CN114966760B - Ionosphere weighted non-differential non-combination PPP-RTK technology implementation method - Google Patents

Ionosphere weighted non-differential non-combination PPP-RTK technology implementation method Download PDF

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CN114966760B
CN114966760B CN202210681537.3A CN202210681537A CN114966760B CN 114966760 B CN114966760 B CN 114966760B CN 202210681537 A CN202210681537 A CN 202210681537A CN 114966760 B CN114966760 B CN 114966760B
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observation equation
pseudo
delay
satellite
ionosphere
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CN114966760A (en
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张宝成
查九平
刘腾
侯鹏宇
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Institute of Precision Measurement Science and Technology Innovation of CAS
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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
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • 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
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

The invention discloses an ionosphere weighted non-differential non-combination PPP-RTK technology implementation method, which selects the pseudo range and phase observation data of a GNSS single-system area tracking station network to construct a single-system double-frequency original observation equation; adding a pseudo observation equation of ionosphere constraint; the rank deficiency method of S-basic is used for eliminating the rank deficiency of an original observation equation and a pseudo observation equation, and a new observation equation is constructed; the new observation equation is processed through epoch-by-epoch filtering, and ionosphere delay information and satellite phase deviation are obtained; aiming at a user side, constructing an observation equation for solving coordinates by the user side; and solving the correction of the position of the user terminal by using a filtering solution mode, and correcting the correction to the initial position of the user terminal to obtain the coordinate value of the user terminal. The invention can accurately estimate the ionosphere delay information, thereby improving the positioning accuracy.

Description

Ionosphere weighted non-differential non-combination PPP-RTK technology implementation method
Technical Field
The invention relates to a quick positioning technology, in particular to an ionosphere weighted non-differential non-combination PPP-RTK technology implementation method.
Background
PPP-RTK is a high-precision and high-dynamic quick positioning technology in the GNSS field, has the advantages of high flexibility and no need of densely tracking a station network, and can quickly realize centimeter-level positioning under the support of enhanced information of state space representation (state space representation, SSR). Ionospheric delay is an important source of errors in GNSS and is one of the essential correction information in PPP-RTK technology. When the information such as satellite orbit, clock error and phase deviation is accurately corrected in the GNSS observation equation and the accurate ionosphere delay constraint is additionally applied, the floating ambiguity parameters can be quickly fixed into integers, so that the positioning accuracy and the convergence speed are improved.
When the server of PPP-RTK processes the data of the observation station network, the estimated value of the ionosphere delay is easily influenced by the deviation (differential code bias, DCB) of the differential codes of the receiver and the satellite, so that the space interpolation value of the ionosphere delay has a certain deviation. In general, the effect of the receiver DCB on ionospheric spatial interpolation can be reduced by three methods: (1) Only selecting satellites tracked by all reference stations simultaneously to participate in station network data processing; (2) Separating ionospheric Total Electron Content (TECs) and DCBs using thin layer assumptions and generalized trigonometric series functions; (3) And estimating the ionospheric delay of the user side by using ionospheric correction information of all network solutions and a single difference mode between stations. However, these conventional ionospheric delay calculation methods still have room for improvement in terms of high-precision application requirements of users. Aiming at the requirement of the ionospheric delay information with high precision of the user, the invention provides a realization method of the ionospheric weighted non-differential non-combination PPP-RTK technology, which can facilitate the user side to calculate the ionospheric delay information with high precision.
Disclosure of Invention
The invention mainly aims at: the ionospheric-weighted non-differential non-combination PPP-RTK technology implementation method can accurately estimate ionospheric delay information.
The technical scheme adopted by the invention is as follows: an ionosphere weighted non-differential non-combination PPP-RTK technology implementation method comprises the following steps:
s1, selecting pseudo-range and phase observation data of a GNSS single-system area tracking station network, and constructing a single-system double-frequency original observation equation;
s2, adding a pseudo observation equation of ionosphere constraint;
s3, eliminating rank deficiency of the original observation equation and the pseudo observation equation by using an S-basic rank deficiency elimination method, and constructing a new observation equation; the new observation equation is processed through epoch-by-epoch filtering, and ionosphere delay information and satellite phase deviation are obtained;
s4, aiming at the user side, constructing an observation equation for solving the coordinates by the user side; and solving the correction of the position of the user terminal by using a filtering solution mode, and correcting the correction to the initial position of the user terminal to obtain the coordinate value of the user terminal.
According to the above scheme, the pseudo range and phase observation data of the GNSS single system area tracking station network of S1 is: the data is observed by the second Beidou system with double or triple frequencies, the third Beidou system with double or triple frequencies, the GPS system with double or triple frequencies, the GLONASS system with double frequencies and the Galileo system with double, triple or quadruple frequencies.
According to the above scheme, the original observation equation of the single-system double frequencies constructed in the step S1 is as follows:
wherein E (-) represents the desired operator, and />Respectively representing pseudo-range and phase observations, the station star distance and tropospheric delay contained in the pseudo-range and phase observations being corrected in advance, c representing the speed of light, s representing the satellite number, r representing the receiver number, j representing the frequency band number, i representing the epoch number, dt r and dts Is the receiver and satellite clock difference, τ r For zenithal tropospheric wet retardation τ r Is +.> Representing ionospheric delay, +.>Coefficient of->Lambda is the ratio between the ionospheric delay of the corresponding frequency j and the 1 st frequency j For the wavelength of the corresponding frequency j, d r,j and />Representing the corresponding frequencies j of receiver r and satellite sPseudo-range hardware delay, delta r,j and />Representing the phase deviation of the satellite s and the receiver r corresponding to the frequency j +.>Which is the integer ambiguity corresponding to the frequency j between the receiver r and the satellite s.
According to the scheme, n stations (r=1,.. The n) are arranged in the regional reference network, and all stations in each epoch look at m satellites (s=1,.. The m);
the pseudo observation equation of the ionosphere constraint in the S2 is as follows:where p is the station selected as the reference in the single difference processing, and the corresponding weight information is w=s -1 Wherein W and S are respectively a weight matrix and a covariance matrix corresponding to the pseudo-observation equation, and are +.> wherein />h ab To measure the distance between stations a and b, h 0 ＝200km，E s For the altitude of the corresponding satellite s +.>C is the Cronecker product operator l ＝0.3m。
According to the above scheme, the new observation equation obtained in S3 is:
the specific form of the new, estimated parameters are:
wherein ,d r,DCB ＝d r,2 -d r,1
and />Respectively new, estimated receiver clock bias, satellite clock bias, zenithal tropospheric wet delay, ionospheric delay, receiver pseudorange hardware delay, satellite pseudorange hardware delay, receiver phase bias, satellite phase bias and ambiguity, < >>Is the hardware delay offset between receivers r and p.
According to the above scheme, the observation equation for resolving the coordinates of the user terminal constructed in S4 is as follows:
wherein For ionospheric delay values in the vicinity of subscriber stations interpolated from the solved ionospheric delay information, as pseudo-observations, +.>For unit vector from station to satellite, deltax u (i) The correction value of the coordinates is obtained by the following specific forms:
can be solved by means of filtering solutionObtaining the correction delta x of the position of the user end u (i) Will Deltax u (i) Correcting to the initial position of the user end to obtain a coordinate value;
wherein , and />The method comprises the steps of calculating a receiving clock difference, a troposphere zenith wet delay, an ambiguity parameter, a pseudo-range hardware delay, a user side pseudo-range hardware delay geometry independent combination value, an ionosphere bias delay and a receiver phase deviation for a user side respectively.
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 steps of the ionospheric weighted non-differential non-combination PPP-RTK technique implementation method when the program is executed.
The invention has the beneficial effects that: adding pseudo-observation information of ionospheric delay constraint on the basis of a regional observation station network non-difference non-combination observation equation, and accurately estimating information such as ionospheric delay by setting corresponding weight (variance-covariance) information; the user side in the reference station network can realize high-precision PPP-RTK positioning based on information and algorithms such as ionosphere delay and satellite phase deviation calculated by the observation station network.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the invention provides a method for implementing ionospheric weighted non-differential non-combination PPP-RTK technology, which comprises the following steps:
s1, pseudo-range and phase observation data of a GNSS single-system area tracking station network are selected, and a single-system double-frequency original observation equation is constructed. The present algorithm is directed to a single satellite navigation system, so these listed systems are all or in relation. When processing the data of the system, the system can process the data of double frequency, triple frequency or above. Therefore, the pseudo-range and phase observation data of the GNSS single-system area tracking station network are as follows: the data is observed by the second Beidou system with double or triple frequencies, the third Beidou system with double or triple frequencies, the GPS system with double or triple frequencies, the GLONASS system with double frequencies and the Galileo system with double, triple or quadruple frequencies.
The original observation equation for constructing single-system double frequencies is as follows:
where E (-) represents the desired operator, and />Respectively representing pseudo-range and phase observation values, wherein the unit is meter, the satellite distance and troposphere dry delay contained in the pseudo-range and phase observation values are corrected in advance, c represents the speed of light, the unit is meter/second, s represents the satellite number, r represents the receiver number, j represents the frequency band number, i represents the epoch number, and dt r and dts Is the receiver and satellite clock difference in seconds, τ r The unit is meter for zenith tropospheric wet retardation, and its projection function is +.> Represents ionospheric delay in meters, its coefficient +.>Lambda is the ratio between ionospheric delay at other frequencies and frequency 1 j For the wavelength of the corresponding frequency j, d r,j Andpseudo-range hardware delay, in meters, delta, representing the corresponding frequencies j of the receiver r and satellite s r,j and />Representing the phase deviation of the satellite s and the receiver r with respect to the frequency j in meters,/for each satellite>For a full-period ambiguity corresponding to the frequency j between the receiver r and the satellite s, the unit is the period, further assume that there are n stations in the regional reference network (r=1,..and n), and that all stations look at m satellites in common for each epoch (s=1,..and m).
S2, adding a pseudo observation equation of ionosphere constraint:where p is the station selected as the reference in the single difference processing, and the corresponding weight information is w=s -1 Wherein W and S are respectively a weight matrix and a covariance matrix corresponding to the pseudo-observation equation, and have wherein />h ab To measure the distance between stations a and b, h 0 ＝200km，E s For the altitude of the corresponding satellite s +.>C is the Cronecker product operator l ＝0.3m。
S3, eliminating rank deficiency of the original observation equation and the pseudo observation equation by using an S-basic rank deficiency elimination method, and constructing a new observation equation; and (5) processing a new observation equation through epoch-by-epoch filtering, and solving ionosphere delay information and satellite phase deviation.
The new observation equation is converted into:
the specific form of the new, estimated parameters are:
and the ionospheric delay, satellite phase deviation and other parameters can be obtained by processing a new observation equation through epoch-by-epoch filtering.
wherein ,d r,DCB ＝d r,2 -d r,1
and />Respectively new, estimated receiver clock bias, satellite clock bias, zenithal tropospheric wet delay, ionospheric delay, receiver pseudorange hardware delay, satellite pseudorange hardware delay, receiver phase bias, satellite phase bias and ambiguity, < >>Is the hardware delay offset between receivers r and p.
S4, aiming at the user terminal u, constructing an observation equation for solving coordinates by the user terminal:
wherein For ionospheric delay values in the vicinity of subscriber stations interpolated from the solved ionospheric delay information, as pseudo-observations, +.>For unit vector from station to satellite, deltax u (i) The correction value of the coordinates is obtained by the following specific forms:
the correction delta x of the user end position can be obtained by utilizing a filtering solution mode u (i) And correcting the coordinate value to the initial position of the user end to obtain an accurate coordinate value.
wherein , and />The method comprises the steps of calculating a receiving clock difference, a troposphere zenith wet delay, an ambiguity parameter, a pseudo-range hardware delay, a user side pseudo-range hardware delay geometry independent combination value, an ionosphere bias delay and a receiver phase deviation for a user side respectively.
According to the invention, the pseudo observation information of the ionosphere delay constraint is added on the basis of the regional observation station network non-difference non-combination observation equation, so that the information such as the ionosphere delay can be accurately estimated. The user terminal uses the corresponding ionosphere delay information to rapidly realize high-precision positioning application.
Compared with the prior art, the method has the following advantages:
(1) When the data of the observation station network is processed, the satellite clock error, satellite phase deviation, ionosphere delay, troposphere delay and the like can be solved through fixing the satellite orbit, so that the enhanced correction information applicable to the PPP-RTK user side can be solved;
(2) When processing the data of the observation station network, the inter-satellite DCB difference can be obtained by increasing the pseudo observed quantity of the ionosphere constraintAs parameter estimation, when the user uses the network end ionosphere delay value to perform interpolation, the interpolation value contains the receiver code deviation combination of the reference station, so that the position estimation of the user is not influenced;
(3) When the data of the observation station network is processed, the robustness of the network model is enhanced by adding the pseudo observed quantity of ionosphere constraint, so that various parameters are more reasonable, and a user can construct an observation equation more conveniently when using the system;
(4) The method is suitable for the GNSS dual-frequency and above satellite navigation system.
The invention also provides 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 steps of the ionospheric weighted non-differential non-combination PPP-RTK technique implementation method when executing the program.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.

Claims (3)

1. An implementation method of ionosphere weighted non-differential non-combination PPP-RTK technology is characterized by comprising the following steps:
s1, selecting pseudo-range and phase observation data of a GNSS single-system area tracking station network, and constructing a single-system double-frequency original observation equation; the original observation equation of the single-system double frequencies constructed in the S1 is as follows:
wherein E (-) represents the desired operator, and />Respectively representing pseudo-range and phase observations, the station star distance and tropospheric delay contained in the pseudo-range and phase observations being corrected in advance, c representing the speed of light, s representing the satellite number, r representing the receiver number, j representing the frequency band number, i representing the epoch number, dt r and dts Is the receiver and satellite clock difference, τ r For zenithal tropospheric wet retardation τ r Is +.>Representing ionospheric delay, +.>Coefficient of->Lambda is the ratio between the ionospheric delay of the corresponding frequency j and the 1 st frequency j For the wavelength corresponding to the frequency j, d r,j and />Pseudo-range hardware delay, delta, representing receiver r and satellite s corresponding to frequency j r,j and />Representing the phase deviation of the receiver r from the corresponding frequency j of the satellite s,/>Integer ambiguity corresponding to the frequency j between the receiver r and the satellite s;
s2, adding a pseudo observation equation of ionosphere constraint; n stations (r=1,., n) in the regional reference network, all stations of each epoch look at m satellites together (s=1,., m);
the pseudo observation equation of the ionosphere constraint in the S2 is as follows:where p is the station selected as the reference in the single difference processing, and the corresponding weight information is w=s -1 Wherein W and S are respectively a weight matrix and a covariance matrix corresponding to the pseudo-observation equation, and have wherein />h ab To measure the distance between stations a and b, h 0 ＝200km，E s For the altitude of the corresponding satellite s +.>C is the Cronecker product operator l ＝0.3m；
S3, eliminating rank deficiency of the original observation equation and the pseudo observation equation by using an S-basic rank deficiency elimination method, and constructing a new observation equation; the new observation equation is processed through epoch-by-epoch filtering, and ionosphere delay information and satellite phase deviation are obtained; the new observation equation obtained in the step S3 is as follows:
the specific form of the new, estimated parameters are:
wherein ,
and />Respectively new, estimated receiver clock bias, satellite clock bias, zenithal tropospheric wet delay, ionospheric delay, receiver pseudorange hardware delay, satellite pseudorange hardware delay, receiver phase bias, satellite phase bias and ambiguity, < >>Is the hardware delay offset between receivers r and p;
s4, aiming at the user side, constructing an observation equation for solving the coordinates by the user side; and the correction of the user end position is obtained by utilizing a filtering solution mode, and the correction is corrected to the initial position of the user end to obtain the user end
Coordinate values;
the observation equation for resolving the coordinates of the user terminal constructed in the step S4 is as follows:
where the subscript u denotes the client user receiver,for ionospheric delay values in the vicinity of subscriber stations interpolated from the solved ionospheric delay information, as pseudo-observations, +.>For unit vector from station to satellite, deltax u (i) The correction value of the coordinates is obtained by the following specific forms:
the correction delta x of the user end position can be obtained by utilizing a filtering solution mode u (i) Will Deltax u (i) Correcting to the initial position of the user end to obtain a coordinate value;
wherein , and />The method comprises the steps of calculating a receiving clock difference, a troposphere zenith wet delay, an ambiguity parameter, a pseudo-range hardware delay, a user side pseudo-range hardware delay geometry independent combination value, an ionosphere bias delay and a receiver phase deviation for a user side respectively.
2. The ionospheric weighted non-differential non-combining PPP-RTK technique implementation of claim 1, wherein the GNSS single system area tracking station network pseudo-range and phase observation data of S1 is: the data is observed by the second Beidou system with double or triple frequencies, the third Beidou system with double or triple frequencies, the GPS system with double or triple frequencies, the GLONASS system with double frequencies and the Galileo system with double, triple or quadruple frequencies.
3. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the ionospheric weighted non-differential non-combining PPP-RTK technique implementation method according to claim 1 or 2 when the program is executed by the processor.
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