CN114879235B

CN114879235B - Satellite positioning method, device, electronic equipment and computer storage medium

Info

Publication number: CN114879235B
Application number: CN202210506073.2A
Authority: CN
Inventors: 蔡成林; 吕开慧; 凌玲; 朱子杰; 梁康凯; 成凌锋
Original assignee: Xiangtan University
Current assignee: Xiangtan University
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2024-06-14
Anticipated expiration: 2042-05-10
Also published as: CN114879235A

Abstract

The invention relates to a satellite positioning method, a satellite positioning device, electronic equipment and a computer storage medium, wherein the method comprises the following steps: acquiring a first satellite position, a first satellite clock error and first observation data corresponding to a first epoch of a satellite, and a second satellite position, a second satellite clock error and second observation data corresponding to each epoch after the first epoch; determining a first receiver position of the receiver at a first epoch based on the first satellite position, the first satellite clock difference, and the first pseudorange; for each adjacent two epochs, determining the carrier phase variation according to the second carrier phases corresponding to the adjacent two epochs, and determining the current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo-range and the carrier phase variation corresponding to the current epoch. By the method, the convergence speed can be increased, and the positioning effect can be improved.

Description

Satellite positioning method, device, electronic equipment and computer storage medium

Technical Field

The invention relates to the technical field of global satellite navigation positioning, in particular to a satellite positioning method, a device, electronic equipment and a computer storage medium.

Background

At present, high-precision positioning is mainly a GNSS network RTK technology, but RTKs are required to rely on densely deployed reference stations, so that the system construction and maintenance cost is high, and meanwhile, the reliability is reduced. On land, GNSS reference stations can be deployed, but in foreign, marine and far-away complex areas, RTK reference station deployment is difficult, and real-time precision positioning is difficult to achieve. At present, unmanned aerial vehicle, unmanned vehicles and artificial intelligent equipment such as robot need accurate positioning, and real-time accurate positioning mainly relies on network RTK, because excessively relies on ground GNSS reference network, security and reliability have hidden danger.

In the prior art, the PPP technology can be used for positioning, the PPP does not need to depend on a reference station, the safety and reliability risks of ground data transmission are reduced, and the method is more suitable for real-time high-precision positioning application of an unmanned system. PPP is an important technology for positioning the carrier phase of the GNSS with high precision, and PPP can obtain a precision positioning result equal to RTK without depending on a reference station, so that huge attractive force is displayed, but PPP convergence time is too long, so that the positioning effect is poor.

Disclosure of Invention

The invention aims to solve at least one technical problem by providing a satellite positioning method, a satellite positioning device, electronic equipment and a computer storage medium.

In a first aspect, the present invention solves the above technical problems by providing the following technical solutions: a satellite positioning method, the method comprising:

Acquiring a first satellite position, a first satellite clock error and first observation data corresponding to a first epoch of a satellite, wherein the first observation data comprises a first pseudo range and a first carrier phase;

determining a first receiver position of the receiver at a first epoch based on the first satellite position, the first satellite clock difference, and the first pseudorange;

acquiring a second satellite position, a second satellite clock error and second observation data corresponding to each epoch of the satellite after the first epoch;

For each epoch in each epoch after the first epoch, taking the epoch as the current epoch, determining the carrier phase change amount according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch, and when the previous epoch is the first epoch, the second carrier phase corresponding to the previous epoch is the first carrier phase;

And determining the current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo-range and the carrier phase variation corresponding to the current epoch.

The beneficial effects of the invention are as follows: in the process of positioning the receiver by adopting the satellite, the first receiver position of the receiver in the first epoch is determined based on the first satellite position, the first satellite clock difference and the first pseudo range corresponding to the first epoch, the current receiver position of the receiver in the current epoch is determined based on the second satellite position, the second satellite clock difference and the second observation data corresponding to each epoch after the first epoch, and the receiver position of the receiver in each different epoch is determined based on the satellite position, the satellite clock difference and the observation data corresponding to different epochs before and after the satellite.

On the basis of the technical scheme, the invention can be improved as follows.

Further, the acquiring the first satellite position, the first satellite clock error and the first observation data corresponding to the first epoch of the satellite includes:

acquiring a first satellite position, a first satellite clock error and first observation data corresponding to each satellite in at least 5 satellites in a first epoch;

determining a first receiver position of the receiver in a first epoch based on the first satellite position, the first satellite clock difference, and the first pseudorange, comprising:

A first receiver position, a first receiver clock differential, and a first tropospheric zenith direction delay wet component of the receiver at a first epoch is determined based on a first satellite position, a first satellite clock differential, and a first pseudorange corresponding to each of the at least 5 satellites.

The method has the advantages that the first receiver position of the receiver in the first epoch can be determined by combining the first satellite position, the first satellite clock difference and the first pseudo range corresponding to each satellite in at least 5 satellites, so that the determined first receiver position is more accurate, and in addition, the first receiver position is determined, meanwhile, the first receiver clock difference and the first troposphere zenith direction delay wet component of the receiver in the first epoch can be determined, and data support is provided for subsequent processing.

Further, determining a first receiver position, a first receiver clock error, and a first tropospheric zenith direction delay wet component of the receiver in a first epoch based on a first satellite position, a first satellite clock error, and a first pseudorange corresponding to each of at least 5 satellites, includes:

For each satellite in at least 5 satellites, inputting a first satellite position, a first satellite clock error and a first pseudo range corresponding to the satellite into a first formula to obtain a second formula corresponding to the satellite, wherein the second formula is a first formula with a first receiver position of a receiver in a first epoch, the first receiver clock error and a first troposphere zenith direction delay wet component as unknowns, and the first formula is as follows:

Wherein v represents the residual value, c represents the speed of light, (e _x,e_y,e_z) is the unit direction vector from the satellite to the receiver, G is the troposphere zenith direction projection function, d _{T_w} is the troposphere zenith direction delay wet component, (x, y, z) is the first receiver position of the receiver in the first epoch, dt is the first receiver clock difference corresponding to the first epoch, l is the integrated error correction, v, c, (e _x,e_y,e_z),G,d_{T_h}, l are all known parameters;

And determining a first receiver position of the receiver in a first epoch, a first receiver clock difference and a first troposphere zenith direction delay wet component by a least square method according to a second formula corresponding to each satellite.

The first formula has the beneficial effects that the first formula comprises 5 unknowns of the first receiver position of the receiver in the first epoch, the first receiver clock difference and the first troposphere zenith direction delay wet component, so that the first receiver position of the receiver in the first epoch, the first receiver clock difference and the first troposphere zenith direction delay wet component can be determined simultaneously through the first formula, and the convergence speed is further accelerated.

Further, the acquiring the second satellite position, the second satellite clock difference and the second observation data corresponding to each epoch of the satellite after the first epoch includes:

Acquiring a second satellite position, a second satellite clock error and second observation data corresponding to each epoch of each satellite of at least 5 satellites after the first epoch;

for each of the at least 5 satellites, determining the carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch includes:

determining the carrier phase variation according to the second carrier phase corresponding to the current epoch of the satellite and the second carrier phase corresponding to the previous epoch of the current epoch;

Determining a current receiver position of the receiver in the current epoch according to a second satellite position, a second satellite clock difference, a second pseudo-range and a carrier phase change amount corresponding to the current epoch, including:

And determining the current receiver position, the current receiver clock error and the current troposphere zenith direction delay wet component of the receiver in the current epoch according to the second satellite position, the second satellite clock error and the second pseudo range corresponding to the current epoch corresponding to each satellite in at least 5 satellites and the carrier phase variation corresponding to each satellite.

The method has the advantages that the current receiver position of the receiver in the current calendar can be determined by combining the second satellite position, the second satellite clock error and the second observation data corresponding to each satellite in at least 5 satellites, so that the determined current receiver position is more accurate, in addition, the current receiver clock error of the receiver in the current calendar and the delay moisture component of the current troposphere zenith direction can be determined while the current receiver position is determined, and data support is provided for subsequent processing.

Further, for each of the at least 5 satellites, determining a carrier phase variation from a second carrier phase corresponding to the current epoch and a second carrier phase corresponding to a previous epoch of the current epoch, comprising:

for each satellite in at least 5 satellites, determining a carrier phase variation according to a second carrier phase corresponding to the current epoch of the satellite and a second carrier phase corresponding to a previous epoch of the current epoch through a third formula, wherein the third formula is:

Wherein ΔΦ _i represents a carrier phase variation between a second carrier phase corresponding to a current epoch and a second carrier phase corresponding to a previous epoch of the current epoch, i represents an ith carrier frequency point, i corresponds to the second carrier phase corresponding to the current epoch, t represents a sequence number corresponding to the current epoch, t-1 represents a sequence number corresponding to the previous epoch of the current epoch, Φ _t represents the second carrier phase corresponding to the current epoch, Φ _t-1 represents the second carrier phase corresponding to the previous epoch of the current epoch, Δρ represents a distance variation between a first distance corresponding to the current epoch and a second distance corresponding to the previous epoch, the first distance is a geometric distance between a satellite position of a satellite corresponding to the current epoch and a receiver position of the receiver, and the second distance is a geometric distance between a satellite position of a satellite corresponding to the previous epoch and a receiver position of the receiver;

c denotes a light velocity, Δdt denotes a first clock difference variation between a current receiver clock difference corresponding to a current epoch and a receiver clock difference corresponding to a previous epoch, Δdt denotes a second clock difference variation between a current satellite clock difference corresponding to a current epoch and a satellite clock difference corresponding to a previous epoch, G is a tropospheric zenith direction projection function, Δd _{T_h} denotes a variation between a current tropospheric zenith direction delay dry component corresponding to a current epoch and a tropospheric zenith direction delay dry component corresponding to a previous epoch, Δd _{T_w} denotes a variation between a current tropospheric zenith direction delay wet component corresponding to a current epoch and a tropospheric zenith direction delay wet component corresponding to a previous epoch, Representing the amount of change in L _i between the ionospheric delay corresponding to the current epoch and the ionospheric delay corresponding to the previous epoch,/>The variation between the observed noise of the current carrier phase corresponding to the current epoch and the observed noise of the carrier phase corresponding to the previous epoch is represented, in a third formula, the current receiver position corresponding to the current epoch, the current troposphere zenith direction delay wet component and the current receiver clock difference of the receiver are unknown parameters, and parameters except the current receiver position, the current troposphere zenith direction delay wet component and the current receiver clock difference are known parameters;

Determining a current receiver position, a current receiver clock error and a current tropospheric zenith direction delay wet component of the receiver in the current epoch according to a second satellite position, a second satellite clock error and a second pseudo range corresponding to the current epoch corresponding to each of at least 5 satellites and a carrier phase variation corresponding to each satellite, wherein the method comprises the following steps:

for each satellite in at least 5 satellites, inputting a second satellite position, a second satellite clock error and a second pseudo range corresponding to a current epoch corresponding to the satellite into a first formula to obtain a second formula corresponding to the satellite, wherein the current receiver position, the current receiver clock error and a current troposphere zenith direction delay wet component corresponding to the current epoch are unknown by a receiver in the second formula, and the first formula is as follows:

Wherein v represents the residual value, c represents the speed of light, (e _x,e_y,e_z) is the unit direction vector from the satellite to the receiver, G is the troposphere zenith direction projection function, d _{T_w} is the current troposphere zenith direction delay wet component, (x, y, z) is the current receiver position of the receiver in the current epoch, dt is the first receiver clock difference corresponding to the first epoch, and l is the integrated error correction, wherein v, c, (e _x,e_y,e_z),G,d_{T_h}, l are known parameters;

And determining the current receiver position of the receiver in the current epoch, the current receiver clock difference and the current troposphere zenith direction delay wet component according to the second formula corresponding to each satellite and the third formula corresponding to any satellite.

The method has the advantages that the second formula corresponding to each satellite is combined with the third formula corresponding to any satellite, in the formulas, the current receiver position, the current receiver clock difference and the current troposphere zenith direction delay wet component of the receiver in the current epoch are unknown, and the current receiver position, the current receiver clock difference and the current troposphere zenith direction delay wet component of the receiver in the current epoch can be determined simultaneously through the formulas, so that the convergence speed can be further accelerated.

Further, before determining the first receiver position of the receiver at the first epoch and before determining the carrier phase change amount, the method further comprises:

And performing cycle slip detection processing on the carrier phase corresponding to the target epoch to obtain a processed carrier phase, wherein the target epoch comprises a first epoch and each epoch after the first epoch.

The further scheme has the beneficial effects that the cycle slip detection processing is carried out on the carrier phase corresponding to the target epoch, so that the positioning accuracy can be improved.

Further, the method further comprises the steps of:

Performing error correction on the first observation data to obtain corrected first observation data, performing error correction on each second observation data in each second observation data to obtain corrected second observation data, wherein the corrected first observation data comprises corrected first pseudo-ranges and corrected first carrier phases, and each corrected second observation data comprises corrected second pseudo-ranges and corrected second carrier phases;

Determining a first receiver position of the receiver at a first epoch based on the first satellite position, the first satellite clock differential, and the first pseudorange, comprising:

Determining a first receiver position of the receiver in a first epoch based on the first satellite position, the first satellite clock difference, and the corrected first pseudo-range;

Determining the carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch, including:

And determining the carrier phase change amount according to the corrected second carrier phase corresponding to the current epoch and the corrected second carrier phase corresponding to the previous epoch of the current epoch.

The method has the beneficial effects that before the carrier phase change amount is determined, the first observation data and the second observation data are respectively corrected, so that the carrier phase is not influenced by other factors, and further the carrier phase change amount is determined more accurately.

In a second aspect, the present invention further provides a satellite positioning device for solving the above technical problem, where the satellite positioning device includes:

the first acquisition module is used for acquiring a first satellite position, a first satellite clock error and first observation data corresponding to a first epoch of a satellite, wherein the first observation data comprises a first pseudo range and a first carrier phase;

A first determining module configured to determine a first receiver position of the receiver in a first epoch based on the first satellite position, the first satellite clock difference, and the first pseudorange;

the second acquisition module is used for acquiring a second satellite position, a second satellite clock error and second observation data corresponding to each epoch of the satellite after the first epoch;

The carrier phase change amount determining module is used for determining a carrier phase change amount according to a second carrier phase corresponding to the current epoch and a second carrier phase corresponding to a previous epoch of the current epoch, wherein the second carrier phase corresponding to the previous epoch is the first carrier phase when the previous epoch is the first epoch;

And the second determining module is used for determining the current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo-range and the carrier phase change amount corresponding to the current epoch.

In a third aspect, the present application further provides an electronic device, where the electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the satellite positioning method according to the present application when executing the computer program.

In a fourth aspect, the present application further provides a computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to implement the satellite positioning method according to the present application.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments of the present invention will be briefly described below.

Fig. 1 is a flow chart of a satellite positioning method according to an embodiment of the invention;

fig. 2 is a flow chart of another satellite positioning method according to an embodiment of the invention;

fig. 3 is a schematic structural diagram of a satellite positioning device according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The principles and features of the present invention are described below with examples given for the purpose of illustration only and are not intended to limit the scope of the invention.

The following describes the technical scheme of the present invention and how the technical scheme of the present invention solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.

The scheme provided by the embodiment of the invention can be applied to any application scene needing to determine satellite-based positioning. The embodiment of the invention provides a possible implementation manner, as shown in fig. 1, a flowchart of a satellite positioning method is provided, and the scheme can be executed by any electronic device, for example, a server or a terminal device arranged on the ground. For convenience of description, a method provided by an embodiment of the present invention will be described below by taking a server as an execution body, and the method may include the following steps as shown in a flowchart in fig. 1:

step S110, a first satellite position, a first satellite clock error and first observation data corresponding to a first epoch of a satellite are obtained, wherein the first observation data comprises a first pseudo-range and a first carrier phase;

step S120, determining a first receiver position of the receiver in a first epoch according to the first satellite position, the first satellite clock difference and the first pseudo-range;

Step S130, obtaining a second satellite position, a second satellite clock error and second observation data corresponding to each epoch of the satellite after the first epoch;

Step S140, regarding each epoch in each epoch after the first epoch, taking the epoch as the current epoch, determining the carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch, and when the previous epoch is the first epoch, the second carrier phase corresponding to the previous epoch is the first carrier phase;

Step S150, determining the current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo-range and the carrier phase variation corresponding to the current epoch.

According to the method, in the process of positioning the receiver by adopting the satellite, the first receiver position of the receiver in the first epoch is determined based on the first satellite position, the first satellite clock error and the first pseudo range corresponding to the first epoch, the current receiver position of the receiver in the current epoch is determined based on the second satellite position, the second satellite clock error and the second observation data corresponding to each epoch after the first epoch, and the receiver position of the receiver in each different epoch is determined based on the satellite position, the satellite clock error and the observation data corresponding to different epochs before and after the satellite, so that the convergence time is reduced.

The solution of the present invention is further described below with reference to the following specific embodiments, in which the satellite positioning method may include the following steps:

In step S110, a first satellite position, a first satellite clock error and first observation data corresponding to a first epoch of the satellite are obtained, and the first observation data includes a first pseudo-range and a first carrier phase.

Alternatively, the first satellite position and the first satellite clock difference broadcasted by the navigation satellite PPP-B2B mode can be used, and the receiver can be used for receiving the first observation data of the satellite in real time. The first satellite position broadcast by the navigation satellite PPP-B2B mode may be referred to as the real-time precision orbit and the first satellite clock difference may be referred to as the real-time precision clock difference, wherein the clock difference is the clock indicating the exact world time minus the astronomical clock at the same instant, i.e. clock difference = world time-clock. Pseudo-range refers to the distance from the GPS observation station to the satellite, which is obtained by GPS observation, and during satellite positioning, refers to the distance from the ground receiver to the satellite.

After the first observation data is acquired, cycle slip detection processing can be performed on the first carrier phase to obtain a processed carrier phase, where the cycle slip detection processing can include a MW method and a GF method, which are both cycle slip detection processing in the prior art.

Step S120, determining a first receiver position of the receiver in a first epoch based on the first satellite position, the first satellite clock difference, and the first pseudorange.

After the cycle slip detection processing is performed, error correction can be further performed on the first observation data to obtain corrected first observation data, wherein the corrected first observation data comprises a corrected first pseudo-range and a corrected first carrier phase.

A first receiver position of the receiver at a first epoch is determined based on the first satellite position, the first satellite clock differential, and the corrected first pseudorange.

The error corresponding to the error correction comprises at least one of an error corresponding to the correction of the antenna phase center, an error corresponding to the multipath effect, an error corresponding to the phase winding effect, an error corresponding to the tidal load deformation, an error corresponding to the relativistic effect and an error corresponding to the earth rotation. The error correction can be carried out by adopting the existing model. The error corresponding to the correction of the antenna phase center refers to: the difference between the satellite antenna phase center and the satellite centroid; error correction corresponding to multipath effects refers to: the multipath effect means that the receiver receives satellite signals reflected once or more times by the ground objects around the antenna in addition to the signals transmitted by the satellite directly, and the signals are overlapped with the direct signals, so that the observed quantity generates errors; the error corresponding to the phase wrapping effect refers to: error generated by carrier phase change caused by relative motion between a transmitting end and a receiving end; the error corresponding to the tidal load deformation is: the site displacement (SITE DISPLACEMENTS) is a displacement of a site fixed on the earth in a ground-fixed coordinate system due to the fact that the site moves along with the earth's surface due to the influence of the earth's tides and other factors, and is caused by sea tide load (ocean tide loading), which is the response of the earth to sea tide. The water in the sea tide flows back and forth and these mass redistributes lead to periodic loading of the sea floor. Since the earth is not completely rigid, it deforms under such loads, which is known as ocean tidal loads, simply ocean tidal loads. The error corresponding to the relativistic effect refers to: the relative clock error between the two clocks is caused by the difference in the states (movement speed and gravity position) in which the satellite clock and the receiver clock are located.

In order to accelerate the convergence speed, a first satellite position, a first satellite clock error and first observation data corresponding to each satellite in at least 5 satellites in a first epoch can be obtained simultaneously;

Optionally, determining the first receiver position, the first receiver clock error and the first tropospheric zenith direction delay wet component of the receiver in the first epoch according to the first satellite position, the first satellite clock error and the first pseudo-range corresponding to each satellite of the at least 5 satellites includes:

Where v denotes the residual value, c denotes the speed of light, (e _x,e_y,e_z) denotes the unit direction vector from the satellite to the receiver, G denotes the tropospheric zenith direction projection function, d _{T_w} denotes the tropospheric zenith direction delay wet component, (x, y, z) denotes the first receiver position of the receiver in the first epoch, dt denotes the first receiver clock difference corresponding to the first epoch, l denotes the integrated error correction amount, v, c, (e _x,e_y,e_z),G,d_{T_h}, l are all known parameters, wherein the integrated error correction amount refers to the total error correction amount corresponding to the various error correction amounts, and it should be noted that if the various error correction is not performed, l is absent in the formula (1).

As an example, for example, at least 5 satellites are obtained as 5 satellites, which are respectively satellite 1, satellite 2, satellite 3, satellite 4 and satellite 5, the second formula corresponding to satellite 1 is formula 1, the second formula corresponding to satellite 2 is formula 2, the second formula corresponding to satellite 3 is formula 3, the second formula corresponding to satellite 4 is formula 4, the second formula corresponding to satellite 5 is formula 5, and the 5 formulae (formula 1, formula 2, formula 3, formula 4 and formula 5) may be solved by using a least square method, where each formula is 5 unknowns of the first receiver position (including three unknowns), the first receiver clock difference and the first tropospheric zenith direction delay wet component, and the first receiver position, the first receiver clock difference and the first tropospheric zenith direction delay wet component may be solved by the 5 formulae.

The first formula may also be called a pseudo-range observation equation, and when the number of satellites reaches 5 or more, the second formulas corresponding to the satellites are available together:

V＝AX-l (2)

X＝(A^TA)^-1A^Tl

Wherein A is an observation matrix, which is a matrix composed of [ e _x e_y e_z 11 ], and l is an integrated error correction amount.

It should be noted that if the first receiver position of the receiver in the first epoch is determined based on the first satellite position, the first satellite clock difference and the first pseudo-range corresponding to one satellite, only the first receiver position in the first formula is unknown, and other parameters are known.

After determining the first receiver position, the first receiver clock difference and the first troposphere zenith direction delay wet component of the receiver corresponding to the first epoch, subsequent processing is performed after the epoch after the first epoch because the data of the satellite corresponding to the first epoch and the data of the receiver are used as basic references.

The processing mode of the second satellite position, the second satellite clock difference and the second observation data corresponding to each epoch after the first epoch is the same as the processing mode of the first satellite position, the first satellite clock difference and the first observation data corresponding to the first epoch, namely, cycle slip detection processing is performed on the second carrier phase in the second observation data to obtain the processed carrier phase, wherein the cycle slip detection processing can comprise a MW method and a GF method, and the cycle slip detection processing can be the cycle slip detection processing in the prior art.

After the cycle slip detection processing is performed, error correction can be further performed on the second observation data to obtain corrected second observation data, wherein each corrected second observation data comprises a corrected second pseudo-range and a corrected second carrier phase.

The determining the carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch includes:

In order to accelerate the convergence speed, a second satellite position, a second satellite clock error and second observation data corresponding to each epoch of each satellite of at least 5 satellites after the first epoch can be acquired simultaneously;

Since the second satellite position, the second satellite clock difference and the second observation data corresponding to each epoch are processed in the same manner for each of the at least 5 satellites, in the embodiment of the present application, one of the at least 5 satellites is described as an example.

That is, for each of at least 5 satellites, determining a carrier phase variation from a second carrier phase corresponding to a current epoch and a second carrier phase corresponding to a previous epoch of the current epoch includes:

Optionally, for each satellite in the at least 5 satellites, determining the carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch includes:

In the process of determining the current receiver position, the current receiver clock error and the current troposphere zenith direction delay wet component of the receiver in the current epoch, a least square method mode can be adopted, namely if at least 5 satellites are 5 or more satellites, at least 5 formulas can be obtained based on a second formula corresponding to each satellite, at least 5 unknowns are included in the at least 5 formulas, and the current receiver position, the current receiver clock error and the current troposphere zenith direction delay wet component of the receiver corresponding to the current epoch can be obtained based on a least square method or a Kalman filtering algorithm.

Alternatively, Δρ in the above formula (3) may be expressed by a fourth formula:

Wherein t, t-1 represents the corresponding serial numbers of two adjacent epochs, i.e. t represents the corresponding serial number of the current epoch, and t-1 represents the corresponding serial number of the previous epoch of the current epoch; a unit direction vector representing a receiver position corresponding to a current epoch to a satellite position; /(I) Representing the positions of the satellite and the receiver corresponding to the current epoch, namely the current satellite position and the current receiver position,/>, respectivelyAnd/>Representing the positions of the satellite and the receiver, respectively, corresponding to the epoch immediately preceding the current epoch.

Wherein,Where Δr is the amount of change in position of the receiver between the positions corresponding to the front and rear epochs, Δρ can be expressed by a fifth formula:

Substituting equation (5) into the carrier phase zero base line self-differential equation (3)) yields the following sixth equation:

Wherein, Representing the variation between the observed noise of the current carrier phase corresponding to the current epoch and the observed noise of the carrier phase corresponding to the previous epoch,/>Let Δd _ion denote the observed noise of the carrier phase, let d _ion denote the ionospheric delay, let Li denote the i-th carrier frequency point, and let one carrier frequency point correspond to one carrier phase, and let Δd _ion denote the amount of change in L _i between the ionospheric delay corresponding to the current epoch and the ionospheric delay corresponding to the previous epoch.

Optionally, in the scheme of the application, the L ₁ and L ₂ dual-frequency observation data of the BDS-3 and GPS dual-system are adopted, and a dual-frequency ionosphere-free combined model equation is established according to the pseudo-range and carrier phase self-differential value, wherein the equation is as follows:

In the above formulas (7) to (10), Δ represents a difference operator (difference value) between the front and rear epochs, and superscripts g, b represent a GPS satellite and a BDS satellite, respectively; Is the system time difference parameter of the GPS-BDS, unit, second. P _IF and ΔΦ _IF are ionosphere-free linear combination values of carrier phase self-differential values (carrier phase variation amounts) corresponding to pseudo ranges and front and rear epochs of the beidou satellites B1C and B2A, respectively. ρ is the geometric distance between the position of the receiver corresponding to the current epoch and the position of the satellite, G is the tropospheric zenith direction projection function, d _{T_h} is the tropospheric zenith direction delay dry component, d _{T_h} is obtained from the Saastamoinen model, d _{T_w} is the tropospheric zenith direction delay wet component,/> Represents the corresponding troposphere zenith direction delay wet component of GPS satellite,/>Representing double-frequency ionosphere-free linear combination pseudo-range observation noise corresponding to GPS satelliteRepresenting the variation of GPS satellite between the corresponding troposphere zenith direction delay wet components of front and back epochs,/>Representing the variation of GPS satellite between the two-frequency ionosphere-free linear combination pseudo-range observation noise corresponding to the front epoch and the rear epoch, and the same is true,/>Representing the two-frequency ionosphere-free linear combined carrier phase observation noise corresponding to BDS satelliteRepresenting the variation of BDS satellite between the two-frequency ionosphere-free linear combination carrier phase observation noise corresponding to the front epoch and the rear epochRepresents the retardation of the moisture component in the zenith direction of the troposphere corresponding to BDS satellites,/>Representing the variation of the BDS satellite among the delay wet components of the troposphere zenith direction corresponding to the front epoch and the rear epoch; /(I)And/>As parameters to be estimated, the calculation is participated in together with the position parameters.

The dual-frequency ionosphere-free combined model X consists of four parameters: receiver position variation (Δx, Δy, Δz), receiver clock variation Δdt, tropospheric zenith direction moisture component variation Δd _{T_w}, system time difference parameter

Where (Δx, Δy, Δz) represents the difference between the receiver positions corresponding to the front and rear epochs.

Alternatively, in the above formula (4),

(X ^J,Y^J,Z^J) is the satellite position corresponding to the current epoch,Is the approximate coordinates (receiver position) of the receiver corresponding to the current epoch.

ΔR＝(Δx,Δy,Δz) (13)

The parameters to be solved include the position change delta R of the front and rear calendar elements of the receiver, the change delta d _{T_w} of the delay wet component of the zenith direction of the troposphere and the change delta dt of the clock difference. When the number of visible satellites reaches 5 or above, the number can be estimated and obtained by a least square method or a Kalman filtering algorithm.

The dual-frequency ionosphere-free combined model has the advantages of being capable of eliminating the influence of a first-order ionosphere, few in parameters to be estimated, stable in positioning performance, simple in model and convenient to operate. Therefore, in the scheme of the invention, a dual-frequency ionosphere-free combined model can be adopted to solve the current receiver position of the receiver in the current epoch, the current receiver clock difference and the current troposphere zenith direction delay wet component.

For a better description and understanding of the principles of the method provided by the present invention, the following description of the present invention is provided in connection with an alternative embodiment. It should be noted that, the specific implementation manner of each step in this specific embodiment should not be construed as limiting the solution of the present invention, and other implementation manners that can be considered by those skilled in the art based on the principle of the solution provided by the present invention should also be considered as being within the protection scope of the present invention.

In this example, 5 satellites are taken as an example for illustration, and in combination with the flow chart of the satellite positioning method shown in fig. 2, the satellite positioning method includes the following steps:

Step 1, obtaining first observation data corresponding to a first epoch of each satellite in 5 satellites, wherein the first satellite position and the first satellite clock difference comprise a first pseudo range and a first carrier phase. Corresponding to the pseudorange (first pseudorange) acquired in fig. 2, the carrier phase observations (first carrier phase) and PPP-B2B real-time precise orbit (first satellite position) and clock (first satellite clock).

Step 2, carrying out data preprocessing on the first carrier phase corresponding to each satellite, namely carrying out cycle slip detection to obtain a processed carrier phase, and simultaneously carrying out error correction on the first observation data corresponding to each satellite to obtain corrected first observation data; this step corresponds to the data preprocessing of the observed data shown in fig. 2, cycle slip detection and repair and various error corrections.

And 3, according to the first pseudo range corresponding to each of the 5 satellites, the first satellite position and the first satellite clock error, obtaining a first receiver position corresponding to the first epoch of the receiver (the step corresponds to the pseudo range single-point positioning shown in fig. 2 and solves the initial coordinate (first receiver position) of the first epoch (first epoch)), the first receiver clock error and the first troposphere zenith direction delay wet component through a pseudo range observation equation and a least square method. The specific solving process is described in the foregoing, and will not be described in detail herein.

Step 4, obtaining a second satellite position, a second satellite clock error and second observation data corresponding to each epoch of each satellite in the 5 satellites after the first epoch; for each epoch in each epoch after the first epoch, the epoch is taken as the current epoch, and the carrier phase variation (also called carrier phase zero base line self-difference) is determined according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch, and when the previous epoch is the first epoch, the second carrier phase corresponding to the previous epoch is the first carrier phase. This step starts with carrier phase zero base line self-differencing for the second epoch shown in fig. 2.

And 5, solving the current receiver position, the current receiver clock error and the current troposphere zenith direction delay wet component of the receiver in the current epoch by adopting a dual-system dual-frequency ionosphere-free combination and Kalman filtering according to the second satellite position, the second satellite clock error and the second pseudo range corresponding to the current epoch corresponding to each satellite in the 5 satellites and the carrier phase variation corresponding to each satellite. This step corresponds to the parameter estimation using a dual system dual frequency ionosphere free combination and kalman filtering as shown in fig. 2.

Based on the same principle as the method shown in fig. 1, the embodiment of the present invention further provides a satellite positioning device 20, as shown in fig. 3, the satellite positioning device 20 may include a first acquisition module 210, a first determination module 220, a second acquisition module 230, a carrier phase variation determination module 240, and a second determination module 250, wherein:

a first obtaining module 210, configured to obtain a first satellite position, a first satellite clock error, and first observation data corresponding to a first epoch, where the first observation data includes a first pseudo-range and a first carrier phase;

a first determining module 220 configured to determine a first receiver position of the receiver in a first epoch based on the first satellite position, the first satellite clock difference, and the first pseudorange;

A second obtaining module 230, configured to obtain a second satellite position, a second satellite clock error, and second observation data corresponding to each epoch of the satellite after the first epoch;

A carrier phase variation determining module 240, configured to determine, for each epoch in each epoch after the first epoch, a carrier phase variation according to a second carrier phase corresponding to the current epoch and a second carrier phase corresponding to a previous epoch of the current epoch, where the second carrier phase corresponding to the previous epoch is the first carrier phase when the previous epoch is the first epoch;

The second determining module 250 is configured to determine a current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo-range, and the carrier phase variation corresponding to the current epoch.

Optionally, the first obtaining module 210 is specifically configured to, when obtaining the first satellite position, the first satellite clock difference, and the first observation data corresponding to the first epoch of the satellite:

the first determining module 220 is specifically configured to, when determining the first receiver position of the receiver in the first epoch based on the first satellite position, the first satellite clock difference and the first pseudo-range:

Optionally, the first determining module 220 is specifically configured to, when determining the first receiver position, the first receiver clock error, and the first tropospheric zenith direction delay wet component of the receiver in the first epoch according to the first satellite position, the first satellite clock error, and the first pseudo-range corresponding to each of the at least 5 satellites:

Optionally, the second obtaining module 230 is specifically configured to, when obtaining the second satellite position, the second satellite clock difference, and the second observation data corresponding to each epoch of the satellite after the first epoch:

For each of the at least 5 satellites, the carrier phase variation determining module 240 is specifically configured to, when determining the carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch:

the second determining module 250 is specifically configured to, when determining the current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo-range and the carrier phase variation corresponding to the current epoch:

Optionally, for each satellite of the at least 5 satellites, the carrier phase variation determining module 240 is specifically configured to, when determining the carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch:

The second determining module 250 is specifically configured to, when determining the current receiver position, the current receiver clock error, and the current tropospheric zenith direction delay wet component of the receiver in the current epoch according to the second satellite position, the second satellite clock error, and the second pseudo range corresponding to the current epoch corresponding to each of the at least 5 satellites, and the carrier phase variation corresponding to each satellite:

Optionally, before determining the first receiver position of the receiver in the first epoch and before determining the carrier phase change amount, the apparatus further comprises:

The preprocessing module is used for performing cycle slip detection processing on the carrier phase corresponding to the target epoch to obtain the processed carrier phase, wherein the target epoch comprises a first epoch and each epoch after the first epoch.

Optionally, the apparatus further comprises:

The error correction module is used for carrying out error correction on the first observation data to obtain corrected first observation data, carrying out error correction on each second observation data in each second observation data to obtain corrected second observation data, wherein the corrected first observation data comprises a corrected first pseudo range and a corrected first carrier phase, and each corrected second observation data comprises a corrected second pseudo range and a corrected second carrier phase;

The carrier phase variation determining module 240 is specifically configured to, when determining the carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch:

The satellite positioning device according to the embodiments of the present invention may execute the satellite positioning method according to the embodiments of the present invention, and the implementation principle is similar, and actions executed by each module and unit in the satellite positioning device according to each embodiment of the present invention correspond to steps in the satellite positioning method according to each embodiment of the present invention, and detailed functional descriptions of each module of the satellite positioning device may be specifically referred to descriptions in the corresponding satellite positioning method shown in the foregoing, which are not repeated herein.

The satellite positioning device may be a computer program (including program code) running in a computer device, for example, the satellite positioning device is an application software; the device can be used for executing corresponding steps in the method provided by the embodiment of the invention.

In some embodiments, the satellite positioning device provided by the embodiments of the present invention may be implemented by combining software and hardware, and by way of example, the satellite positioning device provided by the embodiments of the present invention may be a processor in the form of a hardware decoding processor that is programmed to perform the satellite positioning method provided by the embodiments of the present invention, for example, the processor in the form of a hardware decoding processor may employ one or more Application Specific Integrated Circuits (ASICs), DSPs, programmable logic devices (PLDs, programmable Logic Device), complex Programmable logic devices (CPLDs, complex Programmable Logic Device), field-Programmable gate arrays (FPGAs), or other electronic components.

In other embodiments, the satellite positioning device provided by the embodiments of the present invention may be implemented in software, and fig. 3 shows the satellite positioning device stored in a memory, which may be in the form of a program, a plug-in, or the like, and includes a series of modules including a first acquisition module 210, a first determination module 220, a second acquisition module 230, a carrier phase variation determination module 240, and a second determination module 250, for implementing the satellite positioning method provided by the embodiments of the present invention.

The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The name of a module does not in some cases define the module itself.

Based on the same principles as the methods shown in the embodiments of the present invention, there is also provided in the embodiments of the present invention an electronic device, which may include, but is not limited to: a processor and a memory; a memory for storing a computer program; a processor for executing the method according to any of the embodiments of the invention by invoking a computer program.

In an alternative embodiment, an electronic device is provided, as shown in fig. 4, the electronic device 4000 shown in fig. 4 includes: a processor 4001 and a memory 4003. Wherein the processor 4001 is coupled to the memory 4003, such as via a bus 4002. Optionally, the electronic device 4000 may further comprise a transceiver 4004, the transceiver 4004 may be used for data interaction between the electronic device and other electronic devices, such as transmission of data and/or reception of data, etc. It should be noted that, in practical applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 is not limited to the embodiment of the present invention.

The Processor 4001 may be a CPU (Central Processing Unit ), general purpose Processor, DSP (DIGITAL SIGNAL Processor, data signal Processor), ASIC (Application SPECIFIC INTEGRATED Circuit), FPGA (Field Programmable GATE ARRAY ) or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor 4001 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

Bus 4002 may include a path to transfer information between the aforementioned components. Bus 4002 may be a PCI (PERIPHERAL COMPONENT INTERCONNECT, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The bus 4002 can be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.

Memory 4003 may be, but is not limited to, ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, EEPROM (ELECTRICALLY ERASABLE PROGRAMMABLE READ ONLY MEMORY ), CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 4003 is used for storing application program codes (computer programs) for executing the present invention and is controlled to be executed by the processor 4001. The processor 4001 is configured to execute application program codes stored in the memory 4003 to realize what is shown in the foregoing method embodiment.

The electronic device shown in fig. 4 is only an example, and should not impose any limitation on the functions and application scope of the embodiment of the present invention.

Embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above.

According to another aspect of the present invention, there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the methods provided in the implementation of the various embodiments described above.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

It should be appreciated that the flow charts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer readable storage medium according to embodiments of the present invention may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer-readable storage medium carries one or more programs which, when executed by the electronic device, cause the electronic device to perform the methods shown in the above-described embodiments.

The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in the present invention is not limited to the specific combinations of technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.

Claims

1. A satellite positioning method, comprising the steps of:

Determining a first receiver position of the receiver at the first epoch based on the first satellite position, the first satellite clock differential, and the first pseudorange;

for each epoch in each epoch after the first epoch, taking the epoch as a current epoch, determining a carrier phase variation according to a second carrier phase corresponding to the current epoch and a second carrier phase corresponding to a previous epoch of the current epoch, and when the previous epoch is the first epoch, the second carrier phase corresponding to the previous epoch is the first carrier phase;

And determining the current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo range and the carrier phase change quantity corresponding to the current epoch.

2. The method of claim 1, wherein the acquiring the first satellite position, the first satellite clock bias, and the first observation data for the satellite at the first epoch comprises:

the determining a first receiver position of the receiver at the first epoch based on the first satellite position, the first satellite clock differential, and the first pseudorange, comprising:

And determining a first receiver position, a first receiver clock error and a first troposphere zenith direction delay wet component of the receiver in the first epoch according to a first satellite position, a first satellite clock error and a first pseudo range corresponding to each satellite in the at least 5 satellites.

3. The method of claim 2, wherein said determining a first receiver position, a first receiver clock error, and a first tropospheric zenith direction delay wet component of the receiver for the first epoch based on a first satellite position, a first satellite clock error, and a first pseudorange for each of the at least 5 satellites, comprises:

for each satellite in the at least 5 satellites, inputting a first satellite position, a first satellite clock error and a first pseudo range corresponding to the satellite into a first formula to obtain a second formula corresponding to the satellite, wherein the second formula is a first formula in which a first receiver position of the receiver in the first epoch, the first receiver clock error and a first troposphere zenith direction delay wet component are unknown, and the first formula is:

Wherein v represents a residual value, c represents a light velocity, (e _x,e_y,e_z) represents a unit direction vector from a satellite to a receiver, G represents a troposphere zenith direction projection function, d _{T_w} represents a troposphere zenith direction delay wet component, (x, y, z) represents a first receiver position of the receiver in the first epoch, dt represents a first receiver clock difference corresponding to the first epoch, l represents a comprehensive error correction amount, v, c, (e _x,e_y,e_z),G,d_{T_h}, l are known parameters;

And determining a first receiver position, a first receiver clock error and a first troposphere zenith direction delay wet component of the receiver in the first epoch by a least square method according to a second formula corresponding to each satellite.

4. A method according to any one of claims 1 to 3, wherein said acquiring second satellite positions, second satellite clock differences and second observations corresponding to respective epochs of the satellite subsequent to the first epoch comprises:

for each satellite of the at least 5 satellites, determining a carrier phase variation according to the second carrier phase corresponding to the current epoch and the second carrier phase corresponding to the previous epoch of the current epoch includes:

determining a carrier phase variation according to a second carrier phase corresponding to the current epoch of the satellite and a second carrier phase corresponding to a previous epoch of the current epoch;

the determining the current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo-range and the carrier phase variation corresponding to the current epoch includes:

And determining the current receiver position, the current receiver clock error and the current troposphere zenith direction delay wet component of the receiver in the current epoch according to the second satellite position, the second satellite clock error and the second pseudo range corresponding to the current epoch corresponding to each satellite in the at least 5 satellites and the carrier phase variation corresponding to each satellite.

5. The method of claim 4, wherein for each of the at least 5 satellites, the determining the carrier phase variation from a second carrier phase corresponding to the satellite at the current epoch and a second carrier phase corresponding to a previous epoch of the current epoch comprises:

For each satellite in the at least 5 satellites, determining a carrier phase variation according to a second carrier phase corresponding to the current epoch of the satellite and a second carrier phase corresponding to a previous epoch of the current epoch by a third formula, wherein the third formula is:

Wherein ΔΦ _i represents a carrier phase variation between a second carrier phase corresponding to a current epoch and a second carrier phase corresponding to a previous epoch of the current epoch, i represents an i-th carrier frequency point, the i-th carrier frequency point corresponds to the second carrier phase corresponding to the current epoch, t represents a sequence number corresponding to the current epoch, t-1 represents a sequence number corresponding to the previous epoch of the current epoch, Φ _t represents a second carrier phase corresponding to the current epoch, Φ _t-1 represents a second carrier phase corresponding to the previous epoch of the current epoch, Δρ represents a distance variation between a first distance corresponding to the current epoch and a second distance corresponding to the previous epoch, the first distance is a geometric distance between a satellite position of the satellite corresponding to the current epoch and a receiver position of the receiver, and the second distance is a geometric distance between a satellite position of the satellite corresponding to the previous epoch and a receiver position of the receiver.

C denotes a light velocity, Δdt denotes a first clock difference variation amount between a current receiver clock difference corresponding to the current epoch and a receiver clock difference corresponding to the previous epoch, Δdt denotes a second clock difference variation amount between a current satellite clock difference corresponding to the current epoch and a satellite clock difference corresponding to the previous epoch, G is a tropospheric zenith direction projection function, Δd _{T_h} denotes a variation amount between a current tropospheric zenith direction delay dry component corresponding to the current epoch and a tropospheric zenith direction delay dry component corresponding to the previous epoch, Δd _{T_w} denotes a variation amount between a current tropospheric zenith direction delay wet component corresponding to the current epoch and a tropospheric zenith direction delay wet component corresponding to the previous epoch,Representing the amount of change in L _i between the ionospheric delay corresponding to the current epoch and the ionospheric delay corresponding to the previous epoch,/>Representing the variation between the observed noise of the current carrier phase corresponding to the current epoch and the observed noise of the carrier phase corresponding to the previous epoch, wherein in the third formula, the current receiver position, the current tropospheric zenith direction delay wet component and the current receiver clock difference corresponding to the current epoch are unknown parameters, and parameters except the current receiver position, the current tropospheric zenith direction delay wet component and the current receiver clock difference in the third formula are known parameters;

the determining a current receiver position, a current receiver clock error, and a current tropospheric zenith direction delay wet component of the receiver in the current epoch according to the second satellite position, the second satellite clock error, and the second pseudo-range corresponding to the current epoch corresponding to each of the at least 5 satellites, and a carrier phase variation corresponding to each of the satellites, includes:

For each satellite in the at least 5 satellites, inputting a second satellite position, a second satellite clock error and a second pseudo range corresponding to the current epoch corresponding to the satellite into a first formula to obtain a second formula corresponding to the satellite, wherein in the second formula, the current receiver position, the current receiver clock error and the current troposphere zenith direction delay wet component corresponding to the current epoch are unknown, and the first formula is as follows:

Wherein v represents a residual value, c represents a light velocity, (e _x,e_y,e_z) represents a unit direction vector from a satellite to a receiver, G represents a troposphere zenith direction projection function, d _{T_w} represents a current troposphere zenith direction delay wet component, (x, y, z) represents a current receiver position of the receiver in the current epoch, dt represents a first receiver clock difference corresponding to the first epoch, and l represents a comprehensive error correction amount, wherein v, c, (e _x,e_y,e_z),G,d_{T_h}, l are known parameters;

And determining the current receiver position, the current receiver clock difference and the current troposphere zenith direction delay wet component of the receiver in the current epoch according to the second formula corresponding to each satellite and the third formula corresponding to any satellite.

6. A method according to any one of claims 1to 3, wherein prior to determining the first receiver position of the receiver at the first epoch and prior to determining the carrier phase change amount, the method further comprises:

and performing cycle slip detection processing on the carrier phase corresponding to the target epoch to obtain a processed carrier phase, wherein the target epoch comprises the first epoch and each epoch after the first epoch.

7. A method according to any one of claims 1 to 3, further comprising:

determining a first receiver position of the receiver in the first epoch based on the first satellite position, the first satellite clock difference, and the corrected first pseudo-range;

8. A satellite positioning device, comprising:

a first determining module configured to determine a first receiver position of a receiver at the first epoch based on the first satellite position, the first satellite clock difference, and the first pseudorange;

a carrier phase change amount determining module, configured to determine, for each epoch in each epoch after the first epoch, a carrier phase change amount by using the epoch as a current epoch according to a second carrier phase corresponding to the current epoch and a second carrier phase corresponding to a previous epoch of the current epoch, where when the previous epoch is the first epoch, the second carrier phase corresponding to the previous epoch is the first carrier phase;

And the second determining module is used for determining the current receiver position of the receiver in the current epoch according to the second satellite position, the second satellite clock difference, the second pseudo range and the carrier phase change amount corresponding to the current epoch.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1-7 when the computer program is executed.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1-7.