH_IMAGE027
And
Figure 502886DEST_PATH_IMAGE028
and calculating to obtain the result, wherein,
Figure 420157DEST_PATH_IMAGE029
、
Figure 576332DEST_PATH_IMAGE030
i.e. the differential code deviation of the satellite signal at the satellite and receiver end, respectively
Figure 435704DEST_PATH_IMAGE031
。
7. The method for improving the resolution accuracy of the GNSS satellite and receiver DCB of claim 6, wherein the intra-frequency bias value is determined by
Figure 44540DEST_PATH_IMAGE032
Calculating to obtain the result, wherein z is the sequence number of the observation epoch; z represents the total number of observation epochs for a certain satellite.
8. The method for improving the resolution accuracy of the GNSS satellite and receiver DCB of claim 7, wherein the inter-frequency offset value is determined by
Figure 28152DEST_PATH_IMAGE033
And (4) calculating.
9. The method for improving GNSS satellite and receiver DCB solution accuracy of claim 8, wherein the satellite DCB is obtained by
Figure 101150DEST_PATH_IMAGE034
Calculated by the receiver DCB
Figure 69106DEST_PATH_IMAGE035
And calculating to obtain the result, wherein,
Figure 978287DEST_PATH_IMAGE036
waiting quantity of satellite and receiver DCB for multi-frequency observed value
Figure 424312DEST_PATH_IMAGE037
The number of column vectors of (a) is,
Figure 617396DEST_PATH_IMAGE038
as observed in SPR
Figure 756253DEST_PATH_IMAGE039
The number of rows of (c).
CN202111385190.XA 2021-11-22 2021-11-22 Method for improving GNSS satellite and receiver DCB resolving precision Withdrawn CN113805206A (en)

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Citations (6)

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