CN114779300A - Carrier phase ranging method based on pseudo-range constraint - Google Patents

Carrier phase ranging method based on pseudo-range constraint Download PDF

Info

Publication number
CN114779300A
CN114779300A CN202110078029.1A CN202110078029A CN114779300A CN 114779300 A CN114779300 A CN 114779300A CN 202110078029 A CN202110078029 A CN 202110078029A CN 114779300 A CN114779300 A CN 114779300A
Authority
CN
China
Prior art keywords
satellite
ground distance
carrier phase
phase
ranging
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110078029.1A
Other languages
Chinese (zh)
Other versions
CN114779300B (en
Inventor
王霄
杨旭海
葛玉龙
杨海彦
张喆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Chinese Academy of Sciences
National Time Service Center of CAS
Original Assignee
University of Chinese Academy of Sciences
National Time Service Center of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Chinese Academy of Sciences, National Time Service Center of CAS filed Critical University of Chinese Academy of Sciences
Priority to CN202110078029.1A priority Critical patent/CN114779300B/en
Publication of CN114779300A publication Critical patent/CN114779300A/en
Application granted granted Critical
Publication of CN114779300B publication Critical patent/CN114779300B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides a carrier phase ranging method based on pseudo-range constraint, which is used for calculating the whole-cycle part of a carrier phase and providing a novel scheme for measuring the satellite-ground distance by combining the decimal part of carrier phase ranging. Compared with the prior art, the method does not need to calculate ambiguity parameters, corrects the error in the initial satellite-ground distance through the mutual combination of the pseudo-range distance measurement and the carrier distance measurement to obtain an intermediate conversion expression, and determines a second satellite-ground distance formula after the carrier phase distance measurement error correction based on the wavelength of the carrier phase, the carrier phase distance measurement error, the model correction values of various error items in the carrier phase distance measurement and the intermediate conversion expression; and converting the first satellite-ground distance formula and the second satellite-ground distance formula, eliminating initial phase ambiguity, determining a final satellite-ground distance calculation formula, and calculating the satellite-ground distance of the carrier phase measurement of the pseudo-range constraint. Therefore, the invention can improve the satellite-ground distance measurement precision of the carrier phase.

Description

Carrier phase ranging method based on pseudo-range constraint
Technical Field
The invention belongs to the field of satellite ranging, and particularly relates to a carrier phase ranging method based on pseudo-range constraint.
Background
The precondition of the application of high-precision satellite Positioning, navigation and timing (PNT) is that the satellite has a high-precision ranging technology, which is an important mark for measuring the performance of a satellite navigation system.
The field of GNSS (Global Navigation Satellite System) mainly adopts a pseudorange and carrier phase ranging technology, the accuracy of pseudorange ranging is about 30cm, and the accuracy of carrier phase ranging can be better than 1 cm.
The precision of the pseudorange ranging is about 30cm, high-precision application is difficult to meet, the carrier phase ranging can reach higher precision, but in the carrier phase ranging process, a carrier phase observation value received by a receiver comprises a part of unknown ambiguity parameters, the whole cycle number and a decimal part less than one cycle, the decimal part can be accurately determined, the ambiguity parameters and the whole cycle number are difficult to separate, the accurate whole cycle number cannot be estimated, and a high-precision ranging result cannot be obtained. If the ambiguity parameters are solved through long-time observation and combined solution so as to obtain accurate whole cycle number, the time consumption is too long in the process, and the accuracy is reduced, so that the range finding accuracy of the carrier phase is poor due to the fact that the ambiguity is estimated incorrectly in the prior art.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a carrier phase satellite-to-ground ranging method based on pseudo-range constraint. The technical problem to be solved by the invention is realized by the following technical scheme:
the invention provides a carrier phase ranging method based on pseudo-range constraint, which comprises the following steps:
acquiring the transmitting time of a pseudo code signal transmitted by a ground station, the initial phase of a carrier phase ranging signal generated at the transmitting time, the receiving time of the pseudo code signal received by the ground station after the pseudo code signal is forwarded by a transponder on a satellite, the receiving phase of the carrier phase ranging signal received by the ground station at the receiving time and the wavelength of the carrier phase;
determining a first satellite-ground distance formula after pseudo code ranging error correction based on the phase difference between the transmitting moment and the receiving moment, the propagation speed of the signal and model correction values of various error items in pseudo code ranging;
determining an expression to be converted, which is the product of the phase difference and the wavelength of the carrier phase;
the expression to be converted comprises the product of the sum of the cycle integer of the carrier phase, the decimal part less than the whole cycle and the initial phase ambiguity and the wavelength of the carrier phase;
converting the expression to be converted to obtain an intermediate conversion expression based on the relationship among the wavelength of the carrier phase, the cycle integer of the carrier phase, the decimal part less than the whole cycle and the satellite-to-ground distance;
determining a second satellite-ground distance formula after the carrier phase ranging error is corrected based on the wavelength of the carrier phase, the carrier phase ranging error, the model correction value of various error items in the carrier phase ranging and the intermediate conversion expression;
converting the first satellite-to-ground distance formula and the second satellite-to-ground distance formula, eliminating initial phase ambiguity, and determining a final satellite-to-ground distance calculation formula;
calculating the satellite-ground distance of the carrier phase measurement of the pseudo-range constraint by using a final satellite-ground distance calculation formula;
wherein the final satellite-ground distance calculation formula is as follows:
Figure BDA0002908244480000021
where λ represents the wavelength of the carrier phase, D represents the fractional part of less than the whole cycle,
Figure BDA0002908244480000031
the fractional part of the range error is represented,
Figure BDA0002908244480000032
represent
Figure BDA0002908244480000033
Integer part of, Δ ρ2Representing the range error, Δ ρ, of the carrier phase4Model correction values representing various error terms in carrier phase ranging, d1Representing the first satellite-to-ground distance.
Optionally, the first satellite-to-ground distance calculation formula is:
Figure BDA0002908244480000034
wherein d is1Denotes the first satellite-to-ground distance, Δ ρ3Model correction values for various error terms in pseudo code ranging, t2Indicates the reception time, t1Representing the transmission instant, c represents the propagation speed of the signal.
Optionally, the expression of the to-be-converted is:
Figure BDA0002908244480000035
wherein,
Figure BDA0002908244480000036
which is indicative of the initial phase of the phase,
Figure BDA0002908244480000037
indicating the received phase, N the number of whole cycles, NbIs the initial phase ambiguity.
Optionally, the intermediate conversion expression is:
Figure BDA0002908244480000038
wherein,
Figure BDA0002908244480000039
which represents the initial phase of the phase,
Figure BDA00029082444800000310
indicating the received phase, N the number of whole cycles, NbIs the initial phase ambiguity.
Optionally, the second satellite-ground distance formula is:
Figure BDA00029082444800000311
wherein, d2Represents the second satellite-ground distance, N represents the whole number of weeks, NbIs the initial phase ambiguity.
Optionally, the step of converting the first satellite-ground distance formula and the second satellite-ground distance formula, eliminating initial phase ambiguity, and determining a final satellite-ground distance calculation formula includes:
determining the whole cycle number in a second satellite-ground distance formula based on the first satellite-ground distance formula and the relationship among the wavelength, the integer cycle and the initial satellite-ground distance of the carrier signal in the pseudo code ranging process;
the whole cycle number is as follows:
Figure BDA0002908244480000041
converting the second satellite-to-ground distance formula based on the whole cycle number and the first satellite-to-ground distance formula, and eliminating the initial phase ambiguity to obtain a final satellite-to-ground distance calculation formula;
wherein, the initial satellite-ground distance is: 2 ρ ═ λ · (N + D)
c·(t2-t1)＝2ρ+Δρ1
Wherein,ρ represents the initial satellite-to-ground distance, t1Indicating the transmission time instant, t2Denotes reception time, N denotes the number of whole cycles, Δ ρ1Representing the pseudo code ranging error.
The invention provides a carrier phase ranging method based on pseudo-range constraint, which is used for calculating the whole-cycle part of a carrier phase and providing a novel scheme for measuring the satellite-ground distance by combining the decimal part of carrier phase ranging. Compared with the prior art, the method does not need to calculate ambiguity parameters, corrects the error in the initial satellite-ground distance through the mutual combination of the pseudo-range distance measurement and the carrier distance measurement to obtain an intermediate conversion expression, and determines a second satellite-ground distance formula after the carrier phase distance measurement error correction based on the wavelength of the carrier phase, the carrier phase distance measurement error, the model correction values of various error items in the carrier phase distance measurement and the intermediate conversion expression; and converting the first satellite-ground distance formula and the second satellite-ground distance formula, eliminating initial phase ambiguity, determining a final satellite-ground distance calculation formula, and calculating the satellite-ground distance of the carrier phase measurement of the pseudo-range constraint. Therefore, the invention can improve the satellite-ground distance measurement precision of the carrier phase.
The present invention will be described in further detail with reference to the drawings and examples.
Drawings
Fig. 1 is a flowchart of a carrier phase ranging method based on pseudorange constraints according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of pseudo-code constrained carrier-phase ranging provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a pseudo-code-constrained carrier phase error correction process according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1, a ranging method for a carrier phase based on a pseudorange constraint according to the present invention includes:
s1, acquiring the transmitting time of the ground station transmitting the pseudo code signal, the initial phase of the carrier phase ranging signal generated at the transmitting time, the receiving time of the pseudo code signal received by the ground station after the pseudo code signal is forwarded by the transponder on the satellite, the receiving phase of the carrier phase ranging signal received by the ground station at the receiving time and the wavelength of the carrier phase;
the wavelength of the carrier phase is preset before the signal is transmitted, and the wavelength of the carrier phase does not change in the transmission process.
S2, determining a first satellite-ground distance formula after pseudo code ranging error correction based on the phase difference between the transmitting time and the receiving time, the propagation speed of signals and model correction values of various error items in pseudo code ranging;
s3, determining the expression to be converted, which is the product of the phase difference and the wavelength of the carrier phase;
the expression to be converted comprises the product of the sum of the cycle integer of the carrier phase, the decimal part less than the whole cycle and the initial phase ambiguity and the wavelength of the carrier phase;
s4, converting the expression to be converted based on the relationship among the wavelength of the carrier phase, the cycle integer of the carrier phase, the decimal part less than the whole cycle and the satellite-ground distance to obtain an intermediate conversion expression;
s5, determining a second satellite-ground distance formula after the carrier phase ranging error is corrected based on the wavelength of the carrier phase, the carrier phase ranging error, the model correction value of various error items in the carrier phase ranging and the intermediate conversion expression;
s6, converting the first satellite-ground distance formula and the second satellite-ground distance formula, eliminating initial phase ambiguity, and determining a final satellite-ground distance calculation formula;
s7, calculating the satellite-ground distance of the carrier phase measurement of the pseudo-range constraint by using a final satellite-ground distance calculation formula;
wherein, the final satellite-ground distance calculation formula is as follows:
Figure BDA0002908244480000061
wherein λ representsThe wavelength of the carrier phase, D represents the fractional part of less than a full cycle,
Figure BDA0002908244480000062
the fractional part of the range error is represented,
Figure BDA0002908244480000063
to represent
Figure BDA0002908244480000064
Integer part of, Δ ρ2Representing the range error, Δ ρ, of the carrier phase4Model correction values representing various error terms in carrier phase ranging, d1Representing the first satellite-to-ground distance.
The invention provides a carrier phase ranging method based on pseudo-range constraint, which is used for calculating the whole-cycle part of a carrier phase and providing a novel scheme for measuring the satellite-ground distance by combining the decimal part of carrier phase ranging. Compared with the prior art, the method does not need to calculate ambiguity parameters, corrects the error in the initial satellite-ground distance through the mutual combination of the pseudo-range distance measurement and the carrier distance measurement to obtain an intermediate conversion expression, and determines a second satellite-ground distance formula after the carrier phase distance measurement error correction based on the wavelength of the carrier phase, the carrier phase distance measurement error, the model correction values of various error items in the carrier phase distance measurement and the intermediate conversion expression; and converting the first satellite-ground distance formula and the second satellite-ground distance formula, eliminating initial phase ambiguity, determining a final satellite-ground distance calculation formula, and calculating the satellite-ground distance of the carrier phase measurement of the pseudo-range constraint. Therefore, the invention can improve the satellite-ground distance measurement precision of the carrier phase.
The first satellite-ground distance calculation formula is as follows:
Figure BDA0002908244480000071
wherein, d1Representing the first satellite-to-ground distance, Δ ρ3Model correction values for various error terms in pseudo-code ranging, t2Showing and connectingReceiving time t1Representing the transmission instant, c represents the propagation speed of the signal.
Wherein, the expression to be converted is:
Figure BDA0002908244480000072
wherein,
Figure BDA0002908244480000073
which represents the initial phase of the phase,
Figure BDA0002908244480000074
indicating the received phase, N indicating the number of whole cycles, NbIs the initial phase ambiguity.
Wherein the intermediate conversion expression is:
Figure BDA0002908244480000075
wherein,
Figure BDA0002908244480000076
which represents the initial phase of the phase,
Figure BDA0002908244480000077
indicating the received phase, N indicating the number of whole cycles, NbIs the initial phase ambiguity.
Wherein the second satellite-to-ground distance formula is:
Figure BDA0002908244480000078
wherein d is2Representing the second satellite-ground distance, N representing the whole number of weeks, NbIs the initial phase ambiguity. As an optional implementation manner, the step of converting the first satellite-to-ground distance formula and the second satellite-to-ground distance formula, eliminating the initial phase ambiguity, and determining the final satellite-to-ground distance calculation formula includes:
determining the whole cycle number in a second satellite-ground distance formula based on the first satellite-ground distance formula and the relationship among the wavelength, the integer cycle and the initial satellite-ground distance of the carrier signal in the pseudo code ranging process;
the whole cycle number is as follows:
Figure BDA0002908244480000081
converting the second satellite-to-ground distance formula based on the whole cycle number and the first satellite-to-ground distance formula, and eliminating the initial phase ambiguity to obtain a final satellite-to-ground distance calculation formula;
wherein, the initial satellite-ground distance is: 2 p ═ λ · (N + D)
c·(t2-t1)＝2ρ+Δρ1
Where ρ represents the initial satellite-to-ground distance, t1Indicating the transmission time instant, t2Denotes the reception time, N denotes the number of whole cycles, Δ ρ1Representing a pseudo code range error.
For the repeater distance measurement technology, the atomic clocks for measuring the signal transmitting time and the signal receiving time are atomic clocks on the same satellite, so the measured observation value does not include the distance measurement error caused by the clock difference between the satellite clock and the satellite clock, but at the same time, the measured value is the round-trip time of the signal on the satellite and the ground, so the obtained distance is 2 times of the satellite and the ground distance. As shown in fig. 2, if the time when the ground station transmits the pseudo code signal is t1, and after the pseudo code signal is transmitted by the transponder on the B star, the ground station receives the pseudo code signal at time t2, then:
c·(t2-t1)＝2ρ+Δρ1 (1)
where ρ represents the geometric distance from the star to the earth, Δ ρ1The pseudo code range error is represented, and the error terms in the pseudo code range error are analyzed in detail later.
Meanwhile, assume that the ground station is at t1The initial phase of the carrier phase ranging signal generated at the moment is
Figure BDA0002908244480000082
Retransmission to satellite B after propagation of distance of rhoAfter being forwarded by the repeater, the receiver transmits the distance rho to the receiving part of the ground station for receiving, and the phase is
Figure BDA0002908244480000083
Corresponding phase change is
Figure BDA0002908244480000084
And then
Figure BDA0002908244480000085
The integer number, integer ambiguity and decimal part less than the integer number are included. Therefore, the following are provided:
Figure BDA0002908244480000086
where λ represents the wavelength of the carrier phase, N represents the number of whole cycles, NbIs the initial phase ambiguity; d represents the fractional part of less than the whole week, Δ ρ2Indicating a carrier phase ranging error. And has the following components:
2ρ＝λ·(N+D) (3)
transform equation (3) to Δ ρ2Merging with the previous item:
Figure BDA0002908244480000091
wherein,
Figure BDA0002908244480000092
to represent
Figure BDA0002908244480000093
The integer part of (2).
In carrier phase ranging, the value directly obtainable by satellite observation is actually
Figure BDA0002908244480000094
Wherein
Figure BDA0002908244480000095
The fractional part representing the range error can be measured by the beat method in the prior art, and
Figure BDA0002908244480000096
and the size of N cannot be determined. Since carrier phase ranging cannot complete solving for N, the following process is to solve for N using pseudorange ranging.
Suppose d1First satellite-to-ground distance value after error model modification for pseudo code measurement result, d2The second satellite-ground distance value after the carrier phase measurement result is corrected is shown as follows:
Figure BDA0002908244480000097
Figure BDA0002908244480000098
wherein, the formula (5) is a first satellite-ground distance formula, the formula (6) is a second satellite-ground distance formula, and the delta rho3Model correction values, Δ ρ, representing various error terms in ranging pseudo-code4Model corrections are indicated for various error terms in carrier phase range. Δ ρ3Is solved by a model for correcting Δ ρ1Value of (a), Δ ρ3≈Δρ1Similarly, Δ ρ4≈Δρ2。
Referring to fig. 3, in the course of measuring the satellite-to-ground pseudoranges and the carrier phases, the ranging results need to be corrected due to device delays, atmospheric delays, antenna phase center deviations, phase wrapping, relative position relationship deviations, and the like of the transmitting/receiving devices, a relativistic error may be corrected using a relativistic effect correction model, an antenna phase center deviation may be corrected using an antenna phase center deviation correction model, an error caused by phase wrapping may be corrected using an antenna phase wrapping correction model, an error caused by atmospheric delays may be corrected using an ionospheric delay correction model, and delay calibration may be performed on the signal transmitting/receiving device, so as to correct the device errors. The sum of the error corrections is determined as the model correction value.
For existing pseudo-code ranging techniques, | d1-rho | ≦ 2cm, and its wavelength when using L-band carrier phase for ranging
Figure BDA0002908244480000101
With | d1- ρ ≦ λ, so:
Figure BDA0002908244480000102
Figure BDA0002908244480000103
respectively represent
Figure BDA0002908244480000104
The integer part of (3) in combination has:
Figure BDA0002908244480000105
therefore, there are:
Figure BDA0002908244480000106
d is the final satellite-ground distance.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (6)

1. A carrier phase ranging method based on pseudo-range constraint is characterized by comprising the following steps:
acquiring the transmitting time of a pseudo code signal transmitted by a ground station, the initial phase of a carrier phase ranging signal generated at the transmitting time, the receiving time of the pseudo code signal received by the ground station after the pseudo code signal is forwarded by a transponder on a satellite, the receiving phase of the carrier phase ranging signal received by the ground station at the receiving time and the wavelength of the carrier phase;
determining a first satellite-ground distance formula after pseudo code ranging error correction based on the phase difference between the transmitting moment and the receiving moment, the propagation speed of the signal and model correction values of various error items in pseudo code ranging;
determining an expression to be converted, which is the product of the phase difference and the wavelength of the carrier phase;
the expression to be converted comprises the product of the sum of the cycle integer of the carrier phase, the decimal part less than the whole cycle and the initial phase ambiguity and the wavelength of the carrier phase;
converting the expression to be converted to obtain an intermediate conversion expression based on the relationship among the wavelength of the carrier phase, the cycle integer of the carrier phase, the decimal part less than the whole cycle and the satellite-to-ground distance;
determining a second satellite-ground distance formula after the carrier phase ranging error is corrected based on the wavelength of the carrier phase, the carrier phase ranging error, the model correction value of various error items in the carrier phase ranging and the intermediate conversion expression;
converting the first satellite-to-ground distance formula and the second satellite-to-ground distance formula, eliminating initial phase ambiguity, and determining a final satellite-to-ground distance calculation formula;
calculating the satellite-ground distance of the carrier phase measurement constrained by the pseudo-range by using a final satellite-ground distance calculation formula;
wherein the final satellite-ground distance calculation formula is as follows:
Figure FDA0002908244470000011
where λ represents the wavelength of the carrier phase, D represents the fractional part of less than the whole cycle,
Figure FDA0002908244470000021
represents the fractional part of the range error,
Figure FDA0002908244470000022
to represent
Figure FDA0002908244470000023
Integer part of, Δ ρ2Representing the range error, Δ ρ, of the carrier phase4Model correction values representing various error terms in carrier phase ranging, d1Representing the first satellite-to-ground distance.
2. The ranging method according to claim 1, wherein the first satellite-to-ground distance calculation formula is:
Figure FDA0002908244470000024
wherein, d1Denotes the first satellite-to-ground distance, Δ ρ3Model correction values for various error terms in pseudo code ranging, t2Indicates the reception time, t1Indicating the transmission instant and c the propagation speed of the signal.
3. The ranging method according to claim 1, wherein the expression of the table to be converted is:
Figure FDA0002908244470000025
wherein,
Figure FDA0002908244470000026
which is indicative of the initial phase of the phase,
Figure FDA0002908244470000027
indicating the received phase, N indicating the number of whole cycles, NbIs the initial phase ambiguity.
4. The ranging method of claim 1, wherein the intermediate conversion expression is:
Figure FDA0002908244470000028
wherein,
Figure FDA0002908244470000029
which is indicative of the initial phase of the phase,
Figure FDA00029082444700000210
indicating the received phase, N the number of whole cycles, NbIs the initial phase ambiguity.
5. The method of claim 1, wherein the second range-to-earth equation is:
Figure FDA0002908244470000031
wherein d is2Represents the second satellite-ground distance, N represents the whole number of weeks, NbIs the initial phase ambiguity.
6. The method of claim 5, wherein the step of transforming the first and second space-to-ground distance formulas to remove initial phase ambiguity and determine the final space-to-ground distance calculation formula comprises:
determining the whole cycle number in a second satellite-ground distance formula based on the first satellite-ground distance formula and the relationship among the wavelength, the integer cycle and the initial satellite-ground distance of the carrier signal in the pseudo code ranging process;
the whole cycle number is as follows:
Figure FDA0002908244470000032
converting the second satellite-ground distance formula based on the whole cycle number and the first satellite-ground distance formula, and eliminating the initial phase ambiguity to obtain a final satellite-ground distance calculation formula;
wherein, the initial satellite-ground distance is: 2 ρ ═ λ · (N + D)
c·(t2-t1)＝2ρ+Δρ1
Where ρ represents the initial satellite-to-ground distance, t1Indicating the transmission time instant, t2Denotes reception time, N denotes the number of whole cycles, Δ ρ1Representing a pseudo code range error.
CN202110078029.1A 2021-01-20 2021-01-20 Carrier phase ranging method based on pseudo-range constraint Active CN114779300B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110078029.1A CN114779300B (en) 2021-01-20 2021-01-20 Carrier phase ranging method based on pseudo-range constraint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110078029.1A CN114779300B (en) 2021-01-20 2021-01-20 Carrier phase ranging method based on pseudo-range constraint

Publications (2)

Publication Number Publication Date
CN114779300A true CN114779300A (en) 2022-07-22
CN114779300B CN114779300B (en) 2024-05-03

Family

ID=82407638

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110078029.1A Active CN114779300B (en) 2021-01-20 2021-01-20 Carrier phase ranging method based on pseudo-range constraint

Country Status (1)

Country Link
CN (1) CN114779300B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5935194A (en) * 1994-02-18 1999-08-10 Trimble Navigation Limited Method for using external constraints to improve the speed and reliability of phase ambiguity resolution in real-time kinematic initialization
US20040225438A1 (en) * 2002-09-23 2004-11-11 Alexandr Draganov Methods and apparatus for determining phase ambiguities in ranging and navigation systems
CN102226844A (en) * 2011-03-29 2011-10-26 哈尔滨工业大学 Inter-satellite ranging method for formation small satellites based on two-way forwarding measurement system and carrier phase smoothed pseudo code
CN108845338A (en) * 2018-07-26 2018-11-20 西南电子技术研究所（中国电子科技集团公司第十研究所） Star ground united carrier smoothing pseudo range distance measuring method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5935194A (en) * 1994-02-18 1999-08-10 Trimble Navigation Limited Method for using external constraints to improve the speed and reliability of phase ambiguity resolution in real-time kinematic initialization
US20040225438A1 (en) * 2002-09-23 2004-11-11 Alexandr Draganov Methods and apparatus for determining phase ambiguities in ranging and navigation systems
CN102226844A (en) * 2011-03-29 2011-10-26 哈尔滨工业大学 Inter-satellite ranging method for formation small satellites based on two-way forwarding measurement system and carrier phase smoothed pseudo code
CN108845338A (en) * 2018-07-26 2018-11-20 西南电子技术研究所（中国电子科技集团公司第十研究所） Star ground united carrier smoothing pseudo range distance measuring method

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
祝会忠;雷啸挺;徐爱功;李军;高猛;: "顾及GEO卫星约束的长距离BDS三频整周模糊度解算", 测绘学报, no. 09, 15 September 2020 (2020-09-15) *
闵淑琴;马宏;: "星间自主相对测距中载波相位整周模糊解算方法研究", 遥测遥控, no. 04, 20 August 2006 (2006-08-20) *
陈媛;常青;徐勇;: "星间链路测量中的载波相位测距算法研究", 遥测遥控, no. 04, 15 July 2010 (2010-07-15) *

Also Published As

Publication number Publication date
CN114779300B (en) 2024-05-03

Similar Documents

Publication Publication Date Title
CN110031881B (en) Method for assisting precise point positioning by high-precision inter-satellite laser ranging
CN109581452B (en) GNSS reference station carrier phase integer ambiguity resolution method
CN108445518B (en) A kind of GNSS chronometer time transmission method based on the constraint of double difference ambiguity fixed solution
US20210190967A1 (en) Gnss processing with selecting and/or blending anchor positions
CN109655846B (en) Multi-station differential post-processing high-precision time synchronization method and system
US7576690B2 (en) Position determination with reference data outage
US9958550B2 (en) Navigation satellite system positioning involving the generation of receiver-specific or receiver-type-specific correction information
US7911378B2 (en) System and method for applying code corrections for GNSS positioning
US8018377B2 (en) Decoupled clock model with ambiguity datum fixing
US7292185B2 (en) Attitude determination exploiting geometry constraints
CN105044741B (en) A kind of method for solving of the comprehensive GPS wide area differential GPS corrected value of pseudorange phase
US20230062246A1 (en) DGNSS using Reference Station Carrier Phase Measurements
CN110082801B (en) Positioning method for BDS/GPS receiver assisted by chip atomic clock
CN110749907A (en) Clock error compensation method and system based on receiver in Beidou mobile positioning
CN111060928A (en) Space spacecraft time synchronization implementation method based on bidirectional distance measurement
US7920650B2 (en) Method and apparatus for evaluating a clock in a satellite
CN103675858A (en) B1/L1 carrier phase frequency mixing difference method for Beidou system and GPS (Global Positioning System)
GB2459334A (en) Reducing the time required to establish a position solution in a satellite positioning system
CN110568464A (en) BDS/GNSS (broadband navigation satellite system/global navigation satellite system) multi-mode chip-based precision positioning method and device
CN117421933A (en) Multi-frequency multi-system GNSS satellite phase deviation estimation method
CN115664489B (en) Inter-satellite time synchronization method, system, electronic equipment and computer storage medium
CN103675875A (en) B2/L2 carrier phase inter-satellite frequency mixing difference method for BDS (BeiDou Navigation Satellite System) and GPS (Global Positioning System)
CN114779300A (en) Carrier phase ranging method based on pseudo-range constraint
US20220381924A1 (en) Positioning apparatus and augmentation information generation apparatus
CN118091718B (en) Method for improving UT1 calculation accuracy through low orbit satellite downlink navigation signal

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant