CN114924295A - Carrier phase smoothing pseudorange positioning method, device and storage medium - Google Patents

Carrier phase smoothing pseudorange positioning method, device and storage medium Download PDF

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CN114924295A
CN114924295A CN202210472879.4A CN202210472879A CN114924295A CN 114924295 A CN114924295 A CN 114924295A CN 202210472879 A CN202210472879 A CN 202210472879A CN 114924295 A CN114924295 A CN 114924295A
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value
pseudo
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蔡成林
吕开慧
凌玲
夏日平
梁康凯
周仕琦
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Xiangtan University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

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Abstract

The invention provides a carrier phase smoothing pseudorange positioning method, a carrier phase smoothing pseudorange positioning device and a storage medium, belonging to the technical field of satellite navigation, wherein the method comprises the following steps: acquiring a first original pseudo range observation value from a target satellite, acquiring three second original pseudo range observation values from any three satellites, and acquiring target satellite data and three satellite coordinates from an IGS (integrated navigation system) international global navigation satellite system service; reconstructing and analyzing the first original pseudo range observation value, the three second original pseudo range observation values, the target satellite data and the Doppler frequency shift values of the three satellite coordinates to obtain a Doppler frequency shift value; and analyzing the Doppler frequency shift value and the pseudo-range smooth value of the first original pseudo-range observation value according to a plurality of epoch moments to obtain a pseudo-range positioning result. The invention can effectively improve the pseudo range precision, not only eliminates the influence of system errors, but also improves the precision and the stability of the Doppler frequency shift value, so that the effect of smoothing the pseudo range of Doppler is better, and the high-precision single-point positioning is realized.

Description

Carrier phase smoothing pseudorange positioning method, device and storage medium
Technical Field
The invention mainly relates to the technical field of satellite navigation, in particular to a carrier phase smoothing pseudorange positioning method, a carrier phase smoothing pseudorange positioning device and a storage medium.
Background
Satellite navigation positioning technology has been widely used in the fields of aerospace, aviation, remote sensing, communication, surveying and mapping, etc. With the ever increasing demand for personal navigation and positioning services, GNSS has expanded from the original positioning functionality into many areas such as time service, vehicle navigation, telecommunications, earth science and even life safety.
The basic positioning principle of GNSS is to calculate the position of a user, i.e. the position of a navigation positioning receiver, according to the positions of four or more satellites and the distances from the satellites to the user. In the field of positioning of GNSS receivers, each satellite transmits its accurate position and a start time of transmitting a signal, and after receiving these signals, the receiver calculates a distance between the receiver and each satellite according to a time interval between a signal transmitted from the satellite and a signal received from the satellite.
Pseudorange is a very important concept in the field of GNSS, and has been regarded as the most important basic range measurement of GNSS receivers in the past, which is a necessary condition for GNSS receivers to realize positioning. The distance between a satellite and a receiver is truly reflected, but is influenced by various errors in the satellite signal propagation process, the measurement value of the pseudo range has inevitable errors, and the precision is m-level. In addition to pseudoranges, another basic measurement obtained by a GNSS receiver from satellite signals is carrier phase. The carrier phase measurement value contains integer ambiguity, but the carrier phase measurement value is very smooth and has very high precision reaching cm or even mm level, and plays a key role in high-precision positioning.
The carrier phase measurement value is influenced by cycle slip, the integer ambiguity problem exists, and the carrier phase measurement value has larger distortion, at the moment, the carrier phase smoothing pseudorange method cannot obtain a high-precision positioning result, and the carrier phase smoothing pseudorange method has obvious difference with the pseudorange and presents a complementary characteristic. The existing Doppler measurement value assisted carrier phase smoothing pseudorange technology has no cycle slip, but the Doppler measurement value obtained from a GNSS receiver has overlarge noise, so that the error is large and the precision is low.
Disclosure of Invention
The invention provides a carrier phase smoothing pseudorange positioning method, a carrier phase smoothing pseudorange positioning device and a storage medium, aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a carrier phase smoothing pseudorange positioning method comprises the following steps:
acquiring a first original pseudo range observation value from a target satellite, acquiring three second original pseudo range observation values from any three satellites, and acquiring target satellite data corresponding to each target satellite and three satellite coordinates corresponding to the three satellites respectively from an IGS (integrated satellite system) international global navigation satellite system service;
reconstructing and analyzing the Doppler frequency shift value of the first original pseudo range observation value, the three second original pseudo range observation values, the target satellite data and the three satellite coordinates to obtain a Doppler frequency shift value corresponding to the target satellite;
obtaining a plurality of epoch moments from a receiver, analyzing a pseudo-range smooth value according to the doppler frequency shift value and the first original pseudo-range observation value according to the plurality of epoch moments to obtain a pseudo-range smooth value, and using the pseudo-range smooth value as a pseudo-range positioning result of the target satellite.
Another technical solution of the present invention for solving the above technical problems is as follows: a carrier-phase smoothed pseudorange positioning apparatus comprising:
the data acquisition module is used for acquiring a first original pseudo-range observation value from a target satellite, acquiring three second original pseudo-range observation values from any three satellites, and acquiring target satellite data corresponding to each target satellite and three satellite coordinates corresponding to the three satellites respectively from an IGS (integrated geostationary navigation satellite system) service;
the reconstruction analysis module is used for performing reconstruction analysis on the Doppler frequency shift value on the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite data and the three satellite coordinates to obtain a Doppler frequency shift value corresponding to the target satellite;
and the pseudo-range positioning result obtaining module is used for obtaining a plurality of epoch moments from a receiver, analyzing a pseudo-range smooth value according to the plurality of epoch moments on the Doppler frequency shift value and the first original pseudo-range observation value to obtain a pseudo-range smooth value, and taking the pseudo-range smooth value as the pseudo-range positioning result of the target satellite.
Another technical solution of the present invention for solving the above technical problems is as follows: a carrier-phase smoothed pseudorange locating apparatus comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said computer program when executed by said processor implementing a carrier-phase smoothed pseudorange locating method as described above.
Another technical solution of the present invention for solving the above technical problems is as follows: a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out a carrier-phase smoothed pseudorange positioning method as described above.
The invention has the beneficial effects that: the Doppler frequency shift value is obtained through reconstruction and analysis of the first original pseudorange observed value, the three second original pseudorange observed values, the target satellite data and the Doppler frequency shift values of three satellite coordinates, the integral quantity of the Doppler frequency shift value reflects carrier phase change information, higher precision can be obtained compared with that of code pseudorange measurement which is independently adopted, and a pseudorange positioning result of a target satellite is obtained through analysis of pseudorange smooth values of the Doppler frequency shift value and the first original pseudorange observed value at a plurality of epoch moments.
Drawings
Fig. 1 is a schematic flowchart of a carrier phase smoothing pseudorange positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a satellite positioning system according to an embodiment of the present invention;
fig. 3 is a block diagram of a carrier phase smoothed pseudorange locating apparatus according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
Fig. 1 is a flowchart of a carrier phase smoothing pseudorange positioning method according to an embodiment of the present invention.
As shown in fig. 1, a carrier phase smoothed pseudorange location method includes the following steps:
acquiring a first original pseudo range observation value from a target satellite, acquiring three second original pseudo range observation values from any three satellites, and acquiring target satellite data corresponding to each target satellite and three satellite coordinates corresponding to the three satellites respectively from an IGS (integrated navigation system) international global navigation satellite system service;
reconstructing and analyzing the Doppler frequency shift value of the first original pseudo range observation value, the three second original pseudo range observation values, the target satellite data and the three satellite coordinates to obtain a Doppler frequency shift value corresponding to the target satellite;
obtaining a plurality of epoch moments from a receiver, analyzing a pseudo-range smooth value according to the doppler frequency shift value and the first original pseudo-range observation value according to the plurality of epoch moments to obtain a pseudo-range smooth value, and using the pseudo-range smooth value as a pseudo-range positioning result of the target satellite.
It should be appreciated that the observation data transmitted by the satellites is received in real-time, including the pseudorange observations (i.e., either the first raw pseudorange observations or the second raw pseudorange observations) and the carrier phase observations.
It should be understood that the IGS international global navigation satellite system service consists of a satellite tracking station, a data center, an analysis center, an integrated analysis center, a central office and a regulatory commission, which includes: precise ephemeris of global satellite navigation systems such as GPS, GLONASS, Galileo, Beidou and the like; earth rotation parameters; polar shifts and day length changes; coordinates and the change rate of the IGS tracking station; tropospheric delay in the zenith direction for each tracking station; global ionospheric delay information (total electron content VTEC plot).
In the embodiment, the Doppler frequency shift value is obtained by reconstructing and analyzing the first original pseudo-range observed value, the three second original pseudo-range observed values, the target satellite data and the Doppler frequency shift values of three satellite coordinates, the integral quantity of the Doppler frequency shift value reflects carrier phase change information, higher precision than that of single code pseudo-range measurement can be obtained, and the pseudo-range positioning result of the target satellite is obtained by analyzing the Doppler frequency shift value and the pseudo-range smooth value of the first original pseudo-range observed value at a plurality of epoch moments.
Optionally, as an embodiment of the present invention, the target satellite data includes target satellite coordinates and target satellite velocity,
the process of performing reconstruction analysis on the doppler frequency shift value on the first original pseudorange observation value, the three second original pseudorange observation values, the target satellite data and the three satellite coordinates to obtain the doppler frequency shift value corresponding to the target satellite includes:
performing receiver coordinate analysis on the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the three satellite coordinates to obtain a receiver coordinate;
calculating a Doppler frequency shift value of the target satellite speed, the target satellite coordinate and the receiver coordinate through a first equation to obtain a Doppler frequency shift value corresponding to the target satellite, wherein the first equation is as follows:
Figure BDA0003623679000000051
wherein,
Figure BDA0003623679000000061
wherein,
Figure BDA0003623679000000062
wherein,
Figure BDA0003623679000000063
in order to be the speed of the receiver,
Figure BDA0003623679000000064
is the target satellite velocity, f d Is the value of the doppler shift, λ is the carrier signal wavelength,
Figure BDA0003623679000000065
is a vector of observations in units of,
Figure BDA0003623679000000066
an observation vector for the range of the target satellite and the receiver,
Figure BDA0003623679000000067
is the geometric distance between the target satellite and the receiver, (X) S ,Y S ,Z S ) As target satellite coordinates, (X) u ,Y u ,Z u ) Are the receiver coordinates.
It should be understood that the precise satellite orbit and satellite clock error are recovered in real time by combining the precise ephemeris provided by IGS (International Global navigation satellite System service), and the satellite coordinate P is obtained by calculation S ＝(X S ,Y S ,Z S ) And satellite velocity
Figure BDA0003623679000000068
Specifically, the reconstructed doppler frequency shift value f is calculated by the following formula d ：
Figure BDA0003623679000000069
Wherein,
Figure BDA00036236790000000610
in order to be the speed of the receiver,
Figure BDA00036236790000000611
representing the satellite velocity (i.e. the target satellite velocity),
Figure BDA00036236790000000612
expressed is a unit observation vector, in which
Figure BDA00036236790000000613
Are the satellite (i.e., the target satellite) and the receiver range observation vector, whose value is
Figure BDA00036236790000000614
The target satellite coordinate of the current epoch is P S ＝(X S ,Y S ,Z S ) Receiver coordinate is P u ＝(X u ,X u ,X u ) The coordinate of the receiver is obtained by convergence solution of the last epoch, and the position and the speed of the satellite are obtained by the acquired ephemeris;
Figure BDA00036236790000000615
λ is the carrier signal wavelength transmitted by the satellite, which is the geometric distance between the target satellite and the receiver.
In the above embodiment, the receiver coordinate is obtained by analyzing the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate, and the receiver coordinate of the three satellite coordinates, the doppler frequency shift value is obtained by calculating the doppler frequency shift value of the target satellite velocity, the target satellite coordinate, and the receiver coordinate in the first formula, and the integral quantity of the doppler frequency shift value reflects carrier phase change information, so that higher accuracy than that obtained by measuring the code pseudo-range alone can be obtained.
Optionally, as an embodiment of the present invention, as shown in fig. 1 and 2, the performing a receiver coordinate analysis on the first raw pseudorange observation, the three second raw pseudorange observations, the target satellite coordinate, and the three satellite coordinates to obtain a receiver coordinate includes:
introducing an initial approximate coordinate, and calculating a receiver coordinate correction quantity on the initial approximate coordinate, the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the three satellite coordinates through a second formula to obtain a receiver coordinate correction quantity, wherein the second formula is as follows:
Figure BDA0003623679000000071
wherein,
Figure BDA0003623679000000072
Figure BDA0003623679000000073
wherein (Deltax, Deltay, Deltaz) is the coordinate correction of the receiver, Deltadt is the clock error of the receiver, C is the speed of light, n is the number of satellites, k is the index of the receiver,
Figure BDA0003623679000000074
and
Figure BDA0003623679000000075
are each the unit direction vector of the target satellite,
Figure BDA0003623679000000076
and
Figure BDA0003623679000000077
are each the unit direction vector of the second satellite,
Figure BDA0003623679000000078
and
Figure BDA0003623679000000079
are each the unit direction vector of the third satellite,
Figure BDA00036236790000000710
and
Figure BDA00036236790000000711
are each the unit direction vector of the fourth satellite,
Figure BDA00036236790000000712
is the composite error correction value for the target satellite,
Figure BDA0003623679000000081
is the combined error correction value for the second satellite,
Figure BDA0003623679000000082
is the combined error correction value for the third satellite,
Figure BDA0003623679000000083
is the combined error correction value for the fourth satellite,
Figure BDA0003623679000000084
for the first raw pseudorange observation,
Figure BDA0003623679000000085
for a second raw pseudorange observation for a second satellite,
Figure BDA0003623679000000086
for a second raw pseudorange observation for a third satellite,
Figure BDA0003623679000000087
second raw pseudorange observations for a fourth satellite, d trop In order to delay the tropospheric delay,
Figure BDA0003623679000000088
for ionospheric delay, d mult In order to be a multi-path error,
Figure BDA0003623679000000089
to observe noise, (X) u0 ,Y u0 ,Z u0 ) In order to be the initial approximate coordinates of the object,
Figure BDA00036236790000000810
is the coordinates of the target satellite or satellites,
Figure BDA00036236790000000811
is the satellite coordinates of the second satellite and,
Figure BDA00036236790000000812
is the satellite coordinates of a third satellite and,
Figure BDA00036236790000000813
is the satellite coordinates of the fourth satellite and,
Figure BDA00036236790000000814
is the residual value of the target satellite(s),
Figure BDA00036236790000000815
is the residual value of the second satellite,
Figure BDA00036236790000000816
is the residual value of the third satellite and,
Figure BDA00036236790000000817
is the residual value of the fourth satellite;
and calculating the sum of the receiver coordinate correction quantity and the initial approximate coordinate to obtain a receiver coordinate.
As will be appreciated, the amount of time required,
Figure BDA00036236790000000818
and
Figure BDA00036236790000000819
may be 0.
It should be appreciated that substituting the satellite coordinates, the satellite clock bias, and the pseudorange observations (i.e., the first raw pseudorange observation and three of the second raw pseudorange observations) into a pseudorange observation equation solves for a receiver coordinate P for a first initial epoch u ＝(X u ,X u ,X u ) (i.e., the receiver coordinate correction amount). Four satellites (i.e., the target satellite and any three satellites), i.e., four pseudorange observation equations, are solved simultaneously as follows:
Figure BDA00036236790000000820
in particular, the positioning principle of satellites is to determine the position of a satellite receiver by four satellites with known positions. To this end, the position of the satellite can be found in satellite ephemeris from the time recorded by the on-board clock. The distance from the user to the satellite is obtained by recording the time that the satellite signal has traveled to the user and multiplying it by the speed of light (this distance is not the true distance between the user and the satellite, but a pseudorange, due to atmospheric ionospheric interference). When the satellite works normally, the navigation message is continuously transmitted by pseudo random code (pseudo code for short) consisting of 1 and 0 binary code elements. The navigation message comprises information such as satellite ephemeris, working conditions, clock correction, ionospheric delay correction, atmospheric refraction correction and the like. However, since the clock used by the user receiver and the satellite-borne clock cannot always be synchronized, the receiver generally uses a high-precision quartz clock, and the difference between the clock face of the receiver and the standard time of the satellite is called the receiver clock difference. The receiver clock difference of each observation time is regarded as an independent unknown number, the receiver clock differences of each observation time are considered to be related, the receiver clock differences are solved with the position parameters of the observation station in the data processing, the influence of the receiver clock differences can be weakened, and then the 4 unknown numbers are solved by using 4 equations. So that at least 4 satellites are received if one wants to know where the receiver is located.
The GNSS satellite is positioned by using a ranging code pseudo-range observation value commonly used, and the following observation equation is established by using an original observation value:
Figure BDA0003623679000000091
in the above formula, subscript i is the satellite carrier frequency point, P i Is L i Of the pseudo-range observations.
Figure BDA0003623679000000092
Is the geometric distance of the user receiver from the satellite. d trop Is the delay in the troposphere and,
Figure BDA0003623679000000093
is L i Ionospheric delay above. d mult Is the multipath error of the pseudorange and phase.
Figure BDA0003623679000000096
The unit is m, which is the observation noise of the pseudo range. And c is the speed of light. dT is the receiver clock offset and dT is the satellite clock offset, all in units of s.
Wherein (X) s ，Y s ，Z s ) Is the satellite coordinate, (X) u ，Y u ，Z u ) Are the user receiver coordinates. Before the solution, initial approximate coordinates (X) of a point to be determined of a user receiver need to be given u0 ，Y u0 ，Z u0 ) And initial approximation of receiver clock difference dt 0 The receiver clock difference can be initially approximated dt in general 0 And setting the initial approximate coordinate of the undetermined point of the user receiver as 0, or setting the initial approximate coordinate as 0 in the observation file. The observation equation is linearized at an initial approximation by taylor expansion, as follows:
Figure BDA0003623679000000094
where v is a residual term, order
Figure BDA0003623679000000095
Figure BDA0003623679000000101
Is the unit direction vector from the user's receiver to the satellite. Four or more satellites are observed, and the linearized observation equation is as follows:
Figure BDA0003623679000000102
where superscripts 1, 2,3, 4 denote satellite numbers and subscript k denotes the user receiver number.
Order to
Figure BDA0003623679000000103
The following equation follows according to the least squares criterion:
V＝AX-L，
X＝(A T A) -1 A T L，
the corresponding parameters to be estimated can be solved by using a least square algorithm. The parameters to be solved include the coordinates (Δ x, Δ y, Δ z) of the user receiver (i.e. the receiver coordinate correction), and the receiver clock difference Δ dt. Namely the following formula:
X＝[Δx，Δy，Δz，c·Δdt]。
in the above embodiment, the receiver coordinate correction amount is obtained by calculating the initial approximate coordinate, the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the receiver coordinate correction amounts of the three satellite coordinates by the second formula, and the receiver coordinate correction amount is obtained by calculating the sum of the receiver coordinate correction amount and the initial approximate coordinate, so that the carrier phase change information is reflected, and higher accuracy can be obtained than that obtained by separately adopting code pseudo-range measurement.
Optionally, as an embodiment of the present invention, the analyzing the pseudorange smoothed value according to the doppler shift value and the first raw pseudorange observation value at a plurality of epoch time points to obtain the pseudorange smoothed value includes:
calculating an initial pseudo range mean value of the Doppler frequency shift value and the first original pseudo range observation value according to a plurality of epoch moments to obtain an initial pseudo range mean value;
calculating a pseudo-range smooth value of the plurality of epoch time, the Doppler frequency shift value and the initial pseudo-range average value by a third formula to obtain a pseudo-range smooth value, wherein the third formula is as follows:
Figure BDA0003623679000000111
wherein,
Figure BDA0003623679000000112
is a smoothed value of the pseudo-range,
Figure BDA0003623679000000113
is the initial pseudo-range mean, λ is the wavelength, f d I is (2,3, …, k') and i is the ith epoch time.
It should be understood that, carrier phase variation with respect to the initial time (i.e. the initial pseudorange mean) is calculated by integrating the doppler shift value reconstructed from any epoch, and the pseudorange mean at the initial time (i.e. the initial pseudorange mean) is subjected to smoothing correction, and the pseudorange smoothing value of this epoch is calculated by using the following formula for the purpose of doppler smoothing pseudorange:
Figure BDA0003623679000000114
in the above embodiment, the initial pseudo-range mean value is obtained by calculating the initial pseudo-range mean value of the doppler frequency shift value and the first original pseudo-range observation value at a plurality of epoch moments, and the pseudo-range smooth value is obtained by calculating the pseudo-range smooth value of the initial pseudo-range mean value and the doppler frequency shift value at a plurality of epoch moments by the third formula.
Optionally, as an embodiment of the present invention, the calculating an initial pseudorange mean according to the doppler shift value and the first raw pseudorange observation value at a plurality of epoch time includes:
calculating an initial pseudorange mean value of the doppler frequency shift value and the first original pseudorange observation value at a plurality of epoch time by a fourth formula to obtain an initial pseudorange mean value, wherein the fourth formula is as follows:
Figure BDA0003623679000000115
wherein,
Figure BDA0003623679000000116
wherein,
Figure BDA0003623679000000121
is the mean value of the initial pseudoranges, p j (t 1 ) i Is the initial epoch pseudo-range observed value, k' is the epoch time total, λ is the wavelength, f d Is the doppler shift value, i ═ 2,3, …, k', i is the ith epoch time, ρ j (t i ) The first raw pseudorange observation for the ith epoch time.
It should be appreciated that the first raw pseudorange observation for each epoch time may be obtained from the target satellite.
It should be understood that the integral of the reconstructed doppler shift value replaces the carrier phase variation by the following equation:
Figure BDA0003623679000000122
wherein, t 1 And t 2 All epoch time instants are obtained from the receiver.
It should be understood that the resolving end stores and updates observation data reproduced by the receiver and judges the availability of the current pseudorange value. If the pseudo range value is available, setting the epoch time as the initial time, and setting the smoothing window width as k, where k may be 60 epochs, as follows:
ρ j (t 1 )＝ρ j (t 1 )。
specifically, when the next epoch time arrives, the carrier phase change amount is calculated by using the reconstructed doppler shift value integral of the epoch, the pseudorange measurement value is corrected, and the pseudorange observation value of the initial epoch (i.e., the initial epoch pseudorange observation value) is estimated by the following formula:
Figure BDA0003623679000000123
specifically, the carrier phase variation is calculated by repeatedly using the reconstructed doppler shift value integral of the epoch, and the process of correcting the pseudorange measurement value is repeated, when the number of the pseudorange observation values (i.e., the initial epoch pseudorange observation values) reaches the width k of the smoothing window, the pseudorange observation values (i.e., the initial epoch pseudorange observation values) are averaged within the window width range, and the doppler smoothed initial pseudorange average value is calculated by using the following formula:
Figure BDA0003623679000000124
in the above embodiment, the initial pseudorange mean value is calculated for the doppler frequency shift value and the first original pseudorange observation value at a plurality of epoch time by the fourth formula to obtain the initial pseudorange mean value, so that not only is the influence of the system error eliminated, but also the accuracy and stability of the doppler frequency shift value are improved, the effect of doppler smoothing pseudorange is better, and thus high-accuracy single-point positioning is realized.
Alternatively, as another embodiment of the invention, the invention obtains the resolved correlation data (including satellite clock bias, the satellite position, the satellite velocity, receiver velocity, pseudoranges, carrier phase observations, etc.) for each epoch.
And reconstructing a Doppler frequency shift value from the related data obtained from the current epoch, wherein the integral quantity of the Doppler frequency shift value reflects the information of the variation of the carrier phase, and the variation of the carrier phase reflects the variation rate of the pseudo range. Therefore, if the pseudorange measurement can be performed by using this information to assist the code phase, it is possible to obtain higher accuracy than the case of using the code pseudorange measurement alone, taking into consideration that the doppler shift measurement can accurately reflect the pseudorange change.
And then the carrier phase variation between epochs is calculated by combining the reconstructed Doppler frequency shift value integral quantity, and the purpose of smoothing the pseudorange is finally achieved, so that the pseudorange precision is higher. And then, the pseudo-range single-point positioning observation model carries out parameter estimation, the parameter to be estimated is solved, and the pseudo-range single-point positioning solution is obtained again.
Alternatively, as another embodiment of the present invention, the present invention calculates the carrier phase variation λ Δ Φ (converted to distance) by integrating the reconstructed doppler shift value:
Figure BDA0003623679000000131
where λ is the wavelength of the carrier signal transmitted by the satellite, t i ，t j Is two epoch time, f d (t i )，f d (t j ) Is a reconstructed Doppler frequency shift value, t, at two epoch times j -t i Is the amount of time change between two epochs.
Because the carrier phase variation information among epochs reflects the pseudo-range variation rate, the pseudo-range variation and the carrier phase variation among the same epochs are theoretically equal in an ideal state in which various influence factors such as an ionosphere, a troposphere, a receiver clock error and the like are ignored, but in an actual situation, the carrier phase variation has higher precision than the pseudo-range variation due to various errors and observation noise.
However, in some circumstances, the satellite signal is severely attenuated. Under the conditions of natural or artificial building obstruction, delay of a troposphere and an ionosphere, interference of reflected signals, self-interference of signals, signal blockage, attenuation caused by an antenna and the like, phenomena such as signal lock losing and phase cycle losing are easily generated in a carrier phase tracking loop of the GNSS receiver, so the phenomena are called cycle slip, and cycle slip is generated in carrier phase measurement values. The doppler measurements obtained from GNSS receivers are too noisy and unstable. The reconstructed Doppler frequency shift value integral quantity is used for smoothing the pseudo range instead of the carrier phase variation, namely the reconstructed Doppler frequency shift value integral quantity is used for calculating the carrier phase variation, so that the influence of system errors is eliminated, the precision and the stability of the Doppler frequency shift value are improved, the effect of smoothing the pseudo range of Doppler is better, and the high-precision single-point positioning is realized. The pseudo-range variation is as follows:
Figure BDA0003623679000000141
alternatively, as another embodiment of the present invention, in the doppler smoothed pseudorange principle of the present invention, the basic principle is as follows:
the carrier frequency doppler count reflects carrier phase change information, i.e., the pseudorange rate of change. If the pseudorange measurement can be performed using the information assisted code, a higher accuracy than that obtained by using the code pseudorange measurement alone can be obtained, taking into account that the carrier frequency doppler measurement can accurately reflect the pseudorange change.
The pseudo range and carrier phase observation equation of the GNSS satellite j is as follows:
ρ j ＝R u j +c·δt+v 1 ，
Figure BDA0003623679000000142
where ρ is j For corrected pseudoranges, delta, of subscriber stations to satellites t Is the clock error phi j For the observed fractional part of the carrier phase, N j For full-cycle phase ambiguity, λ is the wavelength, R u j V1, v2 are the measured noise of the receiver, which is the true distance of the subscriber station to the satellite.
The whole-cycle phase ambiguity N is included, and since the solution of N is difficult and the value of N cannot be directly used for dynamic measurement, the pseudo range is smoothed by using the carrier phase variation between two epochs, that is, the carrier phase variation between two epochs replaces the pseudo range variation between two epochs.
the difference between the observed carrier phase at two epoch times t1 and t2 is as follows:
Figure BDA0003623679000000151
wherein, δ ρ j (t 1 ,t 2 ) Is the pseudo range variation between t1 and t2 j (t 2 )-φ j (t 1 )]The carrier phase variation between t1 and t2 epochs. V 'with the phase ambiguity N removed' 2 The difference in noise is measured for the receiver at both times. If the reference station is not too far away from the subscriber station. The noise level of the GNSS carrier phase measurements is of the order of millimeters, so its effect is negligible with respect to the pseudorange observations, i.e., take v' 2 ＝0。
Calculating a reconstructed Doppler frequency shift value, wherein when relative motion occurs between the satellite and the receiver, a Doppler effect is generated, so that the carrier frequency received by the receiver is shifted relative to the carrier frequency transmitted by the satellite, and the Doppler shift f d Equal to the carrier frequency f received by the receiver r And the carrier frequency f of the satellite transmission l The difference of (a) is as follows:
f d ＝f r -f l ，
starting from the basic theory of electromagnetic wave propagation, the following Doppler frequency shift value f can be strictly deduced d The calculation formula of (c):
doppler frequency shift value f for static signal emission source d The calculation formula of (c) is:
Figure BDA0003623679000000152
where v is the receiver velocity (movement velocity); lambda is the wavelength of the signal and,
Figure BDA0003623679000000153
f is the signal transmission frequency (e.g. L1, L2 of GPS), c is the speed of light, β is the angle between the direction of motion of the receiver and the direction of signal incidence (angle of signal incidence);
for satellite positioning, a satellite rotates around the earth, so the satellite positioning belongs to a mobile signal emission source, a formula is popularized to single-point positioning, and a reconstructed Doppler frequency shift value f can be deduced d The calculation formula of (c) is as follows:
Figure BDA0003623679000000161
the mathematical model for reconstructing the doppler shift values is as follows:
Figure BDA0003623679000000162
wherein, lambda is the wavelength of the signal,
Figure BDA0003623679000000163
the derivative of the epoch satellite to receiver geometry distance over time,
Figure BDA0003623679000000164
is the derivative of the receiver clock difference with respect to time,
Figure BDA0003623679000000165
is the derivative of the ionospheric delay error with respect to time,
Figure BDA0003623679000000166
is the derivative of the tropospheric delay error with time, epsilon f And reconstructing the Doppler frequency shift value error in advance.
Due to the fact that
Figure BDA0003623679000000167
Is equal to the following equation:
Figure BDA0003623679000000168
so there is the following formula:
Figure BDA0003623679000000169
where D (t) is the directional cosine vector between the satellite and the receiver, V S (t) and V R (t) is the velocity vector of the satellite and the receiver.
According to the mathematical model for reconstructing the Doppler frequency shift value, the reconstructed Doppler frequency shift value is related to parameters such as satellite position, satellite clock error, troposphere delay, ionosphere delay, receiver speed, receiver position, receiver clock error and the like, wherein the parameters to be estimated are contained, and a theoretical basis is provided for a pseudo-range single-point positioning model for reconstructing the Doppler value.
Because of the influence of cycle slip of the carrier phase measurement value and excessive and unstable noise of the Doppler measurement value, the integral quantity of the reconstructed Doppler frequency shift value is used for replacing the carrier phase variation quantity, and the formula is as follows:
Figure BDA00036236790000001610
Figure BDA00036236790000001611
δρ j (t 1 ,t 2 )＝λ[φ j (t 2 )-φ j (t 1 )]，
wherein, δ ρ j (t 1 ,t 2 ) Is the delta of the pseudorange between epochs, λ [ phi ] j (t 2 )-φ j (t 1 )]Is the amount of carrier phase change between epochs, f d For the reconstructed doppler shift value, λ is the carrier signal wavelength transmitted by the satellite,
Figure BDA0003623679000000171
in order to be the speed of the receiver,
Figure BDA0003623679000000172
which is indicative of the velocity of the satellite,
Figure BDA0003623679000000173
expressed is a unit observation vector, in which
Figure BDA0003623679000000174
For the satellite and receiver range observation vectors, having values of
Figure BDA0003623679000000175
The satellite coordinate of the current epoch is P S ＝(X S ,Y S ,Z S ) Receiver coordinate is P u ＝(X u ,X u ,X u ) The coordinate of the receiver is obtained by convergence solution of the last epoch, and the position and the speed of the satellite are obtained by the acquired ephemeris;
Figure BDA0003623679000000176
is the geometric distance between the satellite and the receiver.
As can be seen from the above equation, the pseudorange value of t1 epoch can be deduced from the integral of the doppler shift values reconstructed from different epochs. Assume that there are observations of k epochs: rho j (t 1 )，ρ j (t 2 )，…，ρ j (t k ). The carrier phase variation from t1 to tk can be calculated by using the reconstructed doppler shift value integral and taken as the pseudo range variation: δ ρ j (t 1 ,t 2 )，δρ j (t 1 ,t 3 )，…δρ j (t 1 ,t k ) Then, t1 epochs of k pseudorange observations can be found, as follows:
Figure BDA0003623679000000177
averaging the k values to obtain a pseudo range mean value of t1 epoch, wherein the formula is as follows:
Figure BDA0003623679000000178
the pseudorange smoothing values of other epochs can be derived, and the formula is as follows:
Figure BDA0003623679000000181
the GNSS satellite is positioned by using a ranging code pseudo-range observation value, and the following observation equation is established for the original observation value:
Figure BDA0003623679000000182
fig. 3 is a block diagram of a carrier-phase smoothed pseudorange positioning apparatus according to an embodiment of the present invention.
Alternatively, as another embodiment of the present invention, as shown in fig. 3, a carrier-phase smoothed pseudorange positioning apparatus includes:
the data acquisition module is used for acquiring a first original pseudo-range observation value from a target satellite, acquiring three second original pseudo-range observation values from any three satellites, and acquiring target satellite data corresponding to each target satellite and three satellite coordinates corresponding to the three satellites respectively from an IGS (integrated geostationary navigation satellite system) service;
the reconstruction analysis module is used for performing reconstruction analysis on the Doppler frequency shift value on the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite data and the three satellite coordinates to obtain a Doppler frequency shift value corresponding to the target satellite;
and the pseudo-range positioning result obtaining module is used for obtaining a plurality of epoch moments from a receiver, analyzing a pseudo-range smooth value according to the plurality of epoch moments on the Doppler frequency shift value and the first original pseudo-range observation value to obtain a pseudo-range smooth value, and taking the pseudo-range smooth value as a pseudo-range positioning result of the target satellite.
Optionally, as an embodiment of the present invention, the target satellite data includes target satellite coordinates and target satellite velocity, and the reconstruction analysis module is specifically configured to:
performing receiver coordinate analysis on the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the three satellite coordinates to obtain a receiver coordinate;
calculating a Doppler frequency shift value of the target satellite speed, the target satellite coordinate and the receiver coordinate through a first equation to obtain a Doppler frequency shift value corresponding to the target satellite, wherein the first equation is as follows:
Figure BDA0003623679000000191
wherein,
Figure BDA0003623679000000192
wherein,
Figure BDA0003623679000000193
wherein,
Figure BDA0003623679000000194
in order to be the speed of the receiver,
Figure BDA0003623679000000195
is the target satellite velocity, f d Is the value of the doppler shift, λ is the carrier signal wavelength,
Figure BDA0003623679000000196
is a vector of observations in units of,
Figure BDA0003623679000000197
an observation vector for the range of the target satellite and the receiver,
Figure BDA0003623679000000198
is the geometric distance between the target satellite and the receiver, (X) S ,Y S ,Z S ) As target satellite coordinates, (X) u ,Y u ,Z u ) Are the receiver coordinates.
Optionally, as an embodiment of the present invention, the reconstruction analysis module is specifically configured to:
introducing an initial approximate coordinate, and calculating a receiver coordinate correction quantity on the initial approximate coordinate, the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the three satellite coordinates through a second formula to obtain a receiver coordinate correction quantity, wherein the second formula is as follows:
Figure BDA0003623679000000199
wherein,
Figure BDA00036236790000001910
Figure BDA00036236790000001911
Figure BDA0003623679000000201
wherein (Deltax, Deltay, Deltaz) is the coordinate correction of the receiver, Deltadt is the clock error of the receiver, c is the speed of light, n is the number of satellites, k is the index of the receiver,
Figure BDA0003623679000000202
and
Figure BDA0003623679000000203
are each the unit direction vector of the target satellite,
Figure BDA0003623679000000204
and
Figure BDA0003623679000000205
are each the unit direction vector of the second satellite,
Figure BDA0003623679000000206
and
Figure BDA0003623679000000207
are each the unit direction vector of the third satellite,
Figure BDA0003623679000000208
and
Figure BDA0003623679000000209
are each the unit direction vector of the fourth satellite,
Figure BDA00036236790000002010
is the composite error correction value for the target satellite,
Figure BDA00036236790000002011
is the combined error correction value for the second satellite,
Figure BDA00036236790000002012
is the combined error correction value for the third satellite,
Figure BDA00036236790000002013
is the combined error correction value for the fourth satellite,
Figure BDA00036236790000002014
for the first raw pseudorange observation,
Figure BDA00036236790000002015
for a second raw pseudorange observation for a second satellite,
Figure BDA00036236790000002016
for a second raw pseudorange observation for a third satellite,
Figure BDA00036236790000002017
second raw pseudorange observations, d, for a fourth satellite trop In order to delay the tropospheric delay,
Figure BDA00036236790000002018
for ionospheric delay, d mult In order to be a multi-path error,
Figure BDA00036236790000002019
to observe noise, (X) u0 ,Y u0 ,Z u0 ) In order to be the initial approximate coordinates,
Figure BDA00036236790000002020
is the coordinates of the target satellite or satellites,
Figure BDA00036236790000002021
is the satellite coordinates of the second satellite and,
Figure BDA00036236790000002022
is the satellite coordinates of a third satellite,
Figure BDA00036236790000002023
is the satellite coordinates of the fourth satellite and,
Figure BDA00036236790000002024
is a target ofThe residual values of the satellites are compared to each other,
Figure BDA00036236790000002025
is the residual value of the second satellite,
Figure BDA00036236790000002026
is the residual value of the third satellite,
Figure BDA00036236790000002027
is the residual value of the fourth satellite;
and calculating the sum of the receiver coordinate correction quantity and the initial approximate coordinate to obtain the receiver coordinate.
Alternatively, another embodiment of the present invention provides a carrier-phase smoothed pseudorange locating apparatus comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said computer program, when executed by said processor, implementing a carrier-phase smoothed pseudorange locating method as described above. The device may be a computer or the like.
Alternatively, another embodiment of the invention provides a computer readable storage medium, having stored thereon a computer program which, when executed by a processor, implements a carrier-phase smoothed pseudorange locating method as described above.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is only a logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partly contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

Claims (10)

1. A carrier phase smoothing pseudorange positioning method is characterized by comprising the following steps:
acquiring a first original pseudo range observation value from a target satellite, acquiring three second original pseudo range observation values from any three satellites, and acquiring target satellite data corresponding to each target satellite and three satellite coordinates corresponding to the three satellites respectively from an IGS (integrated navigation system) international global navigation satellite system service;
reconstructing and analyzing the Doppler frequency shift value of the first original pseudo range observation value, the three second original pseudo range observation values, the target satellite data and the three satellite coordinates to obtain a Doppler frequency shift value corresponding to the target satellite;
obtaining a plurality of epoch moments from a receiver, analyzing a pseudo-range smooth value according to the doppler frequency shift value and the first original pseudo-range observation value according to the plurality of epoch moments to obtain a pseudo-range smooth value, and using the pseudo-range smooth value as a pseudo-range positioning result of the target satellite.
2. The carrier-phase smoothed pseudorange positioning method of claim 1, wherein the target satellite data comprises target satellite coordinates and target satellite velocity,
the process of performing reconstruction analysis on the doppler frequency shift value on the first original pseudorange observation value, the three second original pseudorange observation values, the target satellite data and the three satellite coordinates to obtain the doppler frequency shift value corresponding to the target satellite includes:
performing receiver coordinate analysis on the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the three satellite coordinates to obtain a receiver coordinate;
calculating a Doppler frequency shift value of the target satellite speed, the target satellite coordinate and the receiver coordinate through a first formula to obtain a Doppler frequency shift value corresponding to the target satellite, wherein the first formula is as follows:
Figure FDA0003623678990000011
wherein,
Figure FDA0003623678990000021
wherein,
Figure FDA0003623678990000022
wherein,
Figure FDA0003623678990000023
in order to be the speed of the receiver,
Figure FDA0003623678990000024
Figure FDA0003623678990000025
is the target satellite velocity, f d Is the value of the doppler shift, λ is the carrier signal wavelength,
Figure FDA0003623678990000026
is a vector of observations in units of,
Figure FDA0003623678990000027
an observation vector that is the distance between the target satellite and the receiver,
Figure FDA0003623678990000028
(X) geometric distance between target satellite and receiver S ,Y S ,Z S ) As the target satellite coordinates, (X) u ,Y u ,Z u ) Are the receiver coordinates.
3. The carrier-phase smoothed pseudorange locating method according to claim 2, wherein the step of performing receiver coordinate analysis on the first raw pseudorange observation, the three second raw pseudorange observations, the target satellite coordinate, and the three satellite coordinates to obtain a receiver coordinate comprises:
introducing an initial approximate coordinate, and calculating a receiver coordinate correction quantity on the initial approximate coordinate, the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the three satellite coordinates through a second formula to obtain a receiver coordinate correction quantity, wherein the second formula is as follows:
Figure FDA0003623678990000029
wherein,
Figure FDA00036236789900000210
Figure FDA00036236789900000211
Figure FDA00036236789900000212
Figure FDA0003623678990000031
Figure FDA0003623678990000032
wherein, (Deltax, Deltay, Deltaz) is the coordinate correction of the receiver, Deltadt is the receiverClock error, c is the speed of light, n is the number of satellites, k is the receiver index,
Figure FDA0003623678990000033
and
Figure FDA0003623678990000034
are each the unit direction vector of the target satellite,
Figure FDA0003623678990000035
and
Figure FDA0003623678990000036
are each the unit direction vector of the second satellite,
Figure FDA0003623678990000037
and
Figure FDA0003623678990000038
are each the unit direction vector of the third satellite,
Figure FDA0003623678990000039
and
Figure FDA00036236789900000310
are each the unit direction vector of the fourth satellite,
Figure FDA00036236789900000311
is the composite error correction value for the target satellite,
Figure FDA00036236789900000312
is the combined error correction value for the second satellite,
Figure FDA00036236789900000313
is the combined error correction value for the third satellite,
Figure FDA00036236789900000314
is the combined error correction value of the fourth satellite, P i 1 Is a first raw pseudorange observation, P i 2 Is a second raw pseudorange observation, P, for a second satellite i 3 Second raw pseudorange observations, P, for a third satellite i 4 Second raw pseudorange observations, d, for a fourth satellite trop In order to delay the tropospheric delay,
Figure FDA00036236789900000315
for ionospheric delay, d mult In order to be a multi-path error,
Figure FDA00036236789900000316
to observe noise, (X) u0 ,Y u0 ,Z u0 ) In order to be the initial approximate coordinates of the object,
Figure FDA00036236789900000317
is the coordinates of the target satellite or satellites,
Figure FDA00036236789900000318
is the satellite coordinates of the second satellite and,
Figure FDA00036236789900000319
is the satellite coordinates of a third satellite,
Figure FDA00036236789900000320
is the satellite coordinates of the fourth satellite and,
Figure FDA00036236789900000321
is the residual value of the target satellite(s),
Figure FDA00036236789900000322
is the residual value of the second satellite,
Figure FDA00036236789900000323
is the residual value of the third satellite and,
Figure FDA00036236789900000324
is the residual value of the fourth satellite;
and calculating the sum of the receiver coordinate correction quantity and the initial approximate coordinate to obtain the receiver coordinate.
4. The carrier-phase smoothed pseudorange locating method according to claim 2, wherein the analyzing the pseudorange smoothing value according to the plurality of epoch time values for the doppler shift value and the first raw pseudorange observation value, and obtaining the pseudorange smoothing value comprises:
calculating an initial pseudo-range mean value of the Doppler frequency shift value and the first original pseudo-range observation value according to a plurality of epoch moments to obtain an initial pseudo-range mean value;
calculating a pseudo-range smooth value of the plurality of epoch time, the Doppler frequency shift value and the initial pseudo-range average value by a third formula to obtain a pseudo-range smooth value, wherein the third formula is as follows:
Figure FDA0003623678990000041
wherein,
Figure FDA0003623678990000042
is a smoothed value of the pseudo-range,
Figure FDA0003623678990000043
is the initial pseudo-range mean, λ is the wavelength, f d I is (2,3, …, k') and i is the ith epoch time.
5. The carrier-phase smoothed pseudorange locating method according to claim 4, wherein the calculating of an initial pseudorange mean from the doppler shift value and the first raw pseudorange observation value according to the epoch time instants, and obtaining the initial pseudorange mean comprises:
calculating an initial pseudorange mean value of the doppler frequency shift value and the first original pseudorange observation value at a plurality of epoch time by a fourth formula to obtain an initial pseudorange mean value, wherein the fourth formula is as follows:
Figure FDA0003623678990000044
wherein,
Figure FDA0003623678990000045
wherein,
Figure FDA0003623678990000046
is the mean value of the initial pseudoranges, p j (t 1 ) i Is the initial epoch pseudo-range observed value, k' is the epoch time total, λ is the wavelength, f d Is the doppler shift value, i ═ 2,3, …, k', i is the ith epoch time, ρ j (t i ) The first raw pseudorange observation for the ith epoch time.
6. A carrier-phase smoothed pseudorange positioning apparatus comprising:
the data acquisition module is used for acquiring a first original pseudo range observation value from a target satellite, acquiring three second original pseudo range observation values from any three satellites, and acquiring target satellite data corresponding to each target satellite and three satellite coordinates corresponding to the three satellites respectively from an IGS (integrated satellite system) international global navigation satellite system service;
the reconstruction analysis module is used for performing reconstruction analysis on the Doppler frequency shift value on the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite data and the three satellite coordinates to obtain a Doppler frequency shift value corresponding to the target satellite;
and the pseudo-range positioning result obtaining module is used for obtaining a plurality of epoch moments from a receiver, analyzing a pseudo-range smooth value according to the plurality of epoch moments on the Doppler frequency shift value and the first original pseudo-range observation value to obtain a pseudo-range smooth value, and taking the pseudo-range smooth value as the pseudo-range positioning result of the target satellite.
7. The carrier-phase smoothed pseudorange locating apparatus of claim 6, wherein said target satellite data comprises target satellite coordinates and target satellite velocity, and said reconstruction analysis module is specifically configured to:
performing receiver coordinate analysis on the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the three satellite coordinates to obtain a receiver coordinate;
calculating a Doppler frequency shift value of the target satellite speed, the target satellite coordinate and the receiver coordinate through a first equation to obtain a Doppler frequency shift value corresponding to the target satellite, wherein the first equation is as follows:
Figure FDA0003623678990000051
wherein,
Figure FDA0003623678990000052
wherein,
Figure FDA0003623678990000053
wherein,
Figure FDA0003623678990000054
in order to be the speed of the receiver,
Figure FDA0003623678990000055
Figure FDA0003623678990000056
is the target satellite velocity, f d Is the value of the doppler shift, λ is the carrier signal wavelength,
Figure FDA0003623678990000057
is a vector of observations in units of,
Figure FDA0003623678990000058
an observation vector that is the distance between the target satellite and the receiver,
Figure FDA0003623678990000059
(X) geometric distance between target satellite and receiver S ,Y S ,Z S ) As target satellite coordinates, (X) u ,Y u ,Z u ) Are the receiver coordinates.
8. The carrier-phase smoothed pseudorange locating apparatus of claim 6, wherein the reconstruction analysis module is specifically configured to:
introducing an initial approximate coordinate, and calculating a receiver coordinate correction quantity on the initial approximate coordinate, the first original pseudo-range observation value, the three second original pseudo-range observation values, the target satellite coordinate and the three satellite coordinates through a second formula to obtain a receiver coordinate correction quantity, wherein the second formula is as follows:
Figure FDA0003623678990000061
wherein,
Figure FDA0003623678990000062
Figure FDA0003623678990000063
Figure FDA0003623678990000064
Figure FDA0003623678990000065
Figure FDA0003623678990000066
wherein (Δ x, Δ y, Δ z) is the coordinate correction of the receiver, Δ dt is the clock error of the receiver, c is the speed of light, n is the number of satellites, k is the label of the receiver,
Figure FDA0003623678990000067
and
Figure FDA0003623678990000068
are each the unit direction vector of the target satellite,
Figure FDA0003623678990000069
and
Figure FDA00036236789900000610
are each the unit direction vector of the second satellite,
Figure FDA00036236789900000611
and
Figure FDA00036236789900000612
are each the unit direction vector of the third satellite,
Figure FDA00036236789900000613
and
Figure FDA00036236789900000614
are each the unit direction vector of the fourth satellite,
Figure FDA00036236789900000615
for the targetThe comprehensive error of the satellite is corrected,
Figure FDA00036236789900000616
is the combined error correction value for the second satellite,
Figure FDA00036236789900000617
is the combined error correction value for the third satellite,
Figure FDA00036236789900000618
is the combined error correction value of the fourth satellite, P i 1 Is a first raw pseudorange observation, P i 2 Is a second raw pseudorange observation, P, for a second satellite i 3 Second raw pseudorange observations, P, for a third satellite i 4 Second raw pseudorange observations, d, for a fourth satellite rtop In order to delay the tropospheric delay,
Figure FDA00036236789900000619
for ionospheric delay, d mult In order to be a multi-path error,
Figure FDA00036236789900000620
to observe noise, (X) u0 ,Y u0 ,Z u0 ) In order to be the initial approximate coordinates,
Figure FDA00036236789900000621
in order to be the coordinates of the target satellite,
Figure FDA00036236789900000622
is the satellite coordinates of the second satellite and,
Figure FDA00036236789900000623
is the satellite coordinates of a third satellite and,
Figure FDA0003623678990000071
is a fourthThe satellite coordinates of the individual satellites are,
Figure FDA0003623678990000072
is the residual value of the target satellite(s),
Figure FDA0003623678990000073
is the residual value of the second satellite,
Figure FDA0003623678990000074
is the residual value of the third satellite,
Figure FDA0003623678990000075
is the residual value of the fourth satellite;
and calculating the sum of the receiver coordinate correction quantity and the initial approximate coordinate to obtain a receiver coordinate.
9. A carrier-phase smoothed pseudorange positioning system comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor, when executing said computer program, implements a carrier-phase smoothed pseudorange positioning method according to any of claims 1 to 5.
10. A computer-readable storage medium, having stored thereon a computer program, for implementing a carrier-phase smoothed pseudorange positioning method according to any of claims 1 to 5, when the computer program is executed by a processor.
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CN115061166A (en) * 2022-06-16 2022-09-16 湘潭大学 Carrier phase reconstruction method and device, electronic equipment and medium
CN115061166B (en) * 2022-06-16 2024-04-05 湘潭大学 Carrier phase reconstruction method, device, electronic equipment and medium
CN115712134A (en) * 2022-11-07 2023-02-24 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) Non-dispersion carrier phase smoothing pseudo range smoothing method and storage medium
CN115712134B (en) * 2022-11-07 2023-09-01 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) Non-dispersive carrier phase smoothing pseudo-range smoothing method and storage medium
CN115856973A (en) * 2023-02-21 2023-03-28 广州导远电子科技有限公司 GNSS resolving method and device, positioning system, electronic equipment and storage medium
CN115826008A (en) * 2023-02-22 2023-03-21 广州导远电子科技有限公司 Method and device for detecting displacement distance range of antenna, mobile station and storage medium

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