CN114675314B - Re-convergence precise point positioning method - Google Patents
Re-convergence precise point positioning method Download PDFInfo
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- CN114675314B CN114675314B CN202210596856.4A CN202210596856A CN114675314B CN 114675314 B CN114675314 B CN 114675314B CN 202210596856 A CN202210596856 A CN 202210596856A CN 114675314 B CN114675314 B CN 114675314B
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- 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
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Abstract
The invention discloses a re-convergent precise point positioning method, which comprises the following steps: acquiring an observed value acquired by a receiver, and constructing an inter-epoch difference observation model according to the observed value before interruption when the observed value acquired by the receiver is interrupted; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process; performing three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result; and performing auxiliary convergence control on the precise point positioning based on the ambiguity repairing result. According to the embodiment of the invention, when the signal is interrupted, the three-frequency step-by-step restoration is carried out on the ambiguity of the precise single-point positioning based on the difference observation model between epochs, and then the auxiliary convergence control is carried out on the precise single-point positioning based on the restoration result, so that the rapid convergence of the precise single-point positioning is realized.
Description
Technical Field
The invention relates to the technical field of signal processing, in particular to a re-convergence precise point positioning method.
Background
Signal interruption caused by shielding inevitably exists under a real-time dynamic condition, so that cycle slip occurs to all satellites, and Precision Point Positioning (PPP) needs to be initialized again frequently. Therefore, pushing PPP to the field of real-time location applications requires solving the problem of re-convergence due to signal disruption.
Thus, there is still a need for improvement and development of the prior art.
Disclosure of Invention
The present invention provides a method for re-convergence of a precise point location, which aims to solve the problem of re-convergence caused by signal interruption in precise point location in the prior art.
The technical scheme adopted by the invention for solving the problems is as follows:
in a first aspect, an embodiment of the present invention provides a re-converged precise point location method, where the method includes:
acquiring an observed value acquired by a receiver, and constructing an inter-epoch difference observation model according to the observed value before interruption when the observed value acquired by the receiver is interrupted; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process;
performing three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result; wherein, the ambiguity refers to a jump value of the whole cycle count caused by the loss of lock of the satellite signal in the carrier phase measurement of the global navigation satellite system technology;
and performing auxiliary convergence control on the precise point positioning based on the ambiguity repairing result.
In one implementation, the observations are ionospheric residual combination observations of inter-epoch differences.
In one implementation, the constructing the inter-epoch differential observation model according to the observation value before interruption includes:
acquiring an ionospheric scintillation signal, and calculating the ionospheric change rate of the ionospheric scintillation signal based on a preset sliding window algorithm;
obtaining the ionospheric variation according to the ionospheric variation rate;
and generating an inter-epoch differential observation model according to the ionosphere variation and the observed value before interruption.
In one implementation, the ambiguity recovery result includes an ultra-wide lane ambiguity recovery result, a wide lane ambiguity recovery result, and a narrow lane ambiguity recovery result; the three-frequency repairing is carried out on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model, and the obtaining of the ambiguity repairing result comprises the following steps:
based on the inter-epoch difference observation model, repairing the ultra-wide lane ambiguity of the precise single-point positioning to obtain an ultra-wide lane ambiguity repairing result and an ultra-wide lane ambiguity repairing value;
when the ultra-wide lane ambiguity repairing result is successful, repairing the wide lane ambiguity of the precise single-point positioning based on the inter-epoch differential observation model to obtain a wide lane ambiguity repairing result;
and when the wide lane ambiguity repairing result is successful, repairing the narrow lane ambiguity of the precise single-point positioning to obtain a narrow lane ambiguity repairing result.
In one implementation, the repairing the widelane ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain a widelane ambiguity repairing result includes:
taking the ultra-wide lane ambiguity restoration value as a pseudo range;
based on the inter-epoch differential observation model, acquiring a sub-ultra-wide lane ambiguity restoration value according to the pseudo range to obtain a sub-ultra-wide lane ambiguity acquisition result; obtaining a first initial wide lane ambiguity restoration result according to the second ultra-wide lane ambiguity acquisition result;
obtaining a second initial widelane ambiguity repairing result according to the inter-epoch differential observation model and the pseudo range;
and fusing the first initial widelane ambiguity repairing result and the second initial widelane ambiguity repairing result to obtain a widelane ambiguity repairing result.
In one implementation, the obtaining a first initial widelane ambiguity resolution restoration result according to the sub-superwide lane ambiguity resolution acquisition result includes:
when the second ultra-wide lane ambiguity obtaining result is successful, based on a preset repairing algorithm, linearly combining the ultra-wide lane ambiguity repairing value and the second ultra-wide lane ambiguity repairing value to obtain two first wide lane ambiguity repairing values; the first initial widelane ambiguity repairing result is successful;
and when the super-wide lane ambiguity acquisition result is failure, the first initial wide lane ambiguity restoration result is failure.
In one implementation, the obtaining a second initial widelane ambiguity fix result according to the inter-epoch differential observation model and the pseudo-range includes:
based on the inter-epoch differential observation model, acquiring two second widelane ambiguity restoration values according to the pseudo range;
when the two widelane ambiguities are successfully obtained, the second initial widelane ambiguity restoration result is successful;
and when the two widelane ambiguities are failed to be obtained, the second initial widelane ambiguity repairing result is failure.
In one implementation, the performing auxiliary convergence control on the precise point positioning based on the ambiguity repairing result includes:
when the wide lane ambiguity restoration result is failure, performing auxiliary convergence control on the precise single-point positioning by adopting the ultra-wide lane ambiguity restoration value;
when the narrow lane ambiguity repairing result is failure, performing auxiliary convergence control on the precise single-point positioning by using a wide lane ambiguity repairing value;
and when the narrow lane ambiguity repairing result is successful, performing real-time calculation of precise single-point positioning.
In a second aspect, an embodiment of the present invention further provides a re-converged precise single-point positioning apparatus, where the apparatus includes:
the inter-epoch differential observation model building module is used for obtaining an observation value acquired by the receiver and building an inter-epoch differential observation model according to the observation value before interruption when the observation value acquired by the receiver is interrupted; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process;
the ambiguity restoration result acquisition module is used for carrying out three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result;
and the auxiliary convergence control module is used for carrying out auxiliary convergence control on the precise point positioning based on the ambiguity repairing result.
In a third aspect, an embodiment of the present invention further provides an intelligent terminal, including a memory, and one or more programs, where the one or more programs are stored in the memory, and configured to be executed by one or more processors, where the one or more programs include a method for performing a re-convergence precise point location method as described in any one of the above.
In a fourth aspect, embodiments of the present invention further provide a non-transitory computer-readable storage medium, wherein instructions of the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the re-converged precise point location method as described in any one of the above.
The invention has the beneficial effects that: the method comprises the steps of firstly, obtaining an observed value collected by a receiver, and when the observed value collected by the receiver is interrupted, constructing an inter-epoch differential observation model according to the observed value before interruption; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process; then, performing three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result; finally, based on the ambiguity repairing result, performing auxiliary convergence control on the precise single-point positioning; therefore, in the embodiment of the invention, when the signal is interrupted, the three-frequency step-by-step restoration is carried out on the ambiguity of the precise single-point positioning based on the difference observation model between the epochs, and then the auxiliary convergence control is carried out on the precise single-point positioning based on the restoration result, so that the rapid convergence of the precise single-point positioning is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a re-convergence precise point positioning method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a three-frequency PPP fast re-convergence method according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a re-converged precise single-point positioning apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic block diagram of an internal structure of an intelligent terminal according to an embodiment of the present invention.
Detailed Description
The invention discloses a re-convergence precise single-point positioning method, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail below by referring to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, 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 will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Due to the prior art, precise single-point positioning is problematic in re-convergence caused by signal interruption.
In order to solve the problems in the prior art, this embodiment provides a re-convergence precise point positioning method, which performs three-frequency step-by-step restoration on the ambiguity of precise point positioning based on an inter-epoch difference observation model when a signal is interrupted, and then performs auxiliary convergence control on the precise point positioning based on a restoration result to achieve fast convergence of the precise point positioning. In specific implementation, firstly, acquiring an observed value acquired by a receiver, and when the observed value acquired by the receiver is interrupted, constructing an inter-epoch differential observation model according to the observed value before interruption; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process; then, performing three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result; and finally, performing auxiliary convergence control on the precise point positioning based on the ambiguity repairing result.
Exemplary method
The embodiment provides a re-convergence precise point positioning method, which can be applied to an intelligent terminal for signal processing. As shown in fig. 1, the method includes:
s100, acquiring an observed value acquired by a receiver, and constructing an inter-epoch differential observation model according to the observed value before interruption when the observed value acquired by the receiver is interrupted; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process;
specifically, the receiver may be a base station, and the receiver acquires signals transmitted by satellites in real time, and if the signals are not interrupted, the precise point positioning does not need to be reconverged, but signal interruption caused by blocking inevitably exists under a real-time dynamic condition, so that all satellites generate cycle slip, which causes the Precise Point Positioning (PPP) to be reconverged frequently, that is, reinitialized, and if the reconvergence speed is low, the precise point positioning is inaccurate.
After the PPP convergence stabilizes, an accurate zenith tropospheric delay estimate can be obtained. When severe weather changes and large elevation changes do not occur, the tropospheric changes around it are minimal for a low dynamic receiver. Tropospheric errors for the current epoch may be corrected with zenith tropospheric delay information that converges well before the interruption. In this embodiment, when the satellite is kept tracking continuously, the observation is a combined ionospheric residual error observation (GF combined observation) differentiated between epochs, and the inter-epoch variation information of the ionospheric can be acquired from the GF combined observation differentiated between epochs:
wherein the content of the first and second substances,
representing a single difference between the epochs,
、
representing carrier phase observations corresponding to two frequencies L1 and L2,
、
representing phase difference observed values corresponding to two frequencies L1 and L2,
、
are the two frequencies corresponding to the wavelength of the light,
、
are two frequency-to-frequency values.
Is the ionospheric variation over the frequency of L1.
According to the embodiment of the invention, the observation value acquired by the receiver is acquired in real time, and when the observation value acquired by the receiver is interrupted, the inter-epoch differential observation model is constructed according to the observation value before interruption. Correspondingly, the construction of the inter-epoch difference observation model according to the observation value before interruption includes the following steps: acquiring an ionospheric scintillation signal, and calculating the ionospheric change rate of the ionospheric scintillation signal based on a preset sliding window algorithm; obtaining the ionospheric variation according to the ionospheric variation rate; and generating an inter-epoch difference observation model according to the ionosphere variation and the observed value before interruption.
Specifically, the preset sliding window algorithm is to set a sliding window, and obtain the rate of the ionospheric scintillation signal in the window, so as to obtain the ionospheric change rate VI. Then when signal interruption occurs and relocksAfter the satellite, the ionospheric variation after interruption can be obtained through the ionospheric variation rate VI
：
Wherein the content of the first and second substances,
is the ionospheric change time. The above formula can achieve extrapolation accuracy in the order of centimeters over a period of several minutes.
Finally, according to the ionosphere variation and the observed value before interruption, an inter-epoch differential observation model is generated, in this embodiment, the ionosphere variation is a corrected ionosphere, and then according to the formula (1) and the corrected ionosphere, a corrected ionosphere residual error combined observed value of inter-epoch difference before interruption can be obtained, so that an inter-epoch differential observation model can be generated, which can be expressed by a phase and a pseudo-range observation equation after inter-epoch difference, and can be expressed by a phase and a pseudo-range observation equation after inter-epoch difference:
wherein the content of the first and second substances,
representing the single difference between the epochs,
which represents a satellite or a satellite,
the frequency is represented by a frequency-dependent variable,
representing the distance between the satellite and the survey station,
as the difference in distance between the kth satellite and the station,
and
respectively representing carrier-phase observations and pseudorange observations,
a carrier phase difference observed value representing the ith frequency of the kth satellite,
A pseudorange difference observation representing the ith frequency of the kth satellite,
the speed of light is indicated and is,
representing the change in clock between epochs,
representing the wavelength of the k-th satellite at the ith frequency,
which is indicative of the residual error,
represents the ambiguity variation between the ith frequency epoch of the kth satellite, namely the cycle slip value, also called the cycle slip as ambiguity,
in the k-th satellite
The corresponding residual error is then determined by the error correction,
in the kth satellite
Corresponding residual error.
After obtaining the inter-epoch difference observation model, the following steps may be performed as shown in fig. 1: s200, performing three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result; wherein, the ambiguity refers to a jump value of the whole cycle count caused by the loss of lock of the satellite signal in the carrier phase measurement of the global navigation satellite system technology;
specifically, the cycle slip of the floating point solution and the variance-covariance information thereof can be obtained by solving the inter-epoch difference model, and the cycle slip is searched by adopting an LAMBDA method. It should be noted that the above single difference model between epochs does not eliminate the receiver clock difference variation parameter
The reference ambiguity must be added before the LMBDA search, and the specific method is the same as the reference ambiguity adding method in the prior art. If some satellites do not have cycle slip, the cycle slip parameters of some satellites can be constrained to be zero, so that the whole cycle slip search of other satellites with cycle slip is facilitated. The method adopts an inter-epoch difference observation model to search fixed ultra-wide lane, wide lane and narrow lane cycle slips step by step so as to recover the cycle slips of the original frequency.
The ambiguity repairing result comprises an ultra-wide lane ambiguity repairing result, a wide lane ambiguity repairing result and a narrow lane ambiguity repairing result; step S200 includes the steps of:
s201, based on the inter-epoch difference observation model, repairing the ultra-wide lane ambiguity of the precise single-point positioning to obtain an ultra-wide lane ambiguity repairing result and an ultra-wide lane ambiguity repairing value;
s202, when the ultra-wide lane ambiguity repairing result is successful, repairing the precision single-point positioning wide lane ambiguity based on the inter-epoch differential observation model to obtain a wide lane ambiguity repairing result;
s203, when the wide lane ambiguity repairing result is successful, repairing the narrow lane ambiguity of the precise single-point positioning to obtain a narrow lane ambiguity repairing result.
Specifically, an ultra wide-lane combination (ewl) observation equation corresponding to the inter-epoch difference observation model (3) is given as follows:
the same letter meanings as above are used in the formula, except that the subscript i is changed to define an ultra wide lane combination (ewl). If pseudo-range noise is 0.5 m, the ambiguity restoration value of the ultra-wide lane can be easily fixed and repaired by adopting an LAMBDA (label mapping and mapping) method for searching because the ultra-wide lane has a long wavelength of 4.8 m
The process repairs the ambiguity of the ultra-wide lane of the precise single-point positioning, and when the ambiguity of the ultra-wide lane is fixed, the repair result of the ambiguity of the ultra-wide lane is successful; and when the ambiguity of the ultra-wide lane is not fixed, the ambiguity repairing result of the ultra-wide lane is failure. And when the ultra-wide lane ambiguity repairing result is failure, ending the whole operation process. When the ultra-wide lane ambiguity restoration result is successful, restoring the precision single-point positioning wide lane ambiguity based on the inter-epoch difference observation model to obtain a wide lane ambiguity restoration result; correspondingly, the method for restoring the widelane ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain the widelane ambiguity restoration result comprises the following steps: taking the ambiguity restoration value of the ultra-wide lane as a pseudo range; based on the inter-epoch differential observation model, obtaining a sub-ultra-wide lane ambiguity restoration value according to the pseudo range to obtain a sub-ultra-wide lane ambiguityObtaining a result; obtaining a first initial widelane ambiguity restoration result according to the secondary widelane ambiguity acquisition result; obtaining a second initial widelane ambiguity repairing result according to the inter-epoch differential observation model and the pseudo range; and fusing the first initial widelane ambiguity repairing result and the second initial widelane ambiguity repairing result to obtain a widelane ambiguity repairing result.
In one implementation, the ultra-wide lane ambiguity fix value is taken as a pseudo-range; in the embodiment, an ultra-wide lane observation value with fixed ambiguity is used to replace pseudo range, and a sub-ultra-wide lane ambiguity recovery value is obtained according to the pseudo range based on the inter-epoch differential observation model to obtain a sub-ultra-wide lane ambiguity acquisition result; such as: using an inter-epoch difference observation model (3) to assist in fixing the ambiguity of a sub-ultra wide-lane combination (swl):
the same letter meanings as above are used in the formula, except that the subscript i is changed to define a sub-ultra wide lane combination (swl). In the observation equation of the ultra-wide lane, the fixed cycle slip is shifted to the left side of the observation equation, and the representation and the phase observation value are combined into a distance observation value. The sub-ultra-wide lane ambiguity restoration value can be obtained through the formula (5)
At this time, actually, the sub-ultra-wide lane ambiguity recovery value may not be obtained due to factors such as signal interruption, and the sub-ultra-wide lane ambiguity obtaining result is failure; and when the super-wide lane ambiguity acquisition result is failed, the first initial wide lane ambiguity restoration result is also failed. When the second super-wide lane ambiguity obtaining result is successful, fixing super-wide lane ambiguity and second super-wide lane ambiguity, and linearly combining the super-wide lane ambiguity repairing value and the second super-wide lane ambiguity repairing value by adopting a preset repairing algorithm (which is an algorithm in the prior art) to obtain two first wide lane ambiguitiesA repair value; for example, two first wide-lane cycle slips (ambiguities) are obtained by linear combination of the two:
wherein the content of the first and second substances,
representing 1 and 2 wide lane combinations corresponding to the two frequencies,
representing 1 and 5 wide lane combinations corresponding to two frequencies,
indicating the kth satellite
The ambiguity variation between epochs corresponding to the combination of the wide lanes,
the representation represents the kth satellite
And combining the corresponding ambiguity variation between epochs by the wide lane. At this time, the wide lane ambiguity between two epochs
And
and if the obtaining is successful, the first initial widelane ambiguity repairing result is successful.
After the first initial widelane ambiguity repairing result is obtained, a second initial widelane ambiguity repairing result is also needed to be obtained, and the second initial widelane ambiguity repairing result is obtained according to the inter-epoch differential observation model and the pseudo range, and the method comprises the following steps: based on the inter-epoch differential observation model, acquiring two second widelane ambiguity restoration values according to the pseudo range; when the two widelane ambiguities are successfully obtained, the second initial widelane ambiguity restoration result is successful; and when the two widelane ambiguities are failed to be obtained, the second initial widelane ambiguity repairing result is failure.
In another implementation manner, based on the inter-epoch differential observation model, two second wide-lane ambiguity restoration values are obtained according to the pseudo-range, for example, two second wide-lane cycle slip fixes are directly assisted by using an inter-epoch differential observation model (3), as follows:
（7）
in that
In the formula, the same letter meanings as above are unchanged except that the subscript i is changed to a limit of ewl where
In the formula (I), the same letter meanings as in the foregoing are not changed, except that the subscript i is changed to be limited
In a
In the formula (I), the same letter meanings as in the foregoing are not changed, except that the subscript i is changed to be limited
. When the ambiguity of the wide lane between two epochs
And
when the obtaining is successful, the second initial widelane ambiguity repairing result is successful; otherwise the second initial wide lane ambiguityThe repair result was failure. And after a first initial wide lane ambiguity repairing result and a second initial wide lane ambiguity repairing result are obtained, fusing the first initial wide lane ambiguity repairing result and the second initial wide lane ambiguity repairing result to obtain a wide lane ambiguity repairing result. In this embodiment, the two first widelane ambiguity restoration values obtained by the above two methods
And
and two second widelane ambiguity correction values
And
has the advantages and disadvantages: the first method (obtaining two first widelane ambiguity recovery values) has the advantage of longer sub-superwide-lane wavelength and the disadvantage of greater combined noise. While method two (obtaining two second widelane ambiguity recovery values) has the advantage of less combined noise, but has the disadvantage of very short wavelength, only 0.84 and 1.02 meters respectively. Therefore, the invention firstly carries out reliability test on the two results respectively, firstly compares the two results, and directly adopts the two results if the results are consistent and are considered to be reliable. If the two results are inconsistent, one of the two methods with a larger RATIO is adopted, so that the widelane ambiguity repairing result is successful, and when the signal is interrupted, the widelane ambiguity repairing result is failed. And when the wide lane ambiguity repairing result is successful, repairing the narrow lane ambiguity of the precise single-point positioning to obtain a narrow lane ambiguity repairing result. In this embodiment, after correction using the relative ionospheric model, (3) there is still residual ionospheric delay; the wavelength of the combined observed value of the corresponding ultra-wide lane, the sub ultra-wide lane and the two wide lanes is longer, and the influence can be ignored. The original frequency wavelength is smaller, and the ionosphere elimination combination needs to be formed to completely eliminate the ionosphereAnd (4) under the influence of residual errors, further decomposing the combined ambiguity of the deionization layer into ambiguity of a wide lane and ambiguity of a narrow lane, and fixing the ambiguities respectively.
After the two widelane ambiguities are fixed by the method, a high-precision widelane observation value without ambiguity can be obtained, and the high-precision widelane observation value is used for replacing pseudo range to assist widelane ambiguity resolution (namely, the widelane ambiguity of precise single-point positioning is repaired):
in the formula (I), the compound is shown in the specification,
、
shows a combination of deionization layers and a combination of narrow lanes at a first frequency f1 and a second frequency f2, respectively
In the formula, the same letter meanings as above are unchanged except that the subscript i is changed to limit
Or
Or alternatively
I.e. only in the narrow lane (l), when obtained
And when the signal is interrupted, the narrow lane ambiguity repairing result is failure.
After the ambiguity recovery result is obtained, the following steps can be performed as shown in fig. 1: and S300, performing auxiliary convergence control on the precise point positioning based on the ambiguity repairing result.
Step S300 includes the steps of:
s301, when the wide lane ambiguity repairing result is failure, performing auxiliary convergence control on the precise single-point positioning by adopting the ultra-wide lane ambiguity repairing value;
s302, when the narrow lane ambiguity repairing result is failure, performing auxiliary convergence control on the precise single-point positioning by using a wide lane ambiguity repairing value;
and S303, when the narrow lane ambiguity repairing result is successful, performing real-time calculation of precise single-point positioning.
Specifically, as shown in fig. 2, when the ultra-wide lane ambiguity repairing result is a failure, the operation flow is ended. When the ultra-wide lane ambiguity repairing result is successful and the wide lane ambiguity repairing result is failed, performing auxiliary convergence control on the precise single-point positioning by adopting the ultra-wide lane ambiguity repairing value; in this embodiment, when an outage occurs, one epoch with more satellites before the outage is selected, and the phase observation values of the epoch are combined into an ultra-wide lane. And (3) reversely calculating the ultra-wide lane ambiguity parameter by using the converged troposphere parameter and the combined ambiguity parameter of the deionization layer as follows:
wherein the same letter meanings as above are kept unchanged,
for the tropospheric delay parameter of the kth satellite,
indicating that the kth satellite first frequency f1 corresponds to a wavelength,
indicating the ambiguity at ewl for the kth satellite,
represents the kth satellite
The degree of ambiguity of the position (x),
indicating the kth satellite
The observed value of the carrier phase at (a),
representing the ewl th carrier phase observation value of the kth satellite, adding the ultra-wide lane ambiguity parameter to the ultra-wide lane restoration value in the formula (4) to obtain the corresponding ambiguity of the epoch, performing relative ionosphere correction on the observation value of the epoch, and forming an ultra-wide lane observation value to obtain the ultra-wide lane observation value without ambiguity of the epoch.
When the wide lane ambiguity repairing result is successful and the narrow lane ambiguity repairing result is failed, performing auxiliary convergence control on the precise single-point positioning by using the wide lane ambiguity repairing value; in this embodiment, when an outage occurs, one epoch with more satellites before the outage is selected, the phase observation values of the epoch are combined into a wide lane, and the ambiguity parameter of the wide lane is inversely calculated by using the converged troposphere parameter and the deionization layer combined ambiguity parameter as follows:
wherein the same letter meanings as above are kept unchanged,
for the tropospheric delay parameter of the kth satellite,
indicating the kth satellite
The degree of ambiguity of the position (x),
represents the kth satellite
The carrier phase observations at. And (3) adding the wide lane ambiguity parameter to a wide lane ambiguity restoration value in the formula (6) or (7) to obtain the corresponding ambiguity of the epoch, performing relative ionosphere correction on the observed value of the epoch, forming a wide lane observed value, and further obtaining a wide lane observed value without ambiguity of the epoch.
In the embodiment, the wide-lane observation value is preferentially used to ensure smaller observation noise; and if the wide lane cycle slip repair fails, using the super-wide lane without ambiguity to assist in rapid convergence. In addition, the solved ultra-wide lane and wide lane ambiguities are floating ambiguities containing inclined path ionosphere errors, and the part of errors are also contained in corresponding ambiguities of the repaired epochs. After the relative ionosphere correction, the error is consistent with the ionosphere error of the current epoch, and the positioning cannot be influenced. When the narrow lane ambiguity restoration result is successful, the cycle slip of the original frequency is successfully restored when signal interruption occurs, continuous high-precision positioning can be achieved without re-convergence after interruption, and real-time calculation of precise single-point positioning is carried out.
Exemplary device
As shown in fig. 3, an embodiment of the present invention provides a re-converged precise single-point positioning apparatus, which includes an inter-epoch difference observation model building module 401, an ambiguity recovery result obtaining module 402, and an auxiliary convergence control module 403:
an inter-epoch difference observation model building module 401, configured to obtain an observation value acquired by a receiver, and when the observation value acquired by the receiver is interrupted, build an inter-epoch difference observation model according to the observation value before interruption; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process;
an ambiguity restoration result obtaining module 402, configured to perform three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result;
and an auxiliary convergence control module 403, configured to perform auxiliary convergence control on the precise point positioning based on the ambiguity repairing result.
Based on the above embodiment, the present invention further provides an intelligent terminal, and a schematic block diagram thereof may be as shown in fig. 4. The intelligent terminal comprises a processor, a memory, a network interface, a display screen and a temperature sensor which are connected through a system bus. Wherein, the processor of the intelligent terminal is used for providing calculation and control capability. The memory of the intelligent terminal comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The network interface of the intelligent terminal is used for being connected and communicated with an external terminal through a network. The computer program is executed by a processor to implement a reconvergent precise point location method. The display screen of the intelligent terminal can be a liquid crystal display screen or an electronic ink display screen, and the temperature sensor of the intelligent terminal is arranged inside the intelligent terminal in advance and used for detecting the operating temperature of internal equipment.
It will be understood by those skilled in the art that the schematic diagram of fig. 4 is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation to the intelligent terminal to which the solution of the present invention is applied, and a specific intelligent terminal may include more or less components than those shown in the figure, or combine some components, or have different arrangements of components.
In one embodiment, an intelligent terminal is provided that includes a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for:
acquiring an observed value acquired by a receiver, and when the observed value acquired by the receiver is interrupted, constructing an inter-epoch differential observation model according to the observed value before interruption; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process;
performing three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result; wherein, the ambiguity refers to a jump value of the whole week counting caused by the loss of lock of satellite signals in the carrier phase measurement of the global navigation satellite system technology;
and performing auxiliary convergence control on the precise point positioning based on the ambiguity repairing result.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In summary, the present invention discloses a re-convergent precise point positioning method, which includes: acquiring an observed value acquired by a receiver, and constructing an inter-epoch difference observation model according to the observed value before interruption when the observed value acquired by the receiver is interrupted; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process; performing three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result; and performing auxiliary convergence control on the precise point positioning based on the ambiguity repairing result. According to the embodiment of the invention, when the signal is interrupted, the three-frequency step-by-step restoration is carried out on the ambiguity of the precise single-point positioning based on the difference observation model between epochs, and then the auxiliary convergence control is carried out on the precise single-point positioning based on the restoration result, so that the rapid convergence of the precise single-point positioning is realized.
Based on the above embodiments, the present invention discloses a re-converged precise single-point positioning method, and it should be understood that the application of the present invention is not limited to the above examples, and it is obvious to those skilled in the art that modifications and changes can be made based on the above description, and all such modifications and changes are intended to fall within the scope of the appended claims.
Claims (5)
1. A re-converged precise point location method, the method comprising:
acquiring an observed value acquired by a receiver, and when the observed value acquired by the receiver is interrupted, constructing an inter-epoch differential observation model according to the observed value before interruption; the epoch is the time corresponding to the data acquired by the receiver in the satellite positioning process;
performing three-frequency restoration on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model to obtain an ambiguity restoration result; wherein, the ambiguity refers to a jump value of the whole cycle count caused by the loss of lock of the satellite signal in the carrier phase measurement of the global navigation satellite system technology;
the ambiguity repairing result comprises an ultra-wide lane ambiguity repairing result, a wide lane ambiguity repairing result and a narrow lane ambiguity repairing result; the three-frequency repairing is carried out on the ambiguity of the precise single-point positioning based on the inter-epoch difference observation model, and the obtaining of the ambiguity repairing result comprises the following steps:
based on the inter-epoch difference observation model, repairing the ultra-wide lane ambiguity of the precise single-point positioning to obtain an ultra-wide lane ambiguity repairing result and an ultra-wide lane ambiguity repairing value;
when the ultra-wide lane ambiguity repairing result is successful, repairing the wide lane ambiguity of the precise single-point positioning based on the inter-epoch differential observation model to obtain a wide lane ambiguity repairing result;
when the wide lane ambiguity restoration result is successful, restoring the narrow lane ambiguity of the precise single-point positioning to obtain a narrow lane ambiguity restoration result;
the method for restoring the ambiguity of the wide lane based on the inter-epoch difference observation model to obtain the ambiguity restoration result of the wide lane comprises the following steps:
taking the ambiguity restoration value of the ultra-wide lane as a pseudo range;
based on the inter-epoch differential observation model, acquiring a sub-ultra-wide lane ambiguity restoration value according to the pseudo range to obtain a sub-ultra-wide lane ambiguity acquisition result; obtaining a first initial widelane ambiguity restoration result according to the secondary widelane ambiguity acquisition result;
obtaining a second initial widelane ambiguity repairing result according to the inter-epoch differential observation model and the pseudo range;
fusing the first initial widelane ambiguity repairing result and the second initial widelane ambiguity repairing result to obtain a widelane ambiguity repairing result;
the obtaining of a first initial wide lane ambiguity restoration result according to the second ultra-wide lane ambiguity acquisition result comprises:
when the second ultra-wide lane ambiguity obtaining result is successful, based on a preset repairing algorithm, linearly combining the ultra-wide lane ambiguity repairing value and the second ultra-wide lane ambiguity repairing value to obtain two first wide lane ambiguity repairing values; the first initial widelane ambiguity repairing result is successful;
when the super-wide lane ambiguity obtaining result is failure, a first initial wide lane ambiguity repairing result is failure;
the obtaining a second initial widelane ambiguity restoration result according to the inter-epoch differential observation model and the pseudo range includes:
based on the inter-epoch differential observation model, acquiring two second widelane ambiguity restoration values according to the pseudo range;
when the two widelane ambiguities are successfully obtained, the second initial widelane ambiguity restoration result is successful;
when the two widelane ambiguities fail to be obtained, the second initial widelane ambiguity restoration result is failure;
wherein the value of the ultra-wide lane ambiguity repair is represented as
The value of the sub-superwide lane ambiguity repair is expressed as
Two first wide lane ambiguity repair values are respectively expressed as
And
(ii) a Two second widelane ambiguity correction values are respectively expressed as
And
(ii) a Comparing two first widelane ambiguity correction values with twoIf the two second widelane ambiguity restoration values are consistent, the second widelane ambiguity restoration value is directly adopted, and if the second widelane ambiguity restoration values are inconsistent, the second widelane ambiguity restoration value is adopted, wherein the ratio of the two first widelane ambiguity restoration values to the two second widelane ambiguity restoration values is larger;
performing auxiliary convergence control on the precise single-point positioning based on the ambiguity repairing result;
the auxiliary convergence control of the precise point positioning based on the ambiguity repairing result comprises:
when the wide lane ambiguity restoration result is failure, performing auxiliary convergence control on the precise single-point positioning by adopting the ultra-wide lane ambiguity restoration value;
when the narrow lane ambiguity repairing result is failure, performing auxiliary convergence control on the precise single-point positioning by using a wide lane ambiguity repairing value;
and when the narrow lane ambiguity repairing result is successful, performing real-time calculation of precise single-point positioning.
2. The re-converged precise point location method of claim 1, wherein the observations are ionospheric residual combination observations of inter-epoch differences.
3. The re-converged precise point location method of claim 1, wherein the constructing of the inter-epoch differential observation model from the pre-interrupt observations comprises:
acquiring an ionospheric scintillation signal, and calculating the ionospheric change rate of the ionospheric scintillation signal based on a preset sliding window algorithm;
obtaining the ionospheric variation according to the ionospheric variation rate;
and generating an inter-epoch difference observation model according to the ionosphere variation and the observed value before interruption.
4. An intelligent terminal comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory, and wherein the one or more programs being configured to be executed by the one or more processors comprises instructions for performing the method of any of claims 1-3.
5. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the method of any of claims 1-3.
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