CN115712130B

CN115712130B - Pseudo-range correction method and device, electronic equipment and storage medium

Info

Publication number: CN115712130B
Application number: CN202211448487.0A
Authority: CN
Inventors: 王宁波; 李子申; 李阳; 汪亮; 刘炳成
Original assignee: Aerospace Information Research Institute of CAS
Current assignee: Aerospace Information Research Institute of CAS
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-11-07
Anticipated expiration: 2042-11-18
Also published as: CN115712130A

Abstract

The embodiment of the disclosure discloses a pseudo-range correction method, a pseudo-range correction device, electronic equipment and a storage medium, wherein the pseudo-range correction method comprises the following steps: acquiring a pseudo range between a receiver and a target satellite; acquiring a deviation combination value between the receiver and each of a plurality of satellites; wherein the target satellite is one of the plurality of satellites; determining a pseudorange bias associated with a type of the receiver based on the plurality of bias combination values; and correcting the pseudo range based on the pseudo range deviation, and determining the corrected distance between the receiver and the target satellite, so that the pseudo range deviation between the receiver and the target satellite is reduced, and the observation accuracy of the pseudo range is improved.

Description

Pseudo-range correction method and device, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of satellite data processing, and in particular relates to a pseudo-range correction method, a pseudo-range correction device, electronic equipment and a storage medium.

Background

With the continuous development of global satellite navigation systems (Global Navigation Satellite System, GNSS), the application fields of the global satellite navigation systems are continuously expanded, and the global satellite navigation systems are widely applied to the service fields of the military and civil service such as geodetic survey, ocean fishing, aerospace and weapon systems.

GNSS positioning is a technique for positioning using pseudoranges, satellite transmission times, user clock errors, and the like for a set of satellites. The basic working principle is that a user receives navigation signals of not less than 4 satellites at the same time, so that pseudo-range observed quantity which is more than or equal to 4 is measured, and under the condition that the satellite coordinates, satellite clock errors and relative equipment time delay deviation among different frequency points of the satellite are known, the three-dimensional coordinates and clock errors of the receiver are calculated. However, current satellite navigation systems, such as the global positioning system (Global Positioning System, GPS) in the united states, GLONASS (GLONASS) in russia, BEIDOU (BEIDOU) in china, GALILEO (GALILEO) in the european union, all suffer from the phenomenon of pseudorange bias between the pseudoranges measured by the receiver and the true pseudoranges. The pseudo range is used as the most basic observed quantity of the satellite navigation system, and the observation precision of the pseudo range directly determines the navigation positioning precision of the system. Therefore, further improvement of the accuracy of pseudo-range observation is a highly desirable problem.

Disclosure of Invention

To solve the existing technical problems, embodiments of the present disclosure provide a pseudo-range correction method, apparatus, electronic device, and computer-readable storage medium.

In order to achieve the above object, the technical solution of the embodiments of the present disclosure is implemented as follows:

in a first aspect, an embodiment of the present disclosure provides a pseudo-range correction method, the method including:

acquiring a pseudo range between a receiver and a target satellite;

acquiring a deviation combination value between the receiver and each of a plurality of satellites; wherein the target satellite is one of the plurality of satellites;

determining a pseudorange bias associated with a type of the receiver based on the plurality of bias combination values;

correcting the pseudo range based on the pseudo range bias, and determining the corrected distance between the receiver and the target satellite.

In some embodiments, the method further comprises:

acquiring, for each satellite, a deviation detected by the receiver and an observed amount of carrier phase between the receiver and the satellite; wherein an observed quantity of the carrier phase corresponds to a frequency;

determining a dual-frequency carrier phase ionosphere-free combination and a dual-frequency carrier phase ionosphere residual combination corresponding to the satellite based on observed quantities of carrier phases of two different frequencies corresponding to the satellite;

determining a combined observed quantity after ionospheric delay, receiver clock error and tropospheric delay elimination based on a double-frequency carrier phase ionosphere-free combination, the pseudo-range and the double-frequency carrier phase ionosphere residual error combination corresponding to the satellite;

The obtaining a combined value of the receiver and the bias between each of the plurality of satellites includes:

for each satellite, determining a combined value of the deviation between the receiver and the satellite based on the combined observables and the deviation detected by the receiver.

In some embodiments, the determining the combined observables after cancellation of ionospheric delay, receiver clock bias, and tropospheric delay based on the satellite-corresponding dual-frequency carrier-phase ionospheric-free combination, the pseudorange, and the dual-frequency carrier-phase ionospheric residual combination comprises:

the dual-frequency carrier phase ionosphere-free combination corresponding to the satellite is subjected to difference with the pseudo range, and a first value after the clock difference and troposphere delay of the receiver are eliminated is determined;

and determining the combined observables after cancellation of the ionospheric delay, the receiver clock bias, and the tropospheric delay based on the dual-frequency carrier-phase ionospheric residual combination and the first value difference.

In some embodiments, the receiver-detected bias includes:

satellite pseudo-range clock bias, satellite phase clock bias, phase fractional bias, differential code bias, ionosphere-free combined ambiguity, ionosphere residual combined ambiguity.

In some embodiments, the acquiring ionospheric-free combined ambiguity includes:

acquiring the dual-bandwidth lane ambiguity and the narrow-lane ambiguity monitored by the receiver;

determining the ionospheric-free combined ambiguity based on the dual-bandwidth lane ambiguity and the narrow-lane ambiguity;

the acquiring ionospheric residual error combined ambiguity includes:

and determining the ionospheric residual error combination ambiguity based on the dual-bandwidth lane ambiguity and the narrow-lane ambiguity.

In some embodiments, the obtaining a combined value of the receiver and the bias between each of the plurality of satellites comprises:

rejecting deviation combination values which do not meet a preset standard in the deviation combination values;

determining a pseudorange bias associated with a type of the receiver based on the plurality of bias combination values, comprising:

and determining pseudo-range deviation associated with the type of the receiver based on the plurality of deviation combination values from which the deviation combination values that do not meet the preset standard are removed.

In some embodiments, the rejecting the deviation combination value of the plurality of deviation combination values that does not meet a preset standard includes:

obtaining an average value and a standard deviation of the deviation combination values based on the deviation combination values;

And if the difference value between the deviation combination value and the average value is smaller than or equal to the standard deviation of a preset multiple, eliminating the deviation combination value corresponding to the satellite.

In some embodiments, the determining pseudorange bias associated with the type of receiver based on the plurality of bias combination values comprises:

constructing a matrix equation by taking the deviation combination value corresponding to each satellite as a known term, and the pseudo-range deviation related to the type of the receiver and the performance deviation of the receiver as an unknown term;

and solving the matrix equation based on a least square method to determine pseudo-range deviation associated with the type of the receiver.

In some embodiments, the method further comprises:

acquiring an altitude of each satellite;

constructing a weight matrix of the altitude angle based on the altitude angle of each satellite;

the method for solving the matrix equation based on the least square method, determining pseudo-range deviation associated with the type of the receiver, comprises the following steps:

and solving the matrix equation based on the weight matrix of the altitude angle and the least square method, and determining pseudo-range deviation associated with the target satellite and the receiver type.

In a second aspect, embodiments of the present disclosure further provide a pseudo-range correction apparatus, the apparatus including:

A first acquisition module for acquiring a pseudo-range between the receiver and the target satellite;

a second acquisition module for acquiring a combination of biases between the receiver and each of the plurality of satellites; wherein the target satellite is one of the plurality of satellites;

a bias determination module for determining a pseudorange bias associated with a type of the receiver based on the plurality of bias combination values;

and the distance determining module is used for correcting the pseudo range based on the pseudo range deviation and determining the corrected distance between the receiver and the target satellite.

In some embodiments, the apparatus further comprises:

a third acquisition module for acquiring, for each satellite, a deviation detected by the receiver and an observed quantity of carrier phase between the receiver and the satellite; wherein an observed quantity of the carrier phase corresponds to a frequency;

the first determining module is used for determining a dual-frequency carrier phase ionosphere-free combination and a dual-frequency carrier phase ionosphere residual combination corresponding to the satellite based on observed quantities of carrier phases of two different frequencies corresponding to the satellite;

the second determining module is used for determining a combined observed quantity after ionosphere delay, receiver clock error and troposphere delay are eliminated based on the double-frequency carrier phase ionosphere-free combination, the pseudo range and the double-frequency carrier phase ionosphere residual error combination corresponding to the satellite;

The deviation determining module is configured to determine, for each satellite, a deviation combination value between the receiver and the satellite according to the combination observed quantity and the deviation detected by the receiver.

In some embodiments, the second determining module is configured to determine a first value after eliminating the receiver clock bias and tropospheric delay by differencing the ionospheric-free combination of dual-frequency carrier phases corresponding to the satellites with the pseudo-range;

In some embodiments, the receiver-detected bias includes:

In some embodiments, the third obtaining module is configured to obtain a dual-bandwidth lane ambiguity and a narrow-lane ambiguity monitored by the receiver;

a third determining module, configured to determine the ionospheric-free combined ambiguity based on the two-lane ambiguity and the narrow-lane ambiguity;

In some embodiments, the second obtaining module is configured to reject a deviation combination value that does not meet a preset standard from the plurality of deviation combination values;

the deviation determining module is used for determining pseudo-range deviation associated with the type of the receiver based on a plurality of deviation combination values after the deviation combination values which do not meet the preset standard are removed.

In some embodiments, the second obtaining module is configured to obtain an average value and a standard deviation of the deviation combined values based on the plurality of deviation combined values;

In some embodiments, the bias determination module is configured to construct a matrix equation with a bias combination value corresponding to each satellite as a known term, a pseudo-range bias associated with a type of the receiver, and a performance bias of the receiver as an unknown term;

In some embodiments, the apparatus further comprises:

the fourth acquisition module is used for acquiring the altitude angle of each satellite;

the deviation determining module is used for solving the matrix equation based on the weight matrix of the altitude angle and the least square method to determine pseudo-range deviation related to the target satellite and the receiver type.

In a third aspect, an embodiment of the present disclosure provides an electronic device, including: a processor and a memory for storing a computer program capable of running on the processor,

wherein the processor is configured to execute the steps of the pseudo-range correction method according to the first aspect when executing the computer program.

In a fourth aspect, embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the pseudo-range correction method of the first aspect described above.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

by adopting the technical scheme of the embodiment of the disclosure, the pseudo-range deviation of the type of the associated receiver is determined based on the deviation combination value between the receiver and each satellite in the plurality of satellites, then the pseudo-range between the receiver and the target satellite is corrected based on the pseudo-range deviation of the type of the associated receiver, the corrected distance between the receiver and the target satellite is determined, the pseudo-range deviation between the receiver and the target satellite is reduced, and the observation precision of the pseudo-range is improved.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present disclosure, and other drawings may be obtained according to the provided drawings without inventive effort to those of ordinary skill in the art.

Fig. 1 is a schematic diagram of a receiver according to an embodiment of the disclosure;

FIG. 2 is a flow chart of a pseudo-range correction method according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of single receiver pseudorange correction in accordance with an embodiment of the disclosure;

FIG. 4 is a second schematic diagram of pseudorange correction for a single receiver in accordance with an embodiment of the disclosure;

FIG. 5 is a schematic diagram of pseudorange corrections for multiple receivers in accordance with an embodiment of the disclosure;

FIG. 6 is a schematic diagram of a pseudo-range correction device according to an embodiment of the present disclosure;

fig. 7 is a schematic diagram of a hardware composition structure of an electronic device according to an embodiment of the disclosure.

Detailed Description

The present disclosure will be described in further detail with reference to the accompanying drawings and specific embodiments.

In the related art, a satellite performs signal broadcasting through a high-frequency carrier modulation ranging code, which is a set of binary pseudo-random sequences that have no periodicity but have extremely strong autocorrelation characteristics. After capturing and tracking signals broadcast by a satellite, a receiver reproduces a group of pseudo-random sequences which are the same as carrier modulation ranging codes broadcast by the satellite by utilizing an internal local oscillation system of the receiver, carries out correlation operation on the received pseudo-random sequences and the reproduced pseudo-random sequences, outputs time delay among the sequences, and multiplies the time delay by the light velocity in vacuum to obtain the observation distance from the satellite to the receiver, namely, the code observation quantity (pseudo-range); meanwhile, the receiver can determine the carrier phase observance by directly measuring the phase difference between the received carrier and the reproduced carrier. The receiver can perform position calculation of the receiver through the code observed quantity and the carrier phase observed quantity and output the ranging quantity.

Fig. 1 is a schematic diagram of a receiver according to an embodiment of the disclosure, where, as shown in fig. 1, the receiver is composed of a radio frequency front end module, a baseband digital signal processing module, and a positioning navigation operation module. The radio frequency front-end module receives a carrier modulation ranging code broadcast by a satellite by using an antenna, performs preliminary amplification, noise reduction, frequency reduction, digital-to-analog conversion and other processes on signals to obtain digital intermediate frequency signals, and sends the digital intermediate frequency signals to the baseband digital signal processing module; the baseband digital signal processing module demodulates, tracks and locks the received digital intermediate frequency signal, generates a measured value and a navigation message, and sends the measured value and the navigation message to the positioning navigation operation module; and the positioning navigation operation module carries out correlation and integral operation on the measured value and the navigation message to obtain the pseudo-range and carrier phase observed quantity, and outputs the pseudo-range and carrier phase observed quantity to the user interface.

When the receiver processes the received carrier modulation ranging code, the carrier modulation ranging code waveform is distorted and deformed under the influence of the bandwidth of a front-end filter in a down-converter of a radio frequency front-end module and the code spacing of a signal tracking loop correlator in a baseband digital signal processing module, so that the correlation curve peaks of the receiving code and the reproduction code are smoothly distorted, and the signal delay of the receiver is influenced by the distorted part. In general, the chip width of the carrier modulation ranging code is about 300 meters, and the ranging accuracy is in meter level; however, since the smooth distortion of the correlation peak weakens the ranging accuracy, the influence on the pseudo range may reach sub-meter level, thereby further degrading the accuracy of the pseudo range. Unlike ranging codes, the receiver can determine the observed carrier phase by directly measuring the phase difference between the received carrier and the reproduced carrier to a measurement accuracy of about 1/4 of the carrier wavelength, about 5 cm, and far higher than the ranging accuracy of the pseudorange.

With the development and wide application of high-precision positioning technology, carrier phase observance becomes the most important data source of a data processing end, but the effect of pseudo-range observance is still not replaced. GNSS high-precision positioning application technology developed based on high-precision and low-noise characteristics of carrier phase observance mainly comprises Real-time Kinematic (RTK), precision single point positioning technology (Precise Point Position, PPP) and the like, and in recent years, real-time dynamic precision single point positioning technology based on regional network enhancement, namely PPP-RTK, is developed. The pseudo range plays a role in initial calibration in high-precision positioning application, and is mainly applied to the following scenes: 1. estimating a precision clock error product; 2. ionosphere product estimation; 3. position initialization in high precision positioning applications; 4. the wide lane ambiguity in PPP ambiguity fix is fixed. In the context of the ongoing development of high-precision positioning applications, precise modeling or precise estimation of various biases in pseudoranges becomes critical.

Based on this, the embodiment of the disclosure discloses a pseudo-range correction method, fig. 2 is a schematic flow chart of the pseudo-range correction method of the embodiment of the disclosure, and as shown in fig. 2, the method includes:

S101, acquiring a pseudo range between a receiver and a target satellite;

s102, acquiring a deviation combination value between the receiver and each satellite in a plurality of satellites; wherein the target satellite is one of the plurality of satellites;

s103, determining pseudo-range deviation related to the type of the receiver based on the deviation combination values;

s104, correcting the pseudo range based on the pseudo range deviation, and determining the corrected distance between the receiver and the target satellite.

In the embodiment of the disclosure, the target satellite may be any satellite in the GNSS. The pseudo-range between the receiver and the target satellite is the code observed quantity of the target satellite to the receiver obtained by performing correlation operation after the receiver captures and tracks the carrier modulation ranging code broadcasted by the target satellite in the previous embodiment.

In the disclosed embodiment, the observed quantity (pseudo-range and carrier phase observed quantity) of the receiver contains a systematic error which can be modeled or estimated and a noise error which cannot be estimated by modeling. The systematic errors mainly comprise satellite clock differences, satellite hardware delays, receiver clock differences, receiver hardware delays, ionospheric delays, tropospheric delays, receiver type-dependent signal delays, etc. The observation noise mainly includes environmental noise, instrument noise, and the like.

In the embodiment of the disclosure, the combined value of the deviation between the receiver and the satellite is a combined value of the error value and the observed quantity of the receiver obtained by the receiver itself. That is, the receiver can obtain the combined value of the offset between the receiver and the satellite by capturing and tracking the carrier-modulated ranging code signal broadcast by the satellite. It should be noted that, the combined value of the deviation between the receiver and the satellite is associated with the type of the receiver and the satellite, and the combined value of the deviation between the receiver of the same type and different satellites may be different.

In embodiments of the present disclosure, pseudorange bias associated with a target satellite and a type of receiver may be determined based on a combined value of bias between the receiver and each of a plurality of satellites. Illustratively, the pseudorange bias of the receiver may be:

wherein, the con _i For combining the values of the deviations between the receiver and the ith satellite, B _rcvonly In order for the performance of the receiver to deviate,pseudo-range bias for the type of associated target satellite (i-th satellite) and receiver.

In the embodiment of the disclosure, due to B _rcvonly For performance bias of the receiver, this value remains unchanged when the receiver is unchanged. Thus, the receiver can obtain the correlation purpose by combining the deviation between the receiver and each of the plurality of satellites The pseudorange bias for the type of satellite and receiver.

In the embodiment of the disclosure, the pseudo-range between the receiver and the target satellite is offset from the pseudo-range of the type of the associated target satellite and the receiver, and the corrected distance between the receiver and the target satellite of the type is obtained. Illustratively, the corrected distance between the receiver and the target satellite is:

wherein,for corrected distance, +_>For the pseudo-range between receiver and target satellite, < >>For pseudorange bias associated with the target satellite and the receiver type.

In some embodiments, the pseudoranges between the receiver and the target satellite may be corrected based on pseudorange biases of associated target satellites and receiver types determined by a single receiver. FIG. 3 is a schematic diagram of pseudorange correction for a single receiver according to an embodiment of the disclosure, as shown in FIG. 3, in which RCV ₁ The correction information is pseudo-range deviation, which is the number of the receiver. Can be according to the RCV of the receiver ₁ Acquired receiver RCV ₁ Combined with the bias between each of the plurality of satellites, calculating a pseudorange bias associated with the type of target satellite and receiver, and determining the receiver RCV based on the pseudorange bias ₁ The pseudoranges to the target satellites are corrected.

In other embodiments, the pseudoranges between multiple receivers of the same type and the target satellite may be corrected based on pseudorange biases determined by a single receiver associated with the target satellite and the receiver type. FIG. 4 is a single access of an embodiment of the present disclosureSecond, as shown in FIG. 4, the receiver pseudo-range correction is shown in RCV ₁ To RCV _n For the numbering of the receiver, it can be based on the receiver RCV ₁ Acquired receiver RCV ₁ Combined with the bias between each of the plurality of satellites, calculating a pseudorange bias associated with the type of target satellite and receiver, and based on the pseudorange bias, comparing the received pseudorange bias with the receiver RCV ₁ Receiver RCV of the same type ₂ To receiver RCV _n The pseudoranges to the target satellites are corrected.

In other embodiments, pseudorange biases associated with the target satellite and the receiver type may be determined based on multiple receivers of the same type and corrected for pseudoranges between the multiple receivers of the same type and the target satellite. FIG. 5 is a schematic diagram of pseudo-range correction for multiple receivers according to an embodiment of the present disclosure, as shown in FIG. 5, wherein RCV ₁ To RCV _n+N For the numbering of the receivers, the same type of receiver RCV can be used ₁ To receiver RCV _n Acquired receiver RCV ₁ To receiver RCV _n Combined with the bias between each of the plurality of satellites, calculating a pseudorange bias associated with the type of target satellite and receiver, and based on the pseudorange bias, comparing the received pseudorange bias with the receiver RCV ₁ To receiver RCV _n Receiver RCV of the same type _n+1 To receiver RCV _n+N The pseudoranges to the target satellites are corrected.

It can be appreciated that, by adopting the technical scheme of the embodiment of the disclosure, based on the deviation combination value between the receiver and each satellite in the plurality of satellites, the pseudo-range deviation of the type of the associated receiver is determined, then the pseudo-range between the receiver and the target satellite is corrected based on the pseudo-range deviation of the type of the associated receiver, and the corrected distance between the receiver and the target satellite is determined, so that the pseudo-range deviation between the receiver and the target satellite is reduced, and the observation precision of the pseudo-range is improved.

In some embodiments, the method further comprises:

for each satellite, determining a combination of biases between the receiver and the satellite based on the combined observables and biases detected by the receiver.

In an embodiment of the present disclosure, the deviation detected by the receiver includes: satellite pseudo-range clock bias, satellite phase clock bias, phase fractional bias, differential code bias, ionosphere free combined ambiguity, and ionosphere residual combined ambiguity.

It should be noted that, by virtue of its wide distribution to GNSS ground monitoring stations throughout the world, the international GNSS service organization (International GNSS Serve, IGS) provides global users with service products required for precision positioning applications, including a precision pseudorange Clock (CCLK) product for detecting satellite pseudorange Clock, a Phase Clock (PCLK) product for detecting satellite Phase Clock, a fractional Phase deviation (Uncalibrated Phase Delays, UPD) product, and a differential Code deviation (Differential Code bias, DCB) product for detecting differential Code deviation, etc. Because the receiver contains the precise products, the receiver can directly obtain satellite pseudo-range clock difference, satellite phase clock difference, phase decimal deviation and differential code deviation.

In the disclosed embodiments, the receiver determines the carrier phase observations by directly measuring the phase difference of the received carrier and the reproduced carrier. Exemplary, receiver f ₁ Viewing of carrier phase of frequencyThe measurement is as follows:

wherein,receiver f ₁ Observed quantity of carrier phase of frequency, +.>For the geometric distance of the satellite to the receiver Δt _r For receiver clock skew, Δt ^s For satellite clock error>For tropospheric delay, ++>For the total electron content of the signal propagation path in the diagonal direction, +.>Is f ₁ Frequency wavelength, < >>Is f ₁ Frequency point observed quantity ambiguity, < >>Is f ₁ Frequency point receiver hardware delay,/->Is f ₁ Frequency satellite hardware delay, v _L Observation noise, which is an observed quantity of carrier phase.

Exemplary, receiver f ₂ The observed amount of carrier phase of frequency is:

wherein,is f ₂ Observed quantity of carrier phase of frequency, +.>For the geometric distance of the satellite to the receiver Δt _r For receiver clock skew, Δt ^s For satellite clock error>For tropospheric delay, ++>For the total electron content of the signal propagation path in the diagonal direction, +.>Is f ₂ Frequency wavelength, < >>Is f ₂ Frequency point observed quantity ambiguity, < >>Is f ₂ Frequency point receiver hardware delay,/->Is f ₂ Frequency point satellite hardware delay, v _L Observation noise, which is an observed quantity of carrier phase.

In the embodiment of the disclosure, f corresponding to a satellite ₁ Observed quantity of carrier phase corresponding to frequencyf ₂ Observed quantity of carrier phase corresponding to frequency +.>And (3) linearly combining to determine the ionosphere-free combination of the double-frequency carrier phases corresponding to the satellites. Exemplary, dual-frequency carrier-phase ionosphere-free combinations are:

wherein,for a dual-frequency carrier-phase ionosphere-free combination, < >>Receiver f ₁ Observed quantity of carrier phase of frequency, +.>Is f ₂ Observed quantity of carrier phase of frequency, +.>T is the geometric distance from the satellite to the receiver _r For receiver clock skew, t ^s For satellite clock error>Lambda for tropospheric delay _IF For linear combinations of the wavelength of the dual-frequency signal, +.>Is a linear combination of double-frequency signal ambiguities, called ionosphere-free combined ambiguity, B _r,IF Receiver hardware delay for ionosphere free combination, < >>Satellite hardware delay without ionosphere combining, v _IF Noise is observed for ionosphere free combinations.

In the embodiment of the disclosure, f based on satellite correspondence ₁ Carrier wave corresponding to frequencyPhase observancef ₂ Observed quantity of carrier phase corresponding to frequency +.>And determining a dual-frequency carrier phase ionosphere residual combination corresponding to the satellite. Exemplary, specific steps may be: first f is carried out ₁ Observed quantity of carrier phase corresponding to frequency +. >f ₂ Observed quantity of carrier phase corresponding to frequency +.>And performing difference to obtain the calculated geometric distance-free combination of the double-frequency carrier phases. The dual-frequency carrier phase non-geometric distance combination is as follows:

wherein,receiver f ₁ Observed quantity of carrier phase of frequency, +.>Is f ₂ An observed amount of carrier phase of the frequency,and->Doing difference to eliminate geometric distance +_>For a combination of dual-frequency carrier phases without geometric distance, < >>Is an ionospheric delay,For the difference of the carrier phase hardware delays at the receiver,/-, for the receiver side>V is the difference of satellite carrier phase hardware delay _GF Is free of geometrically combined noise.

Further, the dual-frequency carrier-phase ionospheric residual combination can be obtained by multiplying the dual-frequency carrier-phase geometrically-free distance combination by a frequency-dependent coefficient. The combination of the dual-frequency carrier phase ionosphere residual errors is as follows:

wherein,is f ₁ Positive ionospheric delay of frequency carrier phase, +.>Receiver hardware delay for ionospheric residual combining,/->Satellite hardware delay for ionospheric residual combining, v _IC Noise is combined for ionospheric residual error,>is a linear combination of the ambiguity of each frequency point.

In the embodiment of the disclosure, the single-frequency pseudo-range noise and the double-frequency pseudo-range differential noise are as shown in formula (8):

wherein v is _P Represents single frequency pseudo-range noise, obeys to zero mean and varianceGaussian distribution v _GF Noise representing double frequency pseudo range difference, obeying mean value zero and variance +.>Gaussian distribution, sigma _P The magnitude of (a) is typically 0.3m, and the observed error amplification effect caused by the noise term of the double-frequency pseudo-range differential observed quantity is about 1.414×0.3m. It follows that no geometric combination of the dual-frequency pseudoranges amplifies the effect of noise.

In the embodiment of the disclosure, for determining the pseudo-range deviation of the type of the associated receiver, the influence caused by pseudo-range noise amplification should be avoided as much as possible, so the pseudo-range in the disclosure is a single-frequency pseudo-range between the receiver and the target satellite. Exemplary, pseudo ranges are:

wherein,for pseudo-range observations, ++>T is the geometric distance from the satellite to the receiver _r For receiver clock skew, t ^s For satellite clock error>For tropospheric delay, ++>For the total electron content of the signal propagation path in the oblique direction, v _P Is pseudo-Noise from observation->For receiver hardware delay, ++>For satellite hardware delay, ++>Pseudo-range bias for the associated receiver type.

In an embodiment of the disclosure, based on the dual-frequency carrier-phase ionosphere-free combination, the pseudo-range and the dual-frequency carrier-phase ionosphere residual combination in the previous embodiment, a combined observed quantity with ionosphere delay, receiver clock difference and troposphere delay eliminated in the pseudo-range is determined. Exemplary, combined observables are:

Wherein t is ^s For the satellite clock-difference,satellite-side phase hardware delay for ionosphere-free combination,/->Is f ₁ Frequency point satellite hardware delay lambda _IF For linear combinations of the wavelength of the dual-frequency signal, +.>A linear combination of dual-frequency signal ambiguities, referred to as ionospheric-free combination ambiguities; />A linear combination of dual-frequency ambiguities, referred to as ionospheric residual ambiguity; b (B) _r,IF Receiver phase hardware delay for ionosphere free combination,/->Receiver phase hardware delay for ionospheric residual combining, +.>Pseudo-range hardware delay for receiver,/-, for>Pseudo-range bias for the associated receiver type.

In the embodiment of the disclosure, the following terms can be obtained after decomposing the formula (10):

wherein t is ^s For the satellite clock-difference,satellite pseudo-range hardware delay for ionosphere-free combination, < >>Is f ₁ 、f ₂ Differential code deviation between two frequency point signals, < >>Satellite-side phase hardware delay for ionosphere-free combination,/->Is f ₁ Frequency point satellite phase hardware delay +_>Is f ₂ Frequency point satellite phase hardware delay lambda _IF For linear combinations of the wavelength of the dual-frequency signal, +.>A linear combination of dual-frequency signal ambiguities, referred to as ionospheric-free combination ambiguities; />Linear combination of ambiguity of each frequency point; b (B) _r,IF Receiver phase hardware delay for ionosphere free combination,/->Receiver phase hardware delay for ionospheric residual combining, +.>Pseudo-range hardware delay for receiver,/-, for>Pseudo-range bias for the associated receiver type.

According to the foregoing embodiments, the receiver includes precision products, and the receiver can directly obtain satellite pseudo-range clock difference, satellite phase clock difference, phase decimal deviation and differential code deviation through each analysis center. The correspondence between each precision product in the receiver and the error term is shown in the following table:

in the embodiment of the disclosure, based on the above table and the formula (11), the formula (10) may be further decomposed to obtain a corresponding relation between the combination of the biases between the receiver and the satellite and the pseudo-range bias of the type of the associated receiver, and the performance bias of the receiver.

Wherein,for combined viewMeasurement of CCLK ^s Is satellite pseudo-range clock difference and PCLK ^s Satellite phase clock difference, UPD phase fractional deviation, DCB differential code deviation, products _PPP-AR Sum value of combined ambiguity without ionosphere and combined ambiguity of ionosphere residual error, B _rcvonly Residual error associated with the receiver only, < >>Pseudo-range bias associated with the type of receiver.

In the embodiment of the disclosure, the specific process of decomposing the formula (10) into the formula (11) item by item is as shown in the formulas (13) to (15):

wherein,represents f ₁ 、f ₂ Differential code deviation between two frequency point signals, < >>Satellite pseudo-range hardware delay, t, for ionosphere-free combining ^s Is satellite clock error.

In the embodiment of the disclosure, since the satellite pseudo-range clock difference provided by the CCLK uses the dual-frequency pseudo-range ionosphere-free combination as the estimated observed quantity, for example, the precise satellite pseudo-range clock difference of the Beidou is based on the B1/B3 ionosphere-free combination, and the GPS is based on the L1/L2 ionosphere-free combination. Thus, CCLK will absorb the effects of a linear combination of different frequency hardware delays as shown in equation (14):

wherein t is ^s The satellite pseudo-range clock bias provided for the precision clock bias product CCLK,representing satellite hardware delays without ionosphere combining.

Similarly, using the phase clock correction product PCLK with precise single point positioning ambiguity fixing (PPP with Ambiguity Resolution, PPP-AR), with ionosphere-free combination of phases as the estimation reference, the effect of the satellite-side fractional phase bias is included as shown in equation (15):

wherein t is ^s Representing the satellite clock difference provided by the phase clock difference product PCLK,representing satellite-side phase hardware delays without ionosphere combining.

In the embodiment of the disclosure, for each satellite, according to the combination observed quantity and the deviation detected by the receiver, determining the deviation combination between the receiver and the satellite as

Where ons is the combination of the deviations between the receiver and the satellite,for combining observed quantity, CCLK ^s Is satellite pseudo-range clock difference and PCLK ^s Satellite phase clock difference, UPD phase fractional deviation, DCB differential code deviation, products _PPP-AR Is the sum of the ionospheric-free combined ambiguity and the ionospheric residual combined ambiguity.

In the embodiment of the disclosure, for each satellite, acquiring a deviation detected by a receiver and an observed quantity of a carrier phase between the receiver and the satellite; determining a dual-frequency carrier phase ionosphere-free combination and a dual-frequency carrier phase ionosphere residual combination corresponding to the satellite based on observed quantities of carrier phases of two different frequencies corresponding to the satellite; determining a combined observed quantity after ionosphere delay, receiver clock error and troposphere delay elimination based on a double-frequency carrier phase ionosphere-free combination, a pseudo-range and a double-frequency carrier phase ionosphere residual error combination corresponding to satellites; therefore, for each satellite, the deviation combination between the receiver and the satellite can be determined according to the combination observed quantity and the deviation detected by the receiver, and the efficiency of the receiver in determining the deviation combination between the receiver and the satellite is improved.

In the embodiment of the disclosure, a dual-frequency carrier phase ionosphere-free combination corresponding to a satellite is subjected to difference with a pseudo range, and a first value after the clock difference and troposphere delay of the receiver are eliminated is determined. Illustratively, the first value is:

wherein,for pseudo-range observations, ++>For ionosphere-free combination of dual-frequency carrier phases, t ^s For satellite clock error>For ionospheric delay, lambda _IF For linear combinations of the wavelength of the dual-frequency signal, +.>Is a linear combination of double-frequency signal ambiguities, called ionosphere-free combined ambiguity, B _r,IF Receiver hardware delay for ionosphere free combination, < >>In order for the receiver hardware to be delayed,pseudo-range bias for associated receiver type, v _P-L Is the noise difference.

In an embodiment of the disclosure, the combined observables after cancellation of the ionospheric delay, the receiver clock difference, and the tropospheric delay are determined based on the difference between the dual-frequency carrier-phase ionospheric residual combination and the first value. Exemplary, combined observables are:

wherein t is ^s For the satellite clock-difference,satellite hardware delay for ionosphere free combination, < ->Satellite-side phase hardware delay for ionosphere-free combination,/->Is f ₁ Frequency point satellite hardware delay lambda _IF For linear combinations of the wavelength of the dual-frequency signal, +.>A linear combination of dual-frequency signal ambiguities, referred to as ionospheric-free combination ambiguities; />B is the linear combination of the ambiguity of each frequency point _r,IF Receiver phase hardware delay for ionosphere free combination,/->Receiver phase hardware delay for ionospheric residual combining, +.>Pseudo-range hardware delay for receiver,/-, for>Pseudo-range bias for the associated receiver type.

In the embodiment of the disclosure, a dual-frequency carrier phase ionosphere-free combination corresponding to a satellite is subjected to difference with a pseudo range, and a first value after the clock difference and troposphere delay of a receiver are eliminated is determined; based on the difference between the dual-frequency carrier-phase ionospheric residual combination and the first value, a combined observed quantity after ionospheric delay, receiver clock error, and tropospheric delay are eliminated is determined. The deviation term which cannot be directly measured by the receiver is eliminated, so that the receiver can obtain a deviation combination value between the receiver and the satellite without external equipment, and the efficiency of determining the deviation combination value by the receiver is further improved.

the acquiring ionospheric residual error combined ambiguity includes:

In the embodiment of the disclosure, compared with the code measurement pseudo-range wavelength, the carrier phase is shorter, has higher distance measurement precision, can directly measure the phase difference, and the signal distortion does not influence the phase information. Therefore, in data-site understanding, it is generally considered that the observed amount of carrier phase is not affected by signal distortion. However, the observed quantity of the carrier phase can only calculate the phase lag quantity at two ends of the signal, and the quantity of the real integer waveform can not be directly obtained. When using the observed quantity of the carrier phase, the problem of solving the whole-cycle number, namely the whole-cycle ambiguity problem, is faced, and the whole-cycle ambiguity must be fixed when using the observed quantity of the carrier phase.

In the embodiment of the disclosure, the ionospheric-free combined ambiguity is determined based on the dual-bandwidth lane ambiguity and the narrow-lane ambiguity monitored by the receiver. Illustratively, ionospheric-free combined ambiguity is:

Wherein lambda is _IF Is a linear combination of the wavelengths of the dual-frequency signal,is a linear combination of the ambiguity of the dual-frequency signal, +.>Is f ₁ Frequency-dependent ambiguity, < >>Is f ₂ Frequency-dependent ambiguity, c is the speed of light in vacuum,/->For dual bandwidth lane ambiguity, +.>Is narrow lane ambiguity.

In an embodiment of the disclosure, a widelane ambiguity and ionosphere-free combined ambiguity are calculated based on a phase decimal bias product. The PPP-AR technology generally utilizes an LAMBDA (Least-squares-squares Ambiguity Decorrelation Adjustment method) method to fix the double-bandwidth lane ambiguity, and based on ionosphere-free combined floating ambiguity in the PPP resolving process, the narrow lane ambiguity is determined as follows:

wherein,for narrow-lane ambiguity resolution, +.>And (5) combining ambiguity floating solutions for ionosphere-free.

In the embodiment of the disclosure, the ionospheric residual error combination ambiguity is determined by using the dual-bandwidth lane ambiguity and the narrow-lane ambiguity.

Wherein,i.e. the ambiguity representing the ionospheric residual combination, which can be expressed as a linear combination of the ambiguity parameters of the frequency points,/i>Represents narrow lane ambiguity, < >>Is->

It can be appreciated that, by adopting the technical scheme of the embodiment of the disclosure, the ionospheric-free combined ambiguity is determined based on the dual-bandwidth lane ambiguity and the narrow-lane ambiguity monitored by the receiver; based on the dual-bandwidth lane ambiguity and the narrow-lane ambiguity, an ionosphere residual combination ambiguity is determined. The ambiguity determining process is simple, and the calculated amount is small, so that the efficiency of the receiver for determining the combined ambiguity is improved.

In the embodiment of the disclosure, since the effect of the pseudo-range deviation is to correct the pseudo-range, the accuracy of the pseudo-range is improved, and the incorrect pseudo-range deviation cannot be used for correcting the pseudo-range, and may also make the accuracy of the pseudo-range lower. Pseudo-range bias of the type of associated receiver is determined based on the bias combination values, so it is important to reject bias combination values of the plurality of bias combination values that do not meet a preset standard.

It can be appreciated that, by adopting the technical scheme of the embodiment of the disclosure, the deviation combination value which does not meet the preset standard in the plurality of deviation combination values is removed, and the pseudo-range deviation of the type of the associated receiver is determined based on the plurality of deviation combination values which do not meet the preset standard after the deviation combination value is removed, so that the obtained pseudo-range deviation is more accurate.

In the embodiment of the disclosure, the standard deviation of the deviation combination value is exemplary:

wherein sigma is the standard deviation of the deviation combination value,and (3) for the deviation combination value of the ith satellite, mean is mean value taking processing.

In the embodiment of the disclosure, if the difference between the deviation combination value and the average value of the deviation combination values is smaller than or equal to the standard deviation of the deviation combination value of a predetermined multiple, the deviation combination value corresponding to the satellite is removed. Illustratively, when the difference between the deviation combination value and the average value is less than or equal to 3 times the standard deviation, that is, when the relationship between the difference between the deviation combination value and the average value of the deviation combination value and the standard deviation of the deviation combination value satisfies the formula (23), the deviation combination value is eliminated.

It can be appreciated that, by adopting the technical solution of the embodiment of the present disclosure, based on the average value and the standard deviation of the plurality of bias combination values as the condition of whether to reject the bias combination value corresponding to the satellite, the bias combination value that may affect the determination of the pseudo-range bias can be more accurately rejected.

In the disclosed embodiments, in basic positioning applications such as standard single point positioning (SPP, standard Point Position), the unknown parameters that the user needs to solve for include the absolute position (X, Y, Z) of the receiver and the performance bias of the receiver, where the performance bias of the receiver is considered to be a bias error term related to the receiver only. In the field of data processing, the performance deviation of the receiver is always used as a parameter to be estimated to be solved, so that the deviation difference items among different satellites are identical parts, namely the performance deviation of the receiver, and the inconsistent parts can finally influence the positioning accuracy of users. Therefore, when the pseudo-range deviation of the type of the associated receiver is determined, the problem of rank deficiency of the coefficient matrix can be solved by setting the pseudo-range deviation of the type of the associated target satellite and the receiver and the reference constraint of zero, and meanwhile, the consistent part in the deviation term is integrated into the performance deviation of the receiver, so that the pseudo-range deviation of the type of the associated target satellite and the receiver is solved.

In the embodiment of the disclosure, by taking the deviation combination value corresponding to each satellite as a known term, the pseudo-range deviation of the type of the associated receiver and the performance deviation of the receiver as an unknown term, a matrix equation is constructed as follows:

B·x＝l (24)

wherein B is a coefficient matrix, x is a parameter vector to be estimated, and l is an observation vector.

Wherein m is the total observation quantity of the receiver to all satellites, n is the epoch number, i is the satellite number, and cos is each satelliteThe combined value of the deviations corresponding to the stars, t, is the residual error associated with the receiver only, i.e. B in the previous embodiment _rcvonly ，For the pseudorange bias associated with the ith satellite and the receiver type.

In some embodiments, the pseudorange bias associated with the target satellite and the receiver type may be determined based on multiple receivers of the same type, and the coefficient matrix in equation (25), the parameter vector to be estimated, and the observation vector may be modified as follows.

Wherein,coefficient matrix B for the kth receiver, for the k-th receiver>For the combined value of the biases corresponding to all the satellites of the kth receiver, t is the residual error associated with the receiver only (B in the foregoing embodiment _rcvonly )，/>For the pseudorange bias associated with the ith satellite and the receiver type.

In the embodiment of the disclosure, a matrix equation is solved based on a least square method, and a parameter vector to be estimated obtained by solving is:

x＝(B ^T B) ^-1 B ^T l (27)

Wherein B is ^T The matrix is a rank conversion matrix of B, B is a coefficient matrix, x is a parameter vector to be estimated, and l is an observation vector.

Thus, the performance deviation t of the receiver (B in the foregoing embodiment can be calculated _rcvonly ) And associating the ith satellite with a pseudorange bias of the receiver type

It can be understood that, by adopting the technical scheme of the embodiment of the disclosure, a matrix equation is constructed by taking the deviation combination value corresponding to each satellite as a known term, the pseudo-range deviation of the type of the associated receiver and the residual error only related to the receiver as an unknown term; and solving a matrix equation based on a least square method to determine pseudo-range deviation of the type of the associated receiver, so that the pseudo-range deviation of the type of the associated target satellite and the receiver can be obtained quickly and accurately.

In some embodiments, the method further comprises:

acquiring an altitude of each satellite;

In the embodiment of the disclosure, the altitude angle of the satellite is an included angle between the connection line direction of the receiver and the satellite and the horizontal plane, and the receiver can directly acquire the altitude angle.

In the embodiment of the disclosure, when the receiver acquires the pseudo-range between the receiver and the satellite, the receiver can acquire the altitude angle ele of each satellite _i Based on the altitude angle of each satellite, a weight matrix P of the altitude angle is constructed.

Wherein P is an altitude angle weight matrix, and the altitude angle weight matrix is a diagonal matrix; the weight a priori value of the satellite zero reference can be set to 10, and in a specific implementation, the weight of the zero reference can be self-adjusted.

In the embodiment of the disclosure, a matrix equation is solved based on a weight matrix of a height angle and a least square method, and a parameter vector to be estimated obtained by solving is:

x＝(B ^T PB) ^-1 B ^T Pl (29)

wherein B is ^T The matrix is a rank conversion matrix of B, B is a coefficient matrix, x is a parameter vector to be estimated, l is an observation vector, and P is a height angle weight matrix.

It can be appreciated that, by adopting the technical scheme of the embodiment of the disclosure, the weight matrix of the altitude angle is constructed based on the altitude angle of each satellite, then the matrix equation is solved based on the weight matrix of the altitude angle and the least square method, and the pseudo-range deviation of the associated target satellite and the receiver type is determined, so that the accuracy of the pseudo-range deviation of the associated target satellite and the receiver type can be further improved.

Based on the foregoing embodiments, the embodiments of the present disclosure further provide a pseudo-range correction device, and fig. 6 is a schematic structural diagram of the pseudo-range correction device according to the embodiments of the present disclosure; as shown in fig. 6, the apparatus 200 includes:

a first acquisition module 201, configured to acquire a pseudo-range between the receiver and the target satellite;

a second acquisition module 202 for acquiring a combination of biases between the receiver and each of the plurality of satellites; wherein the target satellite is one of the plurality of satellites;

a bias determination module 203 for determining a pseudorange bias associated with the type of receiver based on the plurality of bias combination values;

a correction module 204, configured to correct the pseudo-range based on the pseudo-range bias, and determine a corrected range between the receiver and the target satellite.

In some embodiments, the apparatus further comprises:

a third obtaining module 205, configured to obtain, for each satellite, a deviation detected by the receiver and an observed quantity of carrier phase between the receiver and the satellite; wherein an observed quantity of the carrier phase corresponds to a frequency;

a first determining module 206, configured to determine a dual-frequency carrier-phase ionosphere-free combination corresponding to the satellite and a dual-frequency carrier-phase ionosphere residual combination based on observed amounts of carrier phases of two different frequencies corresponding to the satellite;

A second determining module 207, configured to determine a combined observed quantity after ionospheric delay, receiver clock error and tropospheric delay are eliminated based on a dual-frequency carrier-phase ionospheric-free combination corresponding to the satellite, the pseudo-range and the dual-frequency carrier-phase ionospheric residual combination;

the deviation determining module 203 is configured to determine, for each satellite, a deviation combination between the receiver and the satellite according to the combined observed quantity and the deviation detected by the receiver.

In some embodiments, the second determining module 207 is configured to determine a first value after eliminating the receiver clock bias and tropospheric delay by differencing the dual-frequency carrier-phase ionosphere-free combination corresponding to the satellite with the pseudo-range;

In some embodiments, the receiver-detected bias includes:

In some embodiments, the third obtaining module 205 is configured to obtain the two-lane ambiguity and the narrow-lane ambiguity monitored by the receiver;

a third determining module 208, configured to determine the ionospheric-free combined ambiguity based on the two-lane ambiguity and the narrow-lane ambiguity;

In some embodiments, the second obtaining module 202 is configured to reject a deviation combination value that does not meet a preset standard from the plurality of deviation combination values;

the bias determination module 203 is configured to determine a pseudo-range bias associated with the type of the receiver based on a plurality of bias combination values from which bias combination values that do not satisfy the preset standard are removed.

In some embodiments, the second obtaining module 202 is configured to obtain an average value and a standard deviation of the deviation combination values based on the plurality of deviation combination values;

In some embodiments, the bias determination module 203 is configured to construct a matrix equation with a bias combination value corresponding to each satellite as a known term, a pseudo-range bias associated with a type of the receiver, and a performance bias of the receiver as an unknown term;

In some embodiments, the apparatus further comprises:

a fourth acquisition module 209, configured to acquire an altitude angle of each satellite;

the bias determination module 203 is configured to determine a pseudo-range bias associated with the target satellite and the receiver type by solving the matrix equation based on the weight matrix of the altitude angle and the least square method.

In the embodiment of the disclosure, the apparatus 200 may be applied to an electronic device. The first acquisition module 201, the second acquisition module 202, the deviation determination module 203, and the correction module 204 in the apparatus 200 may be implemented by a central processing unit (CPU, central Processing Unit), a digital signal processor (DSP, digital Signal Processor), a micro control unit (MCU, microcontroller Unit), or a programmable gate array (FPGA, field-Programmable Gate Array) in practical applications.

The embodiment of the disclosure also provides electronic equipment. Fig. 7 is a schematic diagram of a hardware composition structure of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, the electronic device 300 includes a processor 301 and a memory 302 for storing a computer program capable of running on the processor 301, wherein the processor 301 is configured to execute steps of a method for processing a cloud database according to an embodiment of the disclosure when the computer program is run.

Optionally, the electronic device 300 may further comprise at least one network interface 303. The various components in the electronic device 300 are coupled together by a bus system 304. It is understood that bus system 304 is used to enable connected communications between these components. The bus system 304 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled as bus system 304 in fig. 5.

It is to be appreciated that memory 302 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Wherein the nonvolatile Memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The memory 302 described in the embodiments of the present disclosure is intended to comprise, without being limited to, these and any other suitable types of memory.

The memory 302 in the disclosed embodiments is used to store various types of data to support the operation of the electronic device 300.

The method disclosed in the embodiments of the present disclosure may be applied to the processor 301 or implemented by the processor 301. The processor 301 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry of hardware in the processor 301 or instructions in the form of software. The processor 301 may be a general purpose processor, DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 301 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present disclosure. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in the decoded processor. The software module may be located in a storage medium located in the memory 302, the processor 301 reading information in the memory 302, in combination with its hardware performing the steps of the method described above.

In an exemplary embodiment, the electronic device 300 may be implemented by one or more application specific integrated circuits (ASIC, application Specific Integrated Circuit), programmable logic devices (PLD, programmable Logic Device), complex programmable logic devices (CPLD, complex Programmable Logic Device), FPGAs, general purpose processors, controllers, MCUs, microprocessors, or other electronic elements for performing the aforementioned methods.

The disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the disclosed embodiments pseudorange correction method.

The methods disclosed in the several method embodiments provided in the present disclosure may be arbitrarily combined without collision to obtain a new method embodiment.

The features disclosed in the several product embodiments provided in the present disclosure may be combined arbitrarily without conflict to obtain new product embodiments.

The features disclosed in the several method or apparatus embodiments provided in the present disclosure may be arbitrarily combined without any conflict to obtain new method embodiments or apparatus embodiments.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described as separate units may or may not be physically separate, and units 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.

Alternatively, the above-described integrated units of the present disclosure may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present disclosure may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.

The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A method of pseudorange correction, the method comprising:

acquiring a pseudo range between a receiver and a target satellite;

based on a single independently operated global satellite navigation system (GNSS) receiver, acquiring, for each of a plurality of satellites, a deviation detected by the receiver and an observed quantity of carrier phases between the receiver and the satellite; wherein an observed quantity of the carrier phase corresponds to a frequency;

the dual-frequency carrier phase ionosphere-free combination corresponding to the satellite is subjected to difference with the pseudo range, and a first value after the clock difference and troposphere delay of a receiver are eliminated is determined; the dual-frequency carrier phase ionosphere residual combination is subjected to difference with the first value, and combined observed quantity after ionosphere delay, receiver clock difference and troposphere delay are eliminated is determined;

Determining a combined value of the deviation between the receiver and the satellite based on the combined observed quantity and the deviation detected by the receiver; wherein the target satellite is one of the plurality of satellites;

determining a pseudorange bias associated with a type of the receiver based on a plurality of bias combination values;

2. The method of claim 1, wherein the receiver-detected bias comprises:

satellite pseudo-range clock bias, satellite phase clock bias, phase fractional bias, differential code bias, ionosphere free combined ambiguity, and ionosphere residual combined ambiguity.

3. The method of claim 2, wherein obtaining ionospheric-free combined ambiguities comprises:

acquiring ionospheric residual error combined ambiguity, comprising:

4. The method of claim 1, wherein said determining a combined value of the offset between the receiver and the satellite based on the combined observables and the offset detected by the receiver comprises:

5. The method of claim 4, wherein the culling the deviation combination value of the plurality of deviation combination values that does not satisfy a preset standard comprises:

6. The method of claim 1, wherein determining pseudorange bias associated with the type of receiver based on a plurality of bias combination values comprises:

7. The method of claim 6, wherein the method further comprises:

acquiring an altitude of each satellite;

8. A pseudo-range correction device, the device comprising:

the second acquisition module is used for acquiring the deviation detected by the receiver and the observed quantity of the carrier phase between the receiver and the satellite aiming at each satellite in a plurality of satellites based on a single global satellite navigation system (GNSS) receiver which operates independently; wherein an observed quantity of the carrier phase corresponds to a frequency;

Determining a dual-frequency carrier phase ionosphere-free combination and a dual-frequency carrier phase ionosphere residual combination corresponding to the satellite based on observed quantities of carrier phases of two different frequencies corresponding to the satellite; the dual-frequency carrier phase ionosphere-free combination corresponding to the satellite is subjected to difference with the pseudo range, and a first value after the clock difference and troposphere delay of a receiver are eliminated is determined; the dual-frequency carrier phase ionosphere residual combination is subjected to difference with the first value, and combined observed quantity after ionosphere delay, receiver clock difference and troposphere delay are eliminated is determined; determining a combined value of the receiver and the satellite according to the combined observed quantity and the deviation detected by the receiver; wherein the target satellite is one of the plurality of satellites;

a bias determination module for determining a pseudorange bias associated with a type of the receiver based on a plurality of bias combination values;

9. An electronic device, comprising: a processor and a memory for storing a computer program capable of running on the processor,

Wherein the processor is adapted to perform the steps of the method of any of claims 1 to 7 when the computer program is run.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 7.