CN115712134B - Non-dispersive carrier phase smoothing pseudo-range smoothing method and storage medium - Google Patents
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Abstract
The application relates to a non-dispersive carrier phase smoothing pseudo-range smoothing method and a storage medium, which comprises the following steps: step one: setting respective filtering parameters of three filtering stages; step two: starting a filter at intervals, and caching observed quantity by the started filter; step three: after the observed quantity reaches the requirement, smoothing filtering with the cached data as starting points at different moments is performed, and the smoothing results at the end points are averaged to be used as initial pseudo-ranges; step four: carrying out smoothing filtering once every time the observed quantity is obtained, wherein the filtering result does not participate in positioning calculation; step five: and each obtained observed quantity of one point participates in one smooth filtering, and the result is sent to a positioning resolving module, and the filter is restarted after the accumulated observed quantity reaches the requirement, so that the second step is executed.
Description
Technical Field
The application relates to the technical field of satellite navigation, in particular to a non-dispersive carrier phase smoothing pseudo-range smoothing method.
Background
The pseudorange observables of the global navigation satellite system can directly provide the satellite standing distance, but can only provide the meter-level positioning accuracy due to low measurement accuracy; the observed quantity of the carrier phase can reach the measurement precision of millimeter level, but the resolving of the ambiguity parameters is time-consuming, so that the single-machine high-precision quick positioning is difficult to realize. The carrier phase smoothing pseudo-range combines the advantages of both, and can quickly and greatly improve the accuracy of the pseudo-range observations.
The satellite navigation signal, when penetrating the atmosphere, the charged particle pairs interfere with the propagation velocity and direction of electromagnetic waves, thus introducing systematic errors in the measurement of the distance between the navigation satellite and the receiver. The group velocity and phase velocity of the navigation signal are changed differently due to the dispersion effect of the ionosphere, i.e. the ionosphere delays the code phase and carrier phase of the navigation signal, which results in a conventional carrier phase smoothing pseudorange method which diverges the positioning result after a long time of operation. The reason of the ionospheric delay is complex, and it is difficult to directly calculate the ionospheric delay according to the refraction, diffraction and scattering effects of the charged particles on the navigation signal. The effect of ionospheric delay is attenuated by improving the carrier-phase smoothing pseudorange method, which is a more viable approach.
FPGA (Field Programmable Gate Array) is a programmable digital device, which has strong parallel operation capability and large data path width, is very suitable for filtering, transforming, spectrum analyzing, demodulating and the like of navigation signals, and ARM (Advanced RISC Machine) is an embedded microprocessor. The ARM processor has the advantages of small volume, low power consumption, low cost, high performance and good universality. In general, an FPGA is used as a preprocessing system to despread and demodulate a navigation signal, extract time information modulated on the navigation signal, and information such as a phase of a ranging code and a carrier phase, and the ARM mainly performs observational quantity processing and positioning resolving. The ARM and FPGA combined hybrid system can effectively reduce cost and risk and shorten development time, and provides a good platform for flexibly adjusting carrier phase smoothing pseudo-range strategies and rapidly verifying smoothing effects.
Classical carrier-phase smoothing pseudo-range algorithms, also known as Hatch filtering, utilize ionospheric group delays and phase delays that are substantially equal in terms of first order terms, and based on the condition that ionospheric changes between epochs are small, calculate ambiguity and ionospheric delay amounts by superposition averaging of multiple epochs, thereby improving the accuracy of pseudo-range observations. The method can obviously improve the accuracy of the pseudo-range observation value in a short time, but cannot fundamentally eliminate errors. The long smoothing will inevitably lead to a divergence of the positioning results, subject to ionospheric delay variations.
Disclosure of Invention
The application provides a non-dispersive carrier phase smoothing pseudo-range smoothing method, which can at least solve one of the technical problems.
In order to achieve the above purpose, the present application adopts the following technical scheme:
a non-dispersive carrier phase smoothing pseudo-range smoothing method comprises the following steps,
step one: setting respective working time lengths of three filtering stages (initialization stage, filtering and non-positioning, filtering and positioning stage) which are sequentially marked as T 1 、T 2 、T 3 The method comprises the steps of carrying out a first treatment on the surface of the Setting the filter weights of an initialization stage and two other stages, which are sequentially marked as M 1 、M 2 Number of parallel filters per channel
Step two: when a certain signal tracking channel of a certain FPGA can output observed quantity, every T is arranged on ARM 3 A smoothing filter is started in time until all parallel smoothing filters of the channel are started. When a certain filter is started, the observed quantity is buffered until a certain smoothing filter is buffered [ T ] 1 f]The integrated Doppler sum code pseudoranges for the points, where f is the frequency of the observed quantity output, [ the smoothing filter ] can then proceed to the next step]Represents rounding up;
step three: using already cached T 1 F]Smoothing the data of each point with different moments as starting points, wherein the filtering weight is M 1 Together get [ T ] 1 f]And as a result, for this [ T ] 1 f]Averaging the results;
step four: taking the average value obtained in the last step as an initial value of the code pseudo range, performing smooth filtering, wherein the filtering result does not participate in positioning calculation until the filter integrates the processed observed quantity points to achieve [ T ] from the starting time 1 f]+[T 2 f]Then the next step is performed;
step five: the observed quantity of each obtained point participates in one filtering and the result is sent to a positioning resolving module until the filter integrates the processed observed quantity from the starting timeThe number of measurement points reaches [ T ] 1 f]+[T 2 f]+[T 3 f]And (5) a time period, restarting the filter to execute the second step.
Further, in the step one, "set three filtering stages, set initializing stage and filter weights of two other stages", the specific implementation is as follows:
s11, setting respective working time lengths of three filtering stages (an initialization stage, a filtering non-positioning stage and a filtering positioning stage) and sequentially marking as T 1 、T 2 、T 3 Since the accumulation of ionospheric delay errors results in filter divergence, T 1 、T 2 、T 3 To satisfy T 1 +T 2 +T 3 ≤10min。
S12, setting the filter weights of the initialization stage and the other two stages as M 1 and M2 ，M 1 For initialisation phase, M 2 For additional filtering stages (filtering non-positioning, filtering positioning stage), the initializing stage is mainly to compensate the defect of code pseudo-range precision difference by using integral Doppler with higher precision, so the integral Doppler has higher proportion in the process of weighting integral Doppler and code pseudo-range, and the filtering stage is to properly reduce the proportion of integral Doppler, namely M, in order to ensure that the filtering is not divergent in the whole process 1 >M 2 ，M 1 and M2 Generally, the effect is better when 20-200 is selected;
s13, setting the number of parallel filters of each channel asT 1 、T 2 、T 3 and M1 and M2 Depending on the level of noise processing of the receiver and the location and time of the receiver, the user of the present application may choose different values, test multiple times, and use the set with the best positioning effect.
Further, in the second step, "all parallel filters of a certain tracking channel are started to buffer observed quantity", the specific method is as follows:
s21, whenEvery T when a certain tracking channel can output observed quantity 3 A smoothing filter is started in time until all parallel smoothing filters of the channel are started.
S22, after a certain parallel filter is started, caching the observed quantity until a certain smooth filter is cached [ T ] 1 f]The smoothing filter may proceed to the next step with the integrated Doppler sum code pseudoranges for each point, where f is the frequency of the observed quantity output and the buffered code pseudoranges are recorded as { P ] i |i＝1,2,3,...,[T 1 f]The buffered integral Doppler is denoted { D } i |i＝1,2,3,...,[T 1 f]}；
S23, if a data terminal exists in the data caching process, all parallel filters corresponding to the channel are reset, and the second step is restarted after data recovery.
Further, the "use of already cached [ T" described in step three 1 f]The data of each point is subjected to smoothing filtering with different moments as starting points, and the specific method is as follows:
s31, using the cached [ T ] 1 f]The data of each point is subjected to smooth filtering by taking different moments as starting points, and smooth pseudo-ranges at the end points are recursively calculated, wherein the process is as follows:
subscript s represents the start point, subscript e represents the end point, e= [ T ] 1 f]，s＝1,2,…,[T 1 f]Recursively obtaining the common [ T ] with different starting points 1 f]The smoothed values at each endpoint are noted asFor this [ T ] 1 f]The average value of the smoothed values is recorded as P a ：
Further, in the fourth step, "the average value obtained in the previous step is used as the initial value of the code pseudo-range to perform smoothing filtering", the specific implementation is as follows:
s41, taking the average value obtained in the last step as an initial value of a code pseudo range, and performing smooth filtering, wherein the filtering process is as follows:
s42, the structure of the filter is the same as that of the previous step, and the filtering weight is M 2 The subscript k represents that this is the kth point since the filter was started, k= [ T ] 1 f]+1,[T 1 f]+2,…,[T 1 f]+[T 2 f]，a＝[T 1 f]；
S43, the filtering result in the step does not participate in positioning calculation;
s44, until the filter is started and the processed observed quantity point number reaches [ T ] 1 f]+[T 2 f]Then the next step is performed;
further, in the fifth step, "the observed quantity of each obtained point participates in a filtering, and the result is sent to the positioning calculation program in ARM until the filter reaches [ T ] from the accumulated processed observed quantity point at the start-up 1 f]+[T 2 f]+[T 3 f]And (3) a time length, and restarting the filter to execute a second step', wherein the specific method is as follows:
s51, each obtained observed quantity of one point participates in one filtering process as follows:
the filtering process is the same as the previous step, and k= [ T ] 1 f]+[T 2 f]+1,[T 1 f]+[T 2 f]+2,…,[T 1 f]+[T 2 f]+[T 3 f]。
S52, willFeeding into a positioning resolving module until theThe filter is started up to [ T ] from the accumulated and processed observed quantity points 1 f]+[T 2 f]+[T 3 f]And (5) a time period, restarting the filter to execute the second step.
According to the technical scheme, the non-dispersive carrier phase smoothing pseudo-range smoothing method comprises the following steps: step one: setting respective filtering parameters of three filtering stages; step two: starting a filter at intervals, and caching observed quantity by the started filter; step three: after the observed quantity reaches the requirement, smoothing filtering with the cached data as starting points at different moments is performed, and the smoothing results at the end points are averaged to be used as initial pseudo-ranges; step four: carrying out smoothing filtering once every time the observed quantity is obtained, wherein the filtering result does not participate in positioning calculation; step five: and each obtained observed quantity of one point participates in one smooth filtering, and the result is sent to a positioning resolving module, and the filter is restarted after the accumulated observed quantity reaches the requirement, so that the second step is executed.
Through the steps, the non-dispersive carrier phase smoothing pseudo-range smoothing method is simple and effective and is easy to realize.
According to the design of the application, the time length of each smooth filtering of a single filter is reasonably controlled, the pseudo-range measurement precision can be effectively improved, and meanwhile, a plurality of filters are adopted to work in parallel, so that the filtering result can be output uninterruptedly.
According to the design of the application, the non-dispersive carrier phase smoothing pseudo-range smoothing method is realized, the requirements that the carrier phase smoothing pseudo-range is used for reducing positioning errors and the positioning result of the receiver is not divergent when the receiver works for a long time are met, and the method has certain application value for improving the performance of the navigation receiver.
Drawings
FIG. 1 is a block diagram of a method and apparatus for smoothing pseudoranges without dispersive carrier phase smoothing in accordance with the present application;
FIG. 2 is a flow chart of the operation of a single filter;
fig. 3 is a timing diagram of no dispersion filtering when the number of parallel filters of a certain channel is n=3;
fig. 4 is a positioning error comparison chart of an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.
As shown in fig. 1, a system block diagram of the present application is shown, and the specific implementation steps are as follows:
the first step: setting parameters of a filter;
setting respective working time lengths of three filtering stages (initialization stage, filtering non-positioning, filtering and positioning stage) which are sequentially marked as T 1 、T 2 、T 3 Since the accumulation of ionospheric delay errors results in a single filter divergence, T 1 、T 2 、T 3 As much as possible satisfy T 1 +T 2 +T 3 ≤10min。
Setting the filter weights of the initialization stage and the other two stages as M 1 and M2 ，M 1 For initialisation phase, M 2 For additional filtering stage (filtering non-positioning, filtering positioning stage), in the initialization stage, the integral Doppler is used to compensate the defect of poor code pseudo range precision by using integral Doppler with higher precision, so the integral Doppler has higher proportion in the process of weighting integral Doppler and code pseudo range, in the filtering stage, in order to ensure that the long-time filtering positioning result is not divergent in the whole process, the proportion of integral Doppler, namely M, should be properly reduced 1 >M 2 ，M 1 and M2 Generally, the effect is better when 20-200 is selected; setting the number of parallel filters per channel as
T 1 、T 2 、T 3 and M1 and M2 Is related to the selection of the noise processing level of the receiver and the position and time of the receiver, and the application is usedThe user can select different values, test for multiple times and adopt a group with the best positioning effect.
And a second step of: extracting observed quantity output by the FPGA, starting a filter, and starting to cache data; in this step, pseudo-range observations required for smoothing and partial doppler observations are extracted. As shown in fig. 1, the FPGA local clock generates observed quantity extraction pulse signals, and when all satellite signal tracking channels receive the observed quantity extraction pulse signals, the transmitting time and the integrated doppler observed quantity of the signals are sent to the ARM.
At time k, a satellite pseudo-range observation value P can be obtained according to satellite signal receiving time and satellite signal transmitting time k :
in the formula ,tr -t s For the value extracted by the receiver,theoretical mathematical model of pseudorange observations, where r k For the geometrical distance between satellite and carrier, +.>In order for the receiver to be in the form of a clock error,for satellite clock error, ΔP I As ionospheric delay error, ΔP T For tropospheric delay error,/->For unknown pseudorange measurement noise, c is the speed of light.
At time k, FPGA-extracted integral Doppler D e The method comprises the following steps:
in the formula ,and for the K moment Doppler frequency shift filter value, T is the tracking loop integration time, for the Beidou, T=1ms is taken, and K is the number of times of updating the tracking loop in the navigation calculation period.
Each channel of the FPGA is provided with a corresponding parallel smoothing filter group in the ARM, each parallel smoothing filter group comprises a plurality of Hatch filters, and the system structure is shown in figure 2.
When a certain tracking channel can output observed quantity, every T 3 A smoothing filter is started in time until all parallel smoothing filters of the channel are started.
After a parallel filter is started, the observed quantity is buffered until a smooth filter buffer [ T ] 1 f]The smoothing filter may proceed to the next step with the integrated Doppler sum code pseudoranges for each point, where f is the frequency of the observed quantity output and the buffered code pseudoranges are recorded as { P ] i |i＝1,2,3,...,[T 1 f]The buffered integral Doppler is denoted { D } i |i＝1,2,3,...,[T 1 f]}；
If the data is terminated in the process of data caching, all parallel filters corresponding to the channel are reset, and the step is carried out again after the data is recovered.
And a third step of: starting an initialization stage of the filter, and calculating an initial value of a pseudo range;
using already cached T 1 f]The data of each point is subjected to smooth filtering by taking different moments as starting points, and smooth pseudo-ranges at the end points are recursively calculated, wherein the process is as follows:
subscript s represents the start point, subscript e represents the end point, e= [ T ] 1 f]，s＝1,2,…,[T 1 f]Recursively obtaining the common [ T ] with different starting points 1 f]The smoothed values at each endpoint are noted asFor this [ T ] 1 f]The average value of the smoothed values is recorded as P a ，/>
Fourth step: starting filtering non-positioning stage, using the average value obtained in the last step as initial value of code pseudo-range, making smooth filtering, and making filtering result not participate in positioning calculation;
and taking the average value obtained in the last step as an initial value of the code pseudo range, and performing smooth filtering, wherein the filtering process is as follows:
the structure of the filter is the same as that of the previous step, and the filtering weight is M 2 The subscript k represents that this is the kth point since the filter was started, k= [ T ] 1 f]+1,[T 1 f]+2,…,[T 1 f]+[T 2 f]，a＝[T 1 f]。
The filtering result in this step does not participate in the positioning solution.
Until the filter integrates the processed observed quantity points from the starting time to [ T ] 1 f]+[T 2 f]The next step is performed.
Fifth step: starting a filtering positioning stage, wherein a filtering result participates in positioning calculation, and restarting a single filter at a proper time;
each observed quantity of a point is obtained to participate in one filtering process, and the filtering process is as follows:
the filtering process is the same as the previous step, and k= [ T ] 1 f]+[T 2 f]+1,[T 1 f]+[T 2 f]+2,…,[T 1 f]+[T 2 f]+[T 3 f]。
Will beSending the filtered number to a positioning resolving module until the number of accumulated processed observed points reaches [ T ] at the starting time 1 f]+[T 2 f]+[T 3 f]And (5) a time period, and restarting the filter. The operational sequence of each parallel smoothing filter bank is shown in fig. 3.
In the filtering process of the single filter, the smoothed pseudo-range error expression is:
wherein M is a filtering weight, Q Pk Representing pseudorange measurement noise at time k, I k Is ionospheric delay.
Assuming that the initial value of epsilon is 0 and the ionospheric delay change rate is alpha, the smoothed pseudo-range error recursion obtained by (10) is:
as can be seen from equation (8), the smoothed pseudo-range error is composed of the ionospheric delay change rate, the filter smoothing weight, and the filter duration. The pseudo-range error can be increased along with time after smoothing, so that the filter is restarted when the filtering is not diverged by reasonably controlling the smoothing filtering time of a single filter each time, the ionosphere error can be effectively reduced, the problem of filtering divergence is solved, and meanwhile, a plurality of filters are adopted to work in parallel, so that the filtering effect can be continuously output.
FIG. 4 shows a comparison of the three-dimensional position errors of the conventional Hatch filtering scheme and the conventional Hatch filtering scheme, wherein the position errors of the conventional Hatch filtering scheme E, N, U are maintained at a smaller magnitude, and the errors hardly increase with time.
In yet another aspect, the application also discloses a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of any of the methods described above.
In yet another aspect, the application also discloses a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of any of the methods described above.
In a further embodiment of the present application, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of any of the methods of the above embodiments.
It may be understood that the system provided by the embodiment of the present application corresponds to the method provided by the embodiment of the present application, and explanation, examples and beneficial effects of the related content may refer to corresponding parts in the above method.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A non-dispersive carrier phase smoothing pseudo-range smoothing method is characterized by comprising the following steps,
step one: setting respective working time lengths of three filtering stages, namely an initialization stage, a filtering non-positioning stage and a filtering positioning stage, and sequentially marking asThe method comprises the steps of carrying out a first treatment on the surface of the Setting the filter weights of the initialization stage, the filter non-positioning stage and the filter positioning stage, and marking the filter weights as +.>，/>For the initialization phase, ++>For the filter non-positioning, filter positioning stage, the number of parallel filters per channel +.>；
Step two: extracting observed quantity output by the FPGA, starting a filter, and starting to cache data: when a certain signal tracking channel of a certain FPGA outputs observed quantityEvery other ARMStarting a smoothing filter in time until all parallel smoothing filters of the channel are started; when a certain filter is started, the observed quantity is buffered until a certain smoothing filter is bufferedThe integrated Doppler sum code pseudo-range of the points, the smoothing filter proceeds to the next step, where +.>For observing the frequency of output +.>Represents rounding up;
step three: starting the initialization phase of the filter, calculating the initial value of the pseudo range: using already cachedSmoothing the data of each point with different moments as starting point, the filtering weight is +.>Together get->As a result, this is->Averaging the results;
step four: a filter non-positioning phase is started: taking the average value obtained in the last step as an initial value of a code pseudo range, carrying out smoothing filtering once every time the observed quantity is obtained, and ensuring that a filtering result does not participate in positioning calculation until the filter achieves the point number of accumulated processed observed quantity when startingThen the next step is carried out;
step five: and (3) starting a filtering and positioning stage: filtering once every observed quantity of one point is obtained, and sending the result to a positioning resolving module until the filter achieves the point number from the accumulated processed observed quantity when startingAnd (5) a time period, restarting the filter to execute the second step.
2. The dispersion-free carrier phase smoothing pseudo-range smoothing method of claim 1, wherein:
the first specific process of the step is as follows:
setting respective working time lengths of three filtering stages, namely an initialization stage, a filtering non-positioning stage and a filtering positioning stage, and sequentially marking as， />Satisfy->；
Setting the filter weights of the initialization stage, the filter non-positioning stage and the filter positioning stage as follows and />，/>For the initialization phase,/->Used in filtering non-positioning and filtering positioning stage to reduce integral Doppler specific weightI.e. +.>，
Setting the number of parallel filters per channel as。
3. The dispersion-free carrier phase smoothing pseudo-range smoothing method of claim 2, wherein: the saidAndselecting 20-200.
4. The dispersion-free carrier phase smoothing pseudo-range smoothing method of claim 1, wherein: the specific process of the second step is as follows:
when a certain tracking channel outputs observed quantity, every otherStarting a smoothing filter in time until all parallel smoothing filters of the channel are started;
after a parallel filter is started, the observed quantity is buffered until a smooth filter is buffered]The integrated Doppler sum code pseudoranges of the points are then passed on to the smoothing filter for further processing, wherein +.>For the observed output frequency, the buffered code pseudo-range is marked +.>Buffered integral dopThe luxury is->；
And if the data terminal exists in the data caching process, all the parallel filters corresponding to the channel are reset, and the second step is restarted after the data is recovered.
5. The dispersion-free carrier phase smoothing pseudo-range smoothing method of claim 1, wherein: the third concrete process is as follows:
using already cachedThe data of each point is subjected to smooth filtering by taking different moments as starting points, and smooth pseudo-ranges at the end points are recursively calculated, wherein the process is as follows:
wherein ,represents->Time-smoothed filtered pseudorange values, +.>Represents->Time-smoothed filtered pseudorange values, +.>Represents->Pseudo-range measurement of time,/, of>Represents->Pseudo-range measurement of time,/, of>Represents the%>Integral Doppler, subscript->Represents the starting point, subscript->Represents the endpoint>，/>Recurrence with different starting points to obtain common +.>Smooth values at the end points, noted +.>For this->The smoothed values are averaged, and the average value is marked as +.>，。
6. The dispersion-free carrier phase smoothing pseudo-range smoothing method of claim 1, wherein: the specific process of the fourth step is as follows:
and D, taking the average value obtained in the step three as an initial value of the code pseudo range, and carrying out smoothing filtering, wherein the filtering process is as follows:
wherein ,represents->Time-smoothed filtered pseudorange values, +.>Represents->Pseudo-range measurement of time,/, of>Represents->Time-smoothed filtered pseudorange values, +.>Represents->Time to->Time integral Doppler, the filter weight of the filter is +.>Subscript->Representing this as +.>Point(s) of (E)>，；
The filtering result in this step does not participate in the positioning solution until the filter reaches the point of view processed from the start-upThe next step is performed.
7. The dispersion-free carrier phase smoothing pseudo-range smoothing method of claim 1, wherein: the specific process of the fifth step is as follows:
each observed quantity of a point is obtained to participate in one filtering process, and the filtering process is as follows:
wherein ,represents->Time-smoothed filtered pseudorange values, +.>Represents->Time to->Integral Doppler of time, & gt>Represents->Pseudo-range measurement of time,/, of>+；
Will beSending the filter to a positioning resolving module until the filter reaches the accumulated processed observed quantity point at the starting timeAnd (5) a time period, restarting the filter to execute the second step.
8. A method of non-dispersive carrier phase smoothing pseudo-range as claimed in claim 6 or 7, wherein: in the filtering process of the single filter, the smoothed pseudo-range error expression is:
in the formula ,represents->Carrier phase of time, ">Represents->Time-smoothed filtered pseudorange values, +.>Represents->Pseudo-range measurement of time,/, of>For filtering weights, +.>Representation->Time pseudo range measurement noise>Is ionospheric delay.
9. The method for smoothing a non-dispersive carrier phase smoothing pseudo-range of claim 8, wherein:
assume thatAn initial value of 0 and an ionospheric delay change rate of +.>Then the smoothed pseudorange error recursion is:
as can be seen from the above, the smoothed pseudorange error is composed of the ionospheric delay change rate, the filter smoothing weight, and the filter duration.
10. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method of any one of claims 1 to 9.
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