CN115166796A - Baseline double-difference ambiguity fixed solution verification method, device and storage medium - Google Patents

Baseline double-difference ambiguity fixed solution verification method, device and storage medium Download PDF

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CN115166796A
CN115166796A CN202210686744.8A CN202210686744A CN115166796A CN 115166796 A CN115166796 A CN 115166796A CN 202210686744 A CN202210686744 A CN 202210686744A CN 115166796 A CN115166796 A CN 115166796A
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double
ambiguity
fixed
solution
difference
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王江林
李宁
闫少霞
文述生
肖浩威
潘伟锋
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South GNSS Navigation Co Ltd
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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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • 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
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS

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Abstract

The invention is applied to network RTK positioning and discloses a baseline double-difference ambiguity fixed solution verification method, which comprises the following steps: obtaining the fixed baseline double-difference ambiguity, and calculating the residual error and suboptimal solution of the ionosphere-free combined optimal solution of each satellite according to the fixed baseline double-difference ambiguity and the coordinate information of the reference station; acquiring observation data of a plurality of epochs and calculating a plurality of time sequences of residual errors of the ionosphere-free combination optimal solution and a plurality of time sequences of residual errors of the ionosphere-free combination suboptimal solution according to the observation data of the plurality of epochs; and judging whether the double-difference ambiguity of the fixed baseline is fixed and correct or not according to the plurality of time sequences of the residual error of the optimal solution of the ionosphere-free combination and the plurality of time sequences of the residual error of the suboptimal solution of the ionosphere-free combination. The method can solve the problem that the existing double-difference ambiguity check on the fixed base line is not accurate. The invention also discloses a baseline double-difference ambiguity fixed solution calibration device and a storage medium.

Description

Baseline double-difference ambiguity fixed solution verification method, device and storage medium
Technical Field
The invention relates to the technical field of network RTK positioning, in particular to a baseline double-difference ambiguity fixed solution verification method, a baseline double-difference ambiguity fixed solution verification device and a storage medium.
Background
Network RTK (Real-time kinematic) refers to a self-phase carrier-phase differential technique, which is a differential method for processing carrier-phase observations of two measurement stations in Real time, and most commonly includes a Virtual Reference Station (VRS) technique and an FKP technique.
The virtual reference station is a relatively general technology, and particularly, a plurality of GNSS satellites are established in a certain area to continuously track a reference station (also called a reference station) so as to cover the area, so as to provide real-time high-precision error correction information for a positioning user in the area, so that the user obtains high-precision positioning information, and the technology is called a network RTK technology. Where the coordinates of these reference stations are known, in network RTK techniques a virtual reference station is generated in the vicinity of the user using the coordinate information of these reference stations. Therefore, when positioning calculation is carried out, firstly, double-difference ambiguity among all reference stations is calculated, then, double-difference atmospheric errors are solved, and then, the atmospheric errors of the virtual reference stations are obtained by utilizing an interpolation method, so that a virtual observation value is obtained; thus, the user can use the virtual observations of the virtual reference station for differential positioning. Because the virtual reference station is very close to the user, the initialization time and the initialization precision of the user need to be ensured when the user performs the RTK positioning, and therefore, the precision of the virtual observation value of the virtual reference station becomes one of the key factors influencing the quality of the network RTK service. The accuracy of the virtual observation depends on the accuracy of error correction, which in turn depends on whether the calculated baseline double-difference ambiguity is correct. Therefore, in the network RTK positioning resolving process, a method for verifying the baseline double-difference ambiguity is urgently needed to verify the baseline double-difference ambiguity. However, most of the existing verification methods for baseline double-difference ambiguity at present have the problems of inaccurate verification and the like, so that the calculation accuracy of subsequent virtual observed values is further caused, and the positioning of a user is influenced.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the present invention is to provide a baseline double-difference ambiguity fixed solution verification method, which can solve the problems that the existing baseline double-difference ambiguity fixed solution verification method is inaccurate, and the like.
The second purpose of the present invention is to provide a baseline double-difference ambiguity fixed solution calibration apparatus, which can solve the problem that the existing baseline double-difference ambiguity fixed calibration method is inaccurate.
The invention also aims to provide a storage medium which can solve the problems that the existing baseline double-difference ambiguity fixed check method is inaccurate and the like.
One of the purposes of the invention is realized by adopting the following technical scheme:
a baseline double-difference ambiguity fixed solution verification method comprises the following steps:
an acquisition step: obtaining a baseline double-difference ambiguity fixed solution, wherein the baseline double-difference ambiguity fixed solution comprises fixed solutions of double-difference ambiguities of an L1 carrier and an L2 carrier;
residual error calculation step: obtaining ionospheric-free observed values of a plurality of epochs, and solving by combining a fixed solution of double-difference ambiguity of two carriers to obtain a residual error of the ionospheric-free combination optimal solution and a residual error of the ionospheric-free combination suboptimal solution, and a time sequence corresponding to the residual error of the ionospheric-free combination optimal solution and a time sequence corresponding to the residual error of the ionospheric-free combination suboptimal solution;
a judging step: and judging whether the baseline double-difference ambiguity fixed solution meets the requirement or not according to the time sequence of the residual error of the non-ionosphere combination optimal solution and the time sequence of the residual error of the non-ionosphere combination suboptimum solution.
Further, the judging step specifically includes: firstly, calculating the root mean square of the time sequence of the residual error of the non-ionospheric combination optimal solution and the root mean square of the time sequence of the residual error of the non-ionospheric combination suboptimal solutionThen, judging whether the baseline double-difference ambiguity fixing solution meets the requirement or not according to the ratio of the two root mean square; the calculation formula of the root mean square rms of the time series is as follows:
Figure BDA0003698248600000031
ν i is the time series of the ith epoch; m is the total number of epochs, i belongs to [1,m ]]。
Further, in the judging step, when the ratio of the two root mean square values is greater than a preset threshold, the fixed baseline double-difference ambiguity meets the requirement.
Further, the acquiring step further comprises:
and (3) fixed wide lane ambiguity calculation step: calculating to obtain fixed widelane ambiguity according to the MW combination method;
and (3) calculating the fuzziness of the ionosphere-free layer: acquiring an ionosphere-free combination and estimating the ionosphere-free combination according to a Kalman filtering algorithm to obtain an ionosphere-free ambiguity;
and a fixed baseline double-difference ambiguity calculation step: and calculating the double-difference ambiguity of the L1 carrier and the double-difference ambiguity of the L2 carrier according to the ionosphere-free ambiguity and the fixed widelane ambiguity, and obtaining a double-difference ambiguity fixed solution of the L1 carrier and a double-difference ambiguity fixed solution of the L2 carrier by adopting an LAMBDA search algorithm.
Further, wherein the fixed widelane ambiguity is calculated by the following formula:
Figure BDA0003698248600000032
wherein, N wl Is a fixed widelane ambiguity;
φ mw ＝φ wl -P nl (ii) a In the formula, phi mw For the width lane ambiguity, phi wl For combinations of carrier waves and wide lanes, P nl Combining pseudo range and narrow lane;
carrier wave wide lane combination phi wl Comprises the following steps:
Figure BDA0003698248600000033
φ 1 、φ 2 l1 carrier waves and L2 carrier waves respectively; f. of 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively;
pseudo range narrow lane combination P nl Comprises the following steps:
Figure BDA0003698248600000034
P 1 、P 2 the pseudoranges of the L1 carrier and the L2 carrier are respectively obtained.
Further, the calculation formula of the double-difference ambiguity of the L1 carrier is as follows:
Figure BDA0003698248600000041
wherein N is 1 Double-difference ambiguity for L1 carrier, N if Is free of ionospheric ambiguities, N wl Is a fixed widelane ambiguity;
the double-difference ambiguity of the L2 carrier is N 2 ＝N wl -N 1 (ii) a Wherein N is 2 Is the double-difference ambiguity for the L2 carrier.
Further, the calculation formula of the non-ionized layer combination is as follows:
Figure BDA0003698248600000042
wherein phi is if Is a non-ionized layer combination;
Figure BDA0003698248600000043
is a narrow lane wavelength, c is a beam in vacuum, f 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively; t is tropospheric delay; ρ is the geometric distance between the satellite and the reference station.
Further, the equation for the ionosphere-free combined residual is:
Figure BDA0003698248600000044
wherein ν is an ionosphere-free combined residual error;
Figure BDA0003698248600000045
the combined observations were without ionosphere.
The second purpose of the invention is realized by adopting the following technical scheme:
the invention discloses a baseline double-difference ambiguity fixed solution verification device which comprises a memory and a processor, wherein a fixed baseline double-difference ambiguity fixed solution verification program running on the processor is stored in the memory, the baseline double-difference ambiguity fixed solution verification program is a computer program, and the steps of the baseline double-difference ambiguity fixed solution verification method adopted by the invention are realized when the processor executes the baseline double-difference ambiguity fixed solution verification program.
The third purpose of the invention is realized by adopting the following technical scheme:
a storage medium, the storage medium being a computer readable storage medium having stored thereon a computer program, the computer program being a baseline double-differenced ambiguity fixed solution verification program, the baseline double-differenced ambiguity fixed solution verification program being executed by a processor for the steps of a baseline double-differenced ambiguity fixed solution verification method as employed by one of the objects of the present invention.
Compared with the prior art, the invention has the beneficial effects that:
according to the method, the ionospheric-free combined residual errors are solved by adopting an optimal solution and a suboptimal solution mode according to the calculated double-difference ambiguity of the fixed base line and the known coordinate system information of the reference station to obtain two groups of ionospheric-free combined residual errors, the time sequence of the two groups of ionospheric-free combined residual errors is calculated by adopting observation data of a plurality of epochs, and then whether the fixation of the double-difference ambiguity of the fixed base line meets the requirements or not is judged according to the time sequence.
Drawings
Fig. 1 is a flowchart of a baseline double-difference ambiguity fixing solution verification method.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example one
The invention provides a baseline double-difference ambiguity fixed solution verification method, which is characterized in that a non-ionosphere combined residual error is calculated by using a known coordinate of a reference station and a calculated fixed baseline double-difference ambiguity, two groups of non-ionosphere combined residual errors are obtained by using an optimal combination and a suboptimal combination, a time sequence of the two groups of non-ionosphere combined residual errors can be obtained by using observation data of a plurality of epochs, and whether the fixation of the fixed baseline double-difference ambiguity meets the requirement or not is judged by the two groups of time sequences. The ambiguity check of the invention is more accurate, and is beneficial to improving the precision of the subsequent virtual observed value.
The present invention provides a preferred embodiment, a baseline double-difference ambiguity fixing solution verification method, as shown in fig. 1, including the following steps:
s1, obtaining a baseline double-difference ambiguity fixed solution. Where the baseline double-difference ambiguity fixed solution includes a fixed solution of double-difference ambiguities for two carriers, i.e., a fixed solution of double-difference ambiguities for the L1 carrier and a fixed solution of double-difference ambiguities for the L2 carrier. The invention aims to judge whether the fixed solution of the double-difference ambiguity of two carriers meets the requirement or not.
Preferably, when the network RTK virtual reference station is used for positioning, the baseline double-difference ambiguity is resolved firstly, then the baseline double-difference ambiguity is fixed, then the double-difference ionosphere correction number and the troposphere correction number are calculated by combining the known coordinates of the reference station, finally the ionosphere error and the troposphere error can be obtained according to an interpolation algorithm, and further the calculation of the observed value of the network RTK virtual reference station is realized.
The solution to the baseline double-difference ambiguity generally includes three parts: firstly, fixed widelane ambiguity and ionosphere-free ambiguity are obtained through calculation, then, double-difference ambiguity of two carriers is obtained through calculation according to the fixed widelane ambiguity and the ionosphere-free ambiguity, and then, the double-difference ambiguity is respectively fixed to obtain a corresponding double-difference ambiguity fixing solution.
The fixed widelane ambiguity is calculated by adopting a MW combination method to obtain the widelane ambiguity, and then the widelane ambiguity is smoothed according to observation data of a plurality of epochs to obtain the fixed widelane ambiguity.
Figure BDA0003698248600000061
Wherein N is wl Is a fixed widelane ambiguity; phi is a unit of mw Is the widelane ambiguity.
The calculation formula of the wide lane ambiguity is as follows: phi is a unit of mw ＝φ wl -P nl (2)。
Wherein phi mw Is the width lane ambiguity phi wl For carrier-wave wide-lane combinations, P nl And combining pseudo range and narrow lane.
Preferably, the carrier is wide-lane combined phi wl Comprises the following steps:
Figure BDA0003698248600000071
φ 1 、φ 2 l1 carrier waves and L2 carrier waves respectively; f. of 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively;
pseudo-range narrow lane combination P nl Comprises the following steps:
Figure BDA0003698248600000072
P 1 、P 2 the pseudorange of the L1 carrier wave and the pseudorange of the L2 carrier wave are respectively expressed in meters.
Preferably, the ionospheric-free ambiguity is based on the acquired ionospheric-free combination and the ionospheric-free combination is estimated based on a Kalman filtering algorithm to derive the ionospheric-free ambiguity.
Wherein, the calculation formula of the non-ionized layer combination is as follows:
Figure BDA0003698248600000073
wherein phi is if Is a non-ionized layer combination;
Figure BDA0003698248600000074
is a narrow lane wavelength, c is a light beam in vacuum; t is tropospheric delay; ρ is the geometric distance between the satellite and the reference station, also called the satellite-satellite geometric distance; n is a radical of 1 、N 2 The two-difference ambiguity of the L1 carrier and the two-difference ambiguity of the L2 carrier are respectively.
The ionospheric-free blur degree is found by estimating from the ionospheric-free combination calculated according to equation (3).
The specific calculation formula of the double-difference ambiguity of the two carriers is calculated according to the ionosphere-free ambiguity and the fixed widelane ambiguity as follows:
double-difference ambiguity N for L1 carrier 1 Comprises the following steps:
Figure BDA0003698248600000075
wherein N is if No ionospheric haze.
And obtaining the double-difference ambiguity of the L2 carrier according to the relation between the double-difference ambiguity of the two carriers and the fixed widelane ambiguity. In particular, double-difference ambiguity N for L2 carrier 2 Is N 2 ＝N wl -N 1 。
And S2, obtaining ionospheric-free observed values of a plurality of epochs, and solving by combining the double-difference ambiguity fixed solutions of two carriers to obtain a residual error of an ionospheric-free combination optimal solution and a residual error of an ionospheric-free combination suboptimal solution, and a time sequence corresponding to the residual error of the ionospheric-free combination optimal solution and a time sequence corresponding to the residual error of the ionospheric-free combination suboptimal solution.
The calculation formula of the non-ionized layer combined residual error is as follows:
Figure BDA0003698248600000081
wherein v is electrolessA separation layer combination residual error;
Figure BDA0003698248600000082
the combined observations were without ionosphere.
More specifically, according to the formula (3) and the formula (4), the ionosphere-free combined residual v is obtained as follows:
Figure BDA0003698248600000083
and S3, judging whether the baseline double-difference ambiguity fixed solution meets the requirement or not according to the time sequence of the residual error of the ionosphere-free combination optimal solution and the time sequence of the residual error of the ionosphere-free combination suboptimal solution.
And when the baseline double-difference ambiguity fixing solution meets the requirement, entering network RTK positioning.
Preferably, step S3 further comprises: firstly, calculating the root mean square of the time sequence of the residual error of the non-ionosphere combination optimal solution and the root mean square of the time sequence of the residual error of the non-ionosphere combination suboptimum solution, and then judging whether the baseline double-difference ambiguity fixed solution meets the requirement or not according to the ratio of the two root mean square.
Specifically, the calculation formula of the root mean square rms of the time series is:
Figure BDA0003698248600000084
wherein v is i Is a time series of the ith epoch; m is the total number of epochs, i belongs to [1,m ]]。
That is, in this embodiment, it is further specified that, when the ratio of the two root mean square values is greater than the preset threshold, the fixed baseline double-difference ambiguity meets the requirement.
Specifically, the root mean square of the time series of residuals of the ionosphere-free combination optimal solution is set to rms 1 ：
Figure BDA0003698248600000091
Similarly, there is no ionized layer combinationRoot mean square rms of time series of suboptimal solution residuals 2 Comprises the following steps:
Figure BDA0003698248600000092
wherein rms 1 、rms 2 The root mean square of the time series of the residual error of the non-ionospheric combination optimal solution and the root mean square of the time series of the residual error of the non-ionospheric combination suboptimal solution are respectively,
Figure BDA0003698248600000094
respectively, the time sequence of the ith epoch of the residual error of the optimal solution of the ionospheric-free combination and the time sequence of the ith epoch of the residual error of the suboptimal solution of the ionospheric-free combination.
Preferably, the rms is set in this embodiment 2 /rms 1 And when the sum of the two carrier waves is greater than the preset threshold value, the double-difference ambiguity fixed solution of the two carrier waves is considered to meet the requirement.
The preset threshold in this embodiment is set empirically, and is manually defined in advance according to the altitude angle of the satellite. For example, the larger the altitude angle of the satellite, the smaller the setting value of the preset threshold value.
Preferably, the preset threshold value ranges are: 1.5 to 3.
Preferably, the present invention further comprises: and calculating double-difference ionosphere correction number and troposphere correction number according to the fixed baseline double-difference ambiguity which passes the verification and the tenant information of the two reference stations, and then calculating ionosphere errors and troposphere errors of the virtual reference stations through an interpolation algorithm according to the double-difference ionosphere correction number and the troposphere correction number so as to calculate the observed values of the virtual reference stations and realize the RTK positioning of the network.
The calculation formula of the double difference ionospheric correction is as follows:
Figure BDA0003698248600000093
the tropospheric delay correction is calculated by the formula:
Figure BDA0003698248600000101
wherein, I 1 Is a double difference ionospheric correction number, T 1 The tropospheric delay correction number.
The method for determining whether the double-difference ambiguity fixing of the reference station is correct or not realizes the verification of the calculated double-difference ambiguity fixing solution by adopting the reference station with known coordinates, and can greatly improve the accuracy and reliability of the verification.
Example two
The baseline double-difference ambiguity fixed solution verification device comprises a memory and a processor, wherein a baseline double-difference ambiguity fixed solution verification program running on the processor is stored in the memory, the baseline double-difference ambiguity fixed solution verification program is a computer program, and the processor executes the baseline double-difference ambiguity fixed solution verification program to realize the following steps:
an acquisition step: obtaining a baseline double-difference ambiguity fixed solution, wherein the baseline double-difference ambiguity fixed solution comprises a fixed solution of double-difference ambiguities of an L1 carrier and an L2 carrier;
residual error calculation step: obtaining ionospheric-free observed values of a plurality of epochs, and solving by combining a fixed solution of double-difference ambiguity of two carriers to obtain a residual error of the ionospheric-free combination optimal solution and a residual error of the ionospheric-free combination suboptimal solution, and a time sequence corresponding to the residual error of the ionospheric-free combination optimal solution and a time sequence corresponding to the residual error of the ionospheric-free combination suboptimal solution;
a judging step: and judging whether the baseline double-difference ambiguity fixed solution meets the requirement or not according to the time sequence of the residual error of the ionosphere-free combination optimal solution and the time sequence of the residual error of the ionosphere-free combination suboptimal solution.
Further, the judging step specifically includes: firstly, calculating the root mean square of the time sequence of the residual error of the non-ionospheric combination optimal solution and the root mean square of the time sequence of the residual error of the non-ionospheric combination suboptimal solution, and then calculating the root mean square of the time sequence of the residual error of the non-ionospheric combination suboptimal solution according to the root mean square of the two root mean squareJudging whether the baseline double-difference ambiguity fixed solution meets the requirement or not according to the ratio; the calculation formula of the root mean square rms of the time series is as follows:
Figure BDA0003698248600000102
ν i is the time series of the ith epoch; m is the total number of epochs, i belongs to [1,m ]]。
Further, in the judging step, when the ratio of the two root-mean-square values is greater than a preset threshold, the fixed baseline double-difference ambiguity meets the requirement.
Further, the acquiring step further comprises:
and (3) fixed wide lane ambiguity calculation step: calculating to obtain fixed widelane ambiguity according to the MW combination method;
and (3) calculating the fuzziness of the ionosphere-free layer: acquiring an ionosphere-free combination and estimating the ionosphere-free combination according to a Kalman filtering algorithm to obtain an ionosphere-free ambiguity;
and a fixed baseline double-difference ambiguity calculation step: and calculating the double-difference ambiguity of the L1 carrier and the double-difference ambiguity of the L2 carrier according to the ionosphere-free ambiguity and the fixed widelane ambiguity, and obtaining a double-difference ambiguity fixed solution of the L1 carrier and a double-difference ambiguity fixed solution of the L2 carrier by adopting an LAMBDA search algorithm.
Further, wherein the fixed widelane ambiguity is calculated by the following formula:
Figure BDA0003698248600000111
wherein N is wl Is a fixed widelane ambiguity;
φ mw ＝φ wl -P nl (ii) a In the formula, phi mw For the width lane ambiguity, phi wl For combinations of carrier waves and wide lanes, P nl Combining pseudo range and narrow lane;
carrier wave wide lane combination phi wl Comprises the following steps:
Figure BDA0003698248600000112
φ 1 、φ 2 l1 carrier waves and L2 carrier waves respectively; f. of 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively;
pseudo range narrow lane combination P nl Comprises the following steps:
Figure BDA0003698248600000113
P 1 、P 2 the pseudorange of the L1 carrier and the pseudorange of the L2 carrier are set, respectively.
Further, the calculation formula of the double-difference ambiguity of the L1 carrier is as follows:
Figure BDA0003698248600000121
wherein, N 1 Double-difference ambiguity for L1 carrier, N if Is free of ionospheric ambiguities, N wl Is a fixed widelane ambiguity;
the double-difference ambiguity of the L2 carrier is N 2 ＝N wl -N 1 (ii) a Wherein, N 2 Is the double-difference ambiguity for the L2 carrier.
Further, the calculation formula of the non-ionized layer combination is as follows:
Figure BDA0003698248600000122
wherein phi is if Is a non-ionized layer combination;
Figure BDA0003698248600000123
is a narrow lane wavelength, c is a beam in vacuum, f 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively; t is tropospheric delay; ρ is the geometric distance between the satellite and the reference station.
Further, the equation for the ionosphere-free combined residual is:
Figure BDA0003698248600000124
wherein v is the residue of non-ionized layer combinationA difference;
Figure BDA0003698248600000125
the combined observations were without ionosphere.
EXAMPLE III
A storage medium, the storage medium being a computer readable storage medium having stored thereon a computer program, the computer program being a baseline double-difference ambiguity fixed solution verification program, the baseline double-difference ambiguity fixed solution verification program when executed by a processor comprising the steps of:
an acquisition step: obtaining a baseline double-difference ambiguity fixed solution, wherein the baseline double-difference ambiguity fixed solution comprises a fixed solution of double-difference ambiguities of an L1 carrier and an L2 carrier;
residual error calculation step: obtaining ionospheric-free observed values of a plurality of epochs, and solving by combining a fixed solution of double-difference ambiguity of two carriers to obtain a residual error of the ionospheric-free combination optimal solution and a residual error of the ionospheric-free combination suboptimal solution, and a time sequence corresponding to the residual error of the ionospheric-free combination optimal solution and a time sequence corresponding to the residual error of the ionospheric-free combination suboptimal solution;
a judging step: and judging whether the baseline double-difference ambiguity fixed solution meets the requirement or not according to the time sequence of the residual error of the ionosphere-free combination optimal solution and the time sequence of the residual error of the ionosphere-free combination suboptimal solution.
Further, the judging step specifically includes: firstly, calculating the root mean square of a time sequence of a residual error of an ionosphere-free combined optimal solution and the root mean square of a time sequence of a residual error of an ionosphere-free combined suboptimal solution, and then judging whether a baseline double-difference ambiguity fixed solution meets the requirement or not according to the ratio of the two root mean square; the calculation formula of the root mean square rms of the time series is as follows:
Figure BDA0003698248600000131
ν i is a time series of the ith epoch; m is the total number of epochs, i belongs to [1,m ]]。
Further, in the judging step, when the ratio of the two root mean square values is greater than a preset threshold, the fixed baseline double-difference ambiguity meets the requirement.
Further, the acquiring step further comprises:
and (3) fixed widelane ambiguity calculation step: calculating to obtain fixed widelane ambiguity according to the MW combination method;
and (3) calculating the fuzziness of the ionosphere-free layer: acquiring an ionosphere-free combination and estimating the ionosphere-free combination according to a Kalman filtering algorithm to obtain an ionosphere-free ambiguity;
and a fixed baseline double-difference ambiguity calculation step: and calculating the double-difference ambiguity of the L1 carrier and the double-difference ambiguity of the L2 carrier according to the ionosphere-free ambiguity and the fixed widelane ambiguity, and obtaining a double-difference ambiguity fixed solution of the L1 carrier and a double-difference ambiguity fixed solution of the L2 carrier by adopting an LAMBDA search algorithm.
Further, wherein the fixed widelane ambiguity is calculated by the following formula:
Figure BDA0003698248600000132
wherein, N wl Is a fixed widelane ambiguity;
φ mw ＝φ wl -P nl (ii) a In the formula, phi mw For the width lane ambiguity, phi wl For carrier-wave wide-lane combinations, P nl Combining pseudo range and narrow lane;
carrier wide lane combination phi wl Comprises the following steps:
Figure BDA0003698248600000141
φ 1 、φ 2 l1 carrier waves and L2 carrier waves respectively; f. of 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively;
pseudo-range narrow lane combination P nl Comprises the following steps:
Figure BDA0003698248600000142
P 1 、P 2 the pseudoranges of the L1 carrier and the L2 carrier are respectively obtained.
Further, the calculation formula of the double-difference ambiguity of the L1 carrier is as follows:
Figure BDA0003698248600000143
wherein N is 1 Double-difference ambiguity for L1 carrier, N if Is free of ionospheric ambiguities, N wl Is a fixed widelane ambiguity;
the double-difference ambiguity of the L2 carrier is N 2 ＝N wl -N 1 (ii) a Wherein N is 2 Is the double-difference ambiguity for the L2 carrier.
Further, the calculation formula of the non-ionized layer combination is as follows:
Figure BDA0003698248600000144
wherein phi is if Is a combination without an ionized layer;
Figure BDA0003698248600000145
is a narrow lane wavelength, c is a beam in vacuum, f 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively; t is tropospheric delay; ρ is the geometric distance between the satellite and the reference station.
Further, the equation for the ionospheric-free combined residual is:
Figure BDA0003698248600000146
wherein ν is a non-ionosphere combined residual error;
Figure BDA0003698248600000151
the combined observations were without ionosphere.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention should not be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are intended to be covered by the claims.

Claims (10)

1. A baseline double-difference ambiguity fixed solution verification method is characterized by comprising the following steps:
an acquisition step: obtaining a baseline double-difference ambiguity fixed solution, wherein the baseline double-difference ambiguity fixed solution comprises fixed solutions of double-difference ambiguities of an L1 carrier and an L2 carrier;
and residual error calculation: obtaining non-ionospheric observations of a plurality of epochs, and solving by combining the fixed solutions of the double-difference ambiguity of the two carriers to obtain a residual error of the non-ionospheric combination optimal solution and a residual error of the non-ionospheric combination suboptimal solution, and a time sequence corresponding to the residual error of the non-ionospheric combination optimal solution and a time sequence corresponding to the residual error of the non-ionospheric combination suboptimal solution;
a judging step: and judging whether the baseline double-difference ambiguity fixed solution meets the requirement or not according to the time sequence of the residual error of the ionosphere-free combination optimal solution and the time sequence of the residual error of the ionosphere-free combination suboptimal solution.
2. The baseline double-difference ambiguity fixing solution verification method according to claim 1, wherein the judging step specifically comprises: firstly, calculating the root mean square of a time sequence of residual errors of the non-ionosphere combination optimal solution and the root mean square of a time sequence of residual errors of the non-ionosphere combination suboptimum solution, and then judging whether a baseline double-difference ambiguity fixed solution meets the requirement or not according to the ratio of the two root mean square; wherein, the calculation formula of the root mean square rms of the time series is as follows:
Figure FDA0003698248590000011
ν i is a time series of the ith epoch; m is the total number of epochs, i belongs to [1,m ]]。
3. The baseline double-difference ambiguity fixing and verifying method according to claim 2, wherein in the determining step, when the ratio of the two root-mean-square values is greater than a preset threshold, the fixed baseline double-difference ambiguity meets the requirement.
4. The baseline double-difference ambiguity fix-solution verification method of claim 1, wherein the obtaining step further comprises before:
and (3) fixed widelane ambiguity calculation step: calculating to obtain fixed widelane ambiguity according to the MW combination method;
and (3) calculating the fuzziness of the ionosphere-free layer: acquiring an ionosphere-free combination and estimating the ionosphere-free combination according to a Kalman filtering algorithm to obtain an ionosphere-free ambiguity;
and a fixed baseline double-difference ambiguity calculation step: and calculating double-difference ambiguity of the L1 carrier and double-difference ambiguity of the L2 carrier according to the ionosphere-free ambiguity and the fixed widelane ambiguity, and obtaining a double-difference ambiguity fixed solution of the L1 carrier and a double-difference ambiguity fixed solution of the L2 carrier by adopting an LAMBDA search algorithm.
5. The baseline double-difference ambiguity fixed solution verification method of claim 4, wherein the fixed widelane ambiguity is calculated as:
Figure FDA0003698248590000021
wherein N is wl Is a fixed widelane ambiguity;
φ mw ＝φ wl -P nl (ii) a In the formula, phi mw For the width lane ambiguity, phi wl For combinations of carrier waves and wide lanes, P nl Combining pseudo range and narrow lane;
carrier wave wide lane combination phi wl Comprises the following steps:
Figure FDA0003698248590000022
φ 1 、φ 2 l1 carrier waves and L2 carrier waves respectively; f. of 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively;
pseudo-range narrow lane combination P nl Comprises the following steps:
Figure FDA0003698248590000023
P 1 、P 2 the pseudoranges of the L1 carrier and the L2 carrier are respectively obtained.
6. The baseline double-differenced ambiguity fixed solution verification method of claim 5, wherein the double-differenced ambiguity of the L1 carrier is calculated by the formula:
Figure FDA0003698248590000024
wherein N is 1 Double-difference ambiguity for L1 carrier, N if Is free of ionospheric ambiguities, N wl Is a fixed widelane ambiguity;
the double-difference ambiguity of the L2 carrier is N 2 ＝N wl -N 1 (ii) a Wherein N is 2 Is the double-difference ambiguity for the L2 carrier.
7. The baseline double-differenced ambiguity fixed solution verification method of claim 4, wherein the ionosphere-free combination is calculated by the formula:
Figure FDA0003698248590000031
wherein phi is if Is a non-ionized layer combination;
Figure FDA0003698248590000032
is a narrow lane wavelength, c is a beam in vacuum, f 1 、f 2 The frequency of the L1 carrier wave and the frequency of the L2 carrier wave respectively; t is tropospheric delay; ρ is the geometric distance between the satellite and the reference station.
8. The baseline double-differenced ambiguity fixed solution verification method of claim 7, wherein the equation for the ionosphere-free combined residual is:
Figure FDA0003698248590000033
wherein ν is a non-ionosphere combined residual error;
Figure FDA0003698248590000034
the combined observations were without ionosphere.
9. A baseline double-difference ambiguity fixed solution verification apparatus, comprising a memory and a processor, wherein the memory stores a fixed baseline double-difference ambiguity fixed solution verification program running on the processor, and the baseline double-difference ambiguity fixed solution verification program is a computer program, and is characterized in that the processor implements the steps of the baseline double-difference ambiguity fixed solution verification method according to any one of claims 1 to 8 when executing the baseline double-difference ambiguity fixed solution verification program.
10. A storage medium, the storage medium being a computer-readable storage medium having stored thereon a computer program, the computer program being a baseline double-differenced ambiguity fixed solution verification program, wherein the baseline double-differenced ambiguity fixed solution verification program is configured to be executed by a processor for performing the steps of a baseline double-differenced ambiguity fixed solution verification method according to any one of claims 1-8.
CN202210686744.8A 2022-06-16 2022-06-16 Baseline double-difference ambiguity fixed solution verification method, device and storage medium Pending CN115166796A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118011445A (en) * 2024-04-08 2024-05-10 高速铁路建造技术国家工程研究中心 Ambiguity fixing method and system for multiple GNSS antennas
CN118011445B (en) * 2024-04-08 2024-06-25 高速铁路建造技术国家工程研究中心 Ambiguity fixing method and system for multiple GNSS antennas

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118011445A (en) * 2024-04-08 2024-05-10 高速铁路建造技术国家工程研究中心 Ambiguity fixing method and system for multiple GNSS antennas
CN118011445B (en) * 2024-04-08 2024-06-25 高速铁路建造技术国家工程研究中心 Ambiguity fixing method and system for multiple GNSS antennas

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