CN115840241A - Partial ambiguity fixing method, apparatus, storage medium, and program product - Google Patents
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Abstract
The embodiment of the application provides a method, a device, a storage medium and a program product for fixing partial ambiguity, wherein the method comprises the steps of fixing first double-difference integer ambiguities corresponding to a plurality of satellites according to first double-difference observation values of the plurality of satellites, wherein the first double-difference observation values comprise first double-difference pseudo range observation values and first double-difference carrier phase observation values, if the first double-difference integer ambiguities are not fixed, determining post-test residual errors corresponding to the first double-difference integer ambiguities according to the first double-difference integer ambiguities, screening the first double-difference observation values according to the post-test residual errors, obtaining second double-difference observation values, and determining the second double-difference integer ambiguities according to the second double-difference observation values. The method of the embodiment of the application improves the fixing efficiency and can meet the real-time requirement of RTK positioning.
Description
Technical Field
The embodiment of the application relates to the technical field of satellite navigation positioning, in particular to a partial ambiguity fixing method, equipment, a storage medium and a program product.
Background
The double-difference integer ambiguity fixing technology is the core of RTK positioning, however, due to the influence of uncorrected deviations such as a coarse difference value of an observed value, an atmospheric residual error, and multipath, the success rate of fixing the double-difference integer ambiguity is significantly reduced, and even the double-difference integer ambiguity cannot be fixed.
In the related art, based on a theory system of an LAMBDA algorithm, the ambiguity parameters are directly used as objects, sorting is carried out according to the precision sequence of each ambiguity, and then an optimal ambiguity subset is selected for fixing.
However, in the process of implementing the present application, the inventors found that at least the following problems exist in the prior art: although the fuzzy subset is screened by the method which is convenient and strict theoretically, a large amount of trial and calculation needs to be carried out when the fuzzy subset is determined, particularly, the calculation amount is larger and larger along with the increase of the number of removed fuzzy degrees, the time consumption is obvious, and the real-time application requirement can not be met.
Disclosure of Invention
The embodiment of the application provides a partial ambiguity fixing method, equipment, a storage medium and a program product, which are used for improving the ambiguity fixing efficiency and meeting the real-time requirement of positioning.
In a first aspect, an embodiment of the present application provides a partial ambiguity fixing method, including:
fixing first double-difference integer ambiguities corresponding to a plurality of satellites according to first double-difference observation values of the plurality of satellites; the first double-difference observation comprises a first double-difference pseudorange observation and a first double-difference carrier-phase observation;
if the first double-difference integer ambiguity fixing fails, determining a post-test residual error corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity;
and screening the first double-difference observation value according to the post-test residual error to obtain a second double-difference observation value, and determining a second double-difference integer ambiguity according to the second double-difference observation value.
In one possible design, the fixing the first double-difference integer ambiguities corresponding to the plurality of satellites according to the first double-difference observation values of the plurality of satellites includes:
establishing a sequential least square equation according to the first double-difference observed values of the plurality of satellites;
solving the sequential least square equation to obtain a first double-difference ambiguity floating point solution;
and searching and obtaining a first double-difference integer ambiguity according to the first double-difference ambiguity floating solution based on a least square ambiguity reduction correlation adjustment algorithm.
In one possible design, the building a sequential least squares equation from first double-difference observations of a plurality of satellites includes:
establishing a double-difference pseudo range observation equation according to the first double-difference pseudo range observation value, and establishing a double-difference carrier phase observation equation according to the first double-difference carrier phase observation value;
respectively performing linear expansion on the double-difference pseudorange observation equation and the double-difference carrier phase observation equation according to the general coordinate and the position coordinate to be solved of the rover station to obtain an observation equation after the linear expansion;
establishing a least square observation equation according to the linearly expanded observation equation;
and eliminating time-varying parameters corresponding to the position coordinates to be solved of the mobile station in the least square observation equation, and establishing a sequential least square equation according to the least square observation equation after the time-varying parameters are eliminated.
In one possible design, the determining a posterior residual corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity includes:
determining a position coordinate to be solved of the rover station according to the first double-difference integer ambiguity based on a double-difference carrier phase observation equation after linear expansion;
and determining a post-test residual error corresponding to the first double-difference integer ambiguity according to the position coordinate to be solved and the first double-difference integer ambiguity.
In a possible design, if the fixing of the first double-difference integer ambiguity fails, determining a post-test residual corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity includes:
determining a first ratio according to the first double-difference integer ambiguity; the first ratio is the ratio between the error in the smallest unit weight in the first double-difference integer ambiguity and the error in the second smallest unit weight;
and if the first ratio is smaller than or equal to a first threshold value, determining that the fixation of the first double-difference integer ambiguity fails, and determining a post-test residual error corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity.
In one possible design, the screening the first double-difference observation according to the post-test residual to obtain a second double-difference observation includes:
screening the post-test residual error based on a preset threshold value to obtain a screened post-test residual error;
screening the first double-difference integer ambiguity according to the screened post-test residual errors to obtain a double-difference ambiguity subset;
and screening the first double-difference observation value according to the double-difference ambiguity subset to obtain a second double-difference observation value.
In one possible design, the screening the post-test residual error based on a preset threshold to obtain a screened post-test residual error includes:
selecting a preset threshold corresponding to the post-test residual from a plurality of candidate thresholds according to the number of double-difference integer ambiguities in the first double-difference integer ambiguities corresponding to the post-test residual;
and determining the value which is less than or equal to the preset threshold value in the post-test residual errors as the post-test residual errors after screening according to the preset threshold value corresponding to the post-test residual errors.
In one possible design, the determining a second double-differenced integer ambiguity from the second double-differenced observation comprises:
establishing a new sequential least square equation according to the second double-difference observation value;
solving the new sequential least square equation to obtain a second double-difference ambiguity floating solution;
and searching and obtaining a second double-difference integer ambiguity according to the second double-difference ambiguity floating solution based on a least square ambiguity reduction correlation adjustment algorithm.
In one possible design, the method further includes:
determining a second ratio according to the second double-difference integer ambiguity; the second ratio is the ratio between the error in the minimum unit weight in the second double-difference integer ambiguity and the error in the second minimum unit weight;
and if the second ratio is larger than a first threshold, determining that the second double-difference integer ambiguity is successfully fixed, and determining a fixed solution of the position coordinate to be solved of the rover station according to the second double-difference integer ambiguity.
In a second aspect, an embodiment of the present application provides a partial ambiguity fixing apparatus, including:
the integer cycle determining module is used for fixing first double-difference integer cycle ambiguities corresponding to a plurality of satellites according to first double-difference observation values of the plurality of satellites; the first double-differenced pseudorange observations comprise first double-differenced pseudorange observations and first double-differenced carrier-phase observations,
a residual error determining module, configured to determine, according to the first double-difference integer ambiguity, a post-test residual error corresponding to the first double-difference integer ambiguity if the first double-difference integer ambiguity fails to be fixed;
and the screening module is used for screening the first double-difference observation value according to the post-test residual error to obtain a second double-difference observation value, and determining a second double-difference integer ambiguity according to the second double-difference observation value.
In a third aspect, an embodiment of the present application provides a partial ambiguity fixing apparatus, including: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the method as set forth in the first aspect above and in various possible designs of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the method according to the first aspect and various possible designs of the first aspect are implemented.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program that, when executed by a processor, implements the method as set forth in the first aspect and various possible designs of the first aspect.
The method includes fixing first double-difference integer ambiguities corresponding to a plurality of satellites according to first double-difference observation values of the plurality of satellites, where the first double-difference observation values include first double-difference pseudo range observation values and first double-difference carrier phase observation values, and if the first double-difference integer ambiguities are not fixed, determining post-test residuals corresponding to the first double-difference integer ambiguities according to the first double-difference integer ambiguities, screening the first double-difference observation values according to the post-test residuals to obtain second double-difference observation values, and determining the second double-difference integer ambiguities according to the second double-difference observation values. According to the method, the corresponding post-test residual errors are determined based on the first double-difference integer ambiguity which fails to be fixed, then the fuzzy subset is screened based on the post-test residual errors, namely, the original observation data corresponding to the first double-difference integer ambiguity are screened, and then the second double-difference integer ambiguity is fixed based on the screened original observation data. The reliability of fuzzy subset selection can be improved, the search space is reduced, the fixing efficiency is improved, and the real-time requirement of RTK positioning can be met.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic view of an application scenario of a partial ambiguity fixing method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a partial ambiguity fixing method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a partial ambiguity fixing apparatus provided in an embodiment of the present application;
fig. 4 is a schematic hardware structure diagram of a partial ambiguity fixing device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
With the continuous development of each large satellite navigation system, high-precision positioning represented by RTK (real-time kinematic) is increasingly applied, and especially the high-precision positioning requirement of the consumer-grade market is concerned more widely. The complex and diversified application scenarios put high requirements on the continuous availability and stability of the RTK. The core of the RTK positioning is a carrier phase double difference integer ambiguity fixing technology, which means that the RTK high-precision positioning capability is based on the success of carrier phase double difference integer ambiguity fixing. Currently, least-squares Ambiguity reduction correlation adjustment (lamb da) is considered to be the most effective integer Ambiguity fixing method. However, research shows that the fixing success rate of the double-difference integer ambiguity is remarkably reduced or even can not be fixed due to the influence of uncorrected deviations such as a coarse difference value of an observed value, an atmospheric residual error, multipath and the like, and the partial ambiguity fixing method can effectively solve the problem.
In the related technology, the ambiguity parameters can be directly used as objects through a theory system based on an LAMBDA algorithm, sorting is carried out according to the precision sequence of each ambiguity, and then an optimal ambiguity subset is selected for fixing, wherein the optimal ambiguity subset mainly comprises a variance-covariance matrix method, a conditional variance matrix method, an ambiguity precision factor ADOP method and the like. However, although the above method is a convenient and theoretically rigorous method, it needs to perform a lot of attempts and calculations when determining the ambiguity subset, and particularly, as the number of removed ambiguities increases, the calculation amount becomes larger and larger, which is obvious in time consumption, and may not meet the requirement of real-time application.
In order to solve the above technical problems, the inventors of the present application have found that, by determining a corresponding post-test residual based on a first double-difference integer ambiguity that fails to be fixed, and then performing ambiguity subset screening based on the post-test residual, that is, screening original observation data corresponding to the first double-difference integer ambiguity, and then performing second double-difference integer ambiguity fixing based on the screened original observation data. The reliability of fuzzy subset selection can be improved, the search space is reduced, the fixing efficiency is improved, and the real-time requirement of RTK positioning can be met. Based on this, the embodiment of the present application provides a partial ambiguity fixing method.
Fig. 1 is a schematic view of an application scenario of a partial ambiguity fixing method according to an embodiment of the present application. As shown in fig. 1, the reference station 102 and the rover station 103 are each connected to a data processing apparatus 101. The reference station 102 and the rover station 103 are each configured to acquire raw observation data for a plurality of satellites via a receiver and to transmit the respective raw observation data to the data processing apparatus 101, and the data processing apparatus 101 is configured to perform integer ambiguity fixing based on the raw observation data of the reference station 102 and the observation data of the rover station 103. Alternatively, the data processing apparatus 101 may be a terminal apparatus or a server.
In a specific implementation process, a plurality of satellites in a receiving range of a base station 102 and a rover station 103 broadcast a navigation message, the base station 102 and the rover station 103 observe the navigation message to obtain original observation data, the original observation data are sent to a data processing device 101, the data processing device 101 determines first double-difference observation values of the plurality of satellites according to the original observation data of the base station 102 and the rover station 103, first double-difference observation values corresponding to the plurality of satellites are fixed according to the first double-difference observation values of the plurality of satellites, the first double-difference observation values include first double-difference pseudo-range observation values and first double-difference carrier phase observation values, if the first double-difference integer ambiguity fixing fails, a post-test residual corresponding to the first double-difference integer ambiguity is determined according to the first double-difference integer ambiguity, the first double-difference observation values are screened according to the post-test residual, second double-difference observation values are obtained, and the second double-difference ambiguity is determined according to the second double-difference observation values. The partial ambiguity fixing method provided by the embodiment of the application determines the corresponding post-test residual error through the first double-difference integer ambiguity based on fixing failure, and then performs ambiguity subset screening based on the post-test residual error, namely, screens the original observation data corresponding to the first double-difference integer ambiguity, and then performs second double-difference integer ambiguity fixing based on the screened original observation data. The reliability of fuzzy subset selection can be improved, the search space is reduced, the fixing efficiency is improved, and the real-time requirement of RTK positioning can be met.
It should be noted that the scene diagram shown in fig. 1 is only an example, and the partial ambiguity fixing method and the scene described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not constitute a limitation to the technical solution provided in the embodiment of the present application, and as a person having ordinary skill in the art knows that along with the evolution of the system and the occurrence of a new service scene, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a flowchart illustrating a partial ambiguity fixing method according to an embodiment of the present application. As shown in fig. 2, the method includes:
201. fixing first double-difference integer ambiguities corresponding to the plurality of satellites according to the first double-difference observation values of the plurality of satellites; the first double-difference observation includes a first double-difference pseudorange observation and a first double-difference carrier-phase observation.
The execution subject of the present embodiment may be the data processing apparatus shown in fig. 1.
For example, the first double-difference observation values of the plurality of satellites are double-difference observation values respectively corresponding to a plurality of non-reference stars obtained by calculating, with the remaining satellites as the non-reference stars, after a reference star is selected from the plurality of satellites.
Specifically, a double-difference pseudorange observation equation and a double-difference carrier phase observation equation can be constructed based on the original observation data of the rover station and the reference station, and a least square equation or a sequential least square equation can be constructed based on the double-difference pseudorange observation equation and the double-difference carrier phase observation equation, so that the first double-difference integer ambiguity can be obtained by solving,
for example, for satellite k1, the original observation of receiver i1 at a certain frequency can be expressed as
Wherein,
and &>
A pseudo-range measurement value and a carrier phase measurement value of the receiver i1 on a certain frequency for the satellite k1 respectively;
Is the geometric distance of the satellite to the receiver; c is the speed of light, dt i1 (t i1 ) And dt k1 (t k1 ) Respectively a receiver clock error and a satellite clock error, and the measuring time is respectively t i1 And t k1 ；
At that frequency for satellite k1Ionospheric delay error in rate;
Is tropospheric error; lambda is the carrier wavelength of the frequency>
Integer ambiguity for carrier phase at that frequency; epsilon Ρ And ε Φ Pseudorange and carrier phase measurement errors, respectively.
And subtracting the observed values of the rover receiver i1 and the reference station receiver i2 to obtain an inter-station single-difference observed value, and further continuously carrying out difference on the inter-station single-difference observed values of the reference star k1 and the non-reference star k2 to obtain a station-satellite double-difference observed value.
In some embodiments, fixing the first double-difference integer ambiguities corresponding to the plurality of satellites according to the first double-difference observation values of the plurality of satellites may include: establishing a sequential least square equation according to the first double-difference observed values of the plurality of satellites; solving a sequential least square equation to obtain a first double-difference ambiguity floating point solution; and searching and obtaining the first double-difference integer ambiguity according to the first double-difference ambiguity floating solution based on a least square ambiguity reduction correlation adjustment algorithm.
In some embodiments, establishing a sequential least squares equation from the first double-difference observations of the plurality of satellites may include: establishing a double-difference pseudo range observation equation according to the first double-difference pseudo range observation value, and establishing a double-difference carrier phase observation equation according to the first double-difference carrier phase observation value; respectively performing linear expansion on a double-difference pseudo-range observation equation and a double-difference carrier phase observation equation according to the general coordinate and the position coordinate to be solved of the rover station to obtain an observation equation after linear expansion; establishing a least square observation equation according to the observation equation after linear expansion; and eliminating the time-varying parameters corresponding to the position coordinates to be solved of the mobile station in the least square observation equation, and establishing a sequential least square method equation according to the least square observation equation after the time-varying parameters are eliminated.
Specifically, when the difference is made between the stations, part of errors related to the satellite, such as the clock difference of the satellite, can be eliminated; a portion of the station-dependent errors, such as receiver clock error, may be removed when differencing between satellites. Since atmospheric delay has a spatial dependence, atmospheric delay errors can be attenuated by double differencing, which can be considered to be completely eliminated when the short baseline and ionosphere are inactive. Therefore, the simplified double-difference pseudorange observation equation and the simplified double-difference carrier phase observation equation are as follows:
wherein,
and &>
Respectively obtaining double-difference pseudo range measurement values and double-difference carrier phase measurement values of the reference satellite k1 and the non-reference satellite k2 on the frequency by the rover receiver i1 and the reference station receiver i 2;
The double-difference geometric distance from the satellite k1 and k2 to the receiver i1 and i 2; lambda is the carrier wavelength of this frequency>
The carrier phase at that frequency is double-differenced by the integer ambiguity.
The double-difference pseudorange observation equation and the double-difference carrier phase observation equation are combined, the observation equation is considered to be a nonlinear equation, the nonlinear equation is linearly expanded at a general coordinate (generally given by a PVT positioning result), and a least square observation equation is constructed. Specifically, the method comprises the following steps:
the observation equation after linear expansion based on the rover general coordinate is as follows:
wherein,
λ、
the same as in formula (1.2). (X0, Y0, Z0) is the approximate coordinates of the rover station, and (X, Y, Z) is the parameter to be estimated;
Is the double difference geometric distance at (x 0, y0, z 0);
the difference between the rover receiver i1 at (x 0, y0, z 0) and the line of sight vectors of the reference star k1 and the non-reference star k2, respectively.
Further, a plurality of sets of linearly developed observation equations are constructed as a least squares observation equation:
v＝A·x-L(6)
in expressions (4) to (6), L is an observation vector; a is a coefficient matrix; x is a parameter vector to be estimated; v is a residual vector.
Eliminating time-varying parameters XYZ in the least square observation equation, only keeping time-invariant parameter double-difference integer ambiguity, and constructing a sequential least square observation equation as follows:
wherein n is the number of consecutive epochs, v n And the residual vector corresponding to the nth epoch.
And constructing a normal equation, performing parameter estimation on the sequential least square observation equation, and resolving to obtain a first double-difference ambiguity floating solution and covariance thereof. During parameter estimation, the solution can be performed by accumulating a normal equation, specifically:
the sequential least squares observation equation of the above equation (7) is combined into a matrix form to represent:
then the sequential least squares equation can be expressed as:
or
The solution thus obtained is a double-difference ambiguity float solution and its covariance as follows:
in expressions (7) to (11), (L) 1 ,L 2 ,…L n ) Is an observation vector; (A) 1 ,A 2 ,…A n ) Is a coefficient matrix;
is a transposed matrix of the coefficient matrix; x is a double-difference ambiguity floating-point solution vector; (v) of 1 ,v 2 ,…v n ) Is a residual vector; q is a double-difference ambiguity floating-point solution covariance matrix.
And substituting the ambiguity floating solution and the covariance thereof into an LAMBDA algorithm for first search to obtain double-difference integer ambiguity. If the ratio value returned after being searched by the LAMBDA algorithm (specifically defined as the error in the minimum unit weight of the ambiguity integer solution)And the significance test between the error in the next smallest unit weight, also called ratio value test, the test formula is as follows:
sigma represents error in unit weight) can pass the inspection, namely, ratio1 is larger than a first threshold value, which indicates that double-difference integer ambiguity is successfully fixed at the moment, and then, according to a double-difference carrier phase observation equation linearly expanded based on the rover general coordinate in the step (2), the high-precision position XYZ of the fixed point to be solved is solved by using least square; otherwise, the next step is entered. Specifically, the method comprises the following steps:
if the double-difference integer ambiguity is successfully fixed, substituting the double-difference integer ambiguity into a double-difference carrier phase observation equation linearly expanded based on the rover general coordinate to form a least square observation equation, wherein the observation equation only comprises time-varying parameters XYZ, and the solving process is as follows:
x＝(B T B) -1 ·(B T l) (14)
in the expressions (12) to (14), the expressions of the variables have the same meanings as those of the above formulae.
202. And if the first double-difference integer ambiguity fails to be fixed, determining the post-test residual error corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity.
In some embodiments, determining a posterior residual corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity may include: determining a position coordinate to be solved of the rover station according to the first double-difference integer ambiguity based on a double-difference carrier phase observation equation after linear expansion; and determining the post-test residual error corresponding to the first double-difference integer ambiguity according to the position coordinate to be solved and the first double-difference integer ambiguity.
In some embodiments, if the first double-difference integer ambiguity fixing fails, determining a post-test residual corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity may include: determining a first ratio according to the first double-difference integer ambiguity; the first ratio is the ratio of the error in the minimum unit weight in the first double-difference integer ambiguity to the error in the second minimum unit weight; and if the first ratio is smaller than or equal to the first threshold, determining that the fixing of the first double-difference integer ambiguity fails, and determining the post-test residual error corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity.
And when the ratio value test does not meet the condition that the first ratio1 is greater than a first threshold value, indicating that the double-difference integer ambiguity is not fixed successfully, and solving the position XYZ of the point to be solved according to the double-difference integer ambiguity searched by the LAMBDA algorithm and a double-difference carrier phase observation equation after linear expansion. This solving process the calculation processes of the above expressions (12) to (14) may be identical.
Substituting the double-difference integer ambiguity and XYZ into the original double-difference carrier phase observation equation of the expression (2), and calculating the post-test residual of each observation equation to form a sequence. At this time, the parameters to be estimated in the original double-difference carrier phase observation equation are all solved, and the residual sequence can be output as follows:
wherein,
and &>
Respectively obtaining double-difference pseudo range measurement values and double-difference carrier phase measurement values of the reference satellite k1 and the non-reference satellite k2 on the frequency by the rover receiver i1 and the reference station receiver i 2;
Is a satellite k1,k2 to receiver i1, i 2; lambda is the carrier wavelength of this frequency>
The carrier phase at that frequency is double-differenced by the integer ambiguity.
And aiming at the post-test residual sequence, firstly, taking absolute values of all post-test residuals, and then, arranging the non-negative post-test residual sequences from large to small.
The method can effectively avoid the phenomenon that a single threshold value causes too many or too few elements of the double-difference ambiguity subset, so that the double-difference ambiguity subset selection is more efficient and accurate, and specifically comprises the following steps:
when the number of double-difference ambiguities is arranged in the interval [ s1, s2], setting the residual threshold after the test as a1 week, namely, rejecting all double-difference ambiguities in the residual sequence which are more than a1 week;
when the number of double-difference ambiguities is arranged in the interval (s 2, s 3), setting the residual threshold after the test as a2 weeks, and eliminating all double-difference ambiguities in the residual sequence which are more than a2 weeks;
when the number of double-difference ambiguities is arranged in the interval (s 3, s 4), setting the residual threshold as a3 weeks, and similarly rejecting all double-difference ambiguities which are greater than a3 weeks in the residual sequence;
when the number of double-difference ambiguities is placed in the interval (s 4, s 5), the residual threshold is set as a4 weeks, and all the double-difference ambiguities greater than a4 weeks in the residual sequence are removed.
203. And screening the first double-difference observation value according to the post-test residual error to obtain a second double-difference observation value, and determining a second double-difference integer ambiguity according to the second double-difference observation value.
In some embodiments, screening the first double-difference observation according to the post-test residuals to obtain a second double-difference observation may include: screening the post-test residual error based on a preset threshold value to obtain the screened post-test residual error; screening the first double-difference integer ambiguity according to the screened post-test residual errors to obtain a double-difference ambiguity subset; and screening the first double-difference observation value according to the double-difference ambiguity subset to obtain a second double-difference observation value.
In some embodiments, screening the post-test residuals based on a preset threshold to obtain the screened post-test residuals may include: selecting a preset threshold corresponding to the tested residual from a plurality of candidate thresholds according to the number of double-difference integer ambiguities in the first double-difference integer ambiguities corresponding to the tested residual; and determining the value which is less than or equal to the preset threshold value in the post-test residual errors as the post-test residual errors after screening according to the preset threshold value corresponding to the post-test residual errors.
In some embodiments, determining a second double-differenced integer ambiguity from the second double-differenced observation may include: establishing a new sequential least square equation according to the second double-difference observed value; solving the new sequential least square equation to obtain a second double-difference ambiguity floating point solution; and searching and obtaining a second double-difference integer ambiguity according to a second double-difference ambiguity floating solution based on a least square ambiguity reduction correlation adjustment algorithm.
In some embodiments, the method may further comprise: determining a second ratio according to the second double-difference integer ambiguity; the second ratio is the ratio of the error in the minimum unit weight in the second double-difference integer ambiguity to the error in the second minimum unit weight; and if the second ratio is larger than the first threshold, determining that the second double-difference integer ambiguity is successfully fixed, and determining a fixed solution of the position coordinate to be solved of the rover station according to the second double-difference integer ambiguity.
Specifically, based on the double-difference ambiguity subset, a second double-difference carrier phase observation value and a second double-difference pseudo range observation value corresponding to the brushed milk tea ambiguity subset are obtained by screening from the first double-difference carrier phase observation value and the first double-difference pseudo range observation value, and then a new sequential least square equation and a linearly expanded double-difference carrier phase observation equation are constructed based on the second double-difference carrier phase observation value and the second double-difference pseudo range observation value, so that only double-difference ambiguity subset elements are reserved in the new sequential least square equation as parameters to be estimated, other double-difference ambiguities outside the subset are not solved, and the calculation processes of the linearly expanded double-difference carrier phase observation equations (specifically, reference expressions (2) to (11)) not including the subset elements are eliminated at the same time, and are not repeated herein.
And re-solving the updated sequential least square equation to obtain a double-difference ambiguity subset floating solution and the covariance thereof, and searching the double-difference integer ambiguity again by using the LAMBDA algorithm.
If the returned ratio value passes the checking, namely the second ratio2 is greater than the first threshold or (ratio 2-ratio 1) is greater than the second threshold, indicating that the double-difference integer ambiguity subset is successfully fixed, and solving and outputting the high-precision position XYZ of the fixed point to be solved by using the updated linearly-expanded double-difference carrier phase observation equation; otherwise, the double difference integer ambiguity subset is still fixed and fails, and the position XYZ of the point floating point solution to be solved is output.
In the method for fixing partial ambiguity provided in this embodiment, a corresponding post-test residual is determined based on a first double-difference integer ambiguity that fails to be fixed, and then an ambiguity subset is screened based on the post-test residual, that is, the original observation data corresponding to the first double-difference integer ambiguity is screened, and then the second double-difference integer ambiguity is fixed based on the screened original observation data. The reliability of fuzzy subset selection can be improved, the search space is reduced, the fixing efficiency is improved, and the real-time requirement of RTK positioning can be met.
Fig. 3 is a schematic structural diagram of a partial ambiguity fixing apparatus according to an embodiment of the present application. As shown in fig. 3, the partial-ambiguity fixing apparatus 30 includes: a whole-week determination module 301, a residual determination module 302, and a screening module 303.
A whole-cycle determining module 301, configured to fix first double-difference whole-cycle ambiguities corresponding to the multiple satellites according to first double-difference observation values of the multiple satellites; the first double-differenced pseudorange observations comprise first double-differenced pseudorange observations and first double-differenced carrier-phase observations,
a residual determining module 302, configured to determine, according to the first double-difference integer ambiguity, a post-test residual corresponding to the first double-difference integer ambiguity if the first double-difference integer ambiguity fails to be fixed;
the screening module 303 is configured to screen the first double-difference observation value according to the post-test residual error to obtain a second double-difference observation value, and determine a second double-difference integer ambiguity according to the second double-difference observation value.
The partial ambiguity fixing device provided by the embodiment of the application determines the corresponding post-test residual error through the first double-difference integer ambiguity based on fixing failure, and then performs ambiguity subset screening based on the post-test residual error, that is, screens the original observation data corresponding to the first double-difference integer ambiguity, and then performs second double-difference integer ambiguity fixing based on the screened original observation data. The reliability of fuzzy subset selection can be improved, the search space is reduced, the fixing efficiency is improved, and the real-time requirement of RTK positioning can be met.
The partial ambiguity fixing device provided in the embodiment of the present application can be used to implement the above method embodiments, and its implementation principle and technical effect are similar, which are not described herein again.
Fig. 4 is a schematic hardware structure diagram of a partial ambiguity fixing device provided in an embodiment of the present application, where the device may be a data processing device such as a terminal device or a server, for example, a computer, a messaging device, a tablet device, a medical device, and the like.
The processing component 401 generally controls overall operation of the device 40, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 401 may include one or more processors 409 to execute instructions to perform all or a portion of the steps of the methods described above. Further, processing component 401 may include one or more modules that facilitate interaction between processing component 401 and other components. For example, the processing component 401 may include a multimedia module to facilitate interaction between the multimedia component 404 and the processing component 401.
The power supply component 403 provides power to the various components of the device 40. Power components 403 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for device 40.
The multimedia component 404 includes a screen that provides an output interface between the device 40 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 404 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 40 is in an operational mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 405 is configured to output and/or input audio signals. For example, audio component 405 may include a Microphone (MIC) configured to receive external audio signals when device 40 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in the memory 402 or transmitted via the communication component 408. In some embodiments, audio component 405 also includes a speaker for outputting audio signals.
The I/O interface 406 provides an interface between the processing component 401 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor component 407 includes one or more sensors for providing various aspects of status assessment for the device 40. For example, the sensor component 407 may detect an open/closed state of the device 40, the relative positioning of the components, such as a display and keypad of the device 40, the sensor component 407 may also detect a change in position of the device 40 or a component of the device 40, the presence or absence of user contact with the device 40, orientation or acceleration/deceleration of the device 40, and a change in temperature of the device 40. The sensor assembly 407 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 407 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 407 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 408 is configured to facilitate communication between the device 40 and other devices in a wired or wireless manner. The device 40 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 408 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 408 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the device 40 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as the memory 402 comprising instructions, executable by the processor 409 of the device 40 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. Readable storage media can be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium may also reside as discrete components in the apparatus.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
An embodiment of the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the partial ambiguity fixing method performed by the above partial ambiguity fixing device is implemented.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (13)
1. A partial ambiguity fixing method, comprising:
fixing first double-difference integer ambiguities corresponding to a plurality of satellites according to first double-difference observation values of the plurality of satellites; the first double-difference observation comprises a first double-difference pseudorange observation and a first double-difference carrier-phase observation;
if the first double-difference integer ambiguity fixing fails, determining a post-test residual error corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity;
and screening the first double-difference observation value according to the post-test residual error to obtain a second double-difference observation value, and determining a second double-difference integer ambiguity according to the second double-difference observation value.
2. The method of claim 1, wherein fixing the first double-difference integer ambiguities corresponding to the plurality of satellites according to the first double-difference observation values of the plurality of satellites comprises:
establishing a sequential least square equation according to the first double-difference observed values of the plurality of satellites;
solving the sequential least square equation to obtain a first double-difference ambiguity floating point solution;
and searching and obtaining a first double-difference integer ambiguity according to the first double-difference ambiguity floating solution based on a least square ambiguity reduction correlation adjustment algorithm.
3. The method of claim 2, wherein establishing a sequential least squares equation based on the first double-difference observations for the plurality of satellites comprises:
establishing a double-difference pseudo range observation equation according to the first double-difference pseudo range observation value, and establishing a double-difference carrier phase observation equation according to the first double-difference carrier phase observation value;
respectively performing linear expansion on the double-difference pseudo-range observation equation and the double-difference carrier phase observation equation according to the general coordinate and the position coordinate to be solved of the rover station to obtain an observation equation after linear expansion;
establishing a least square observation equation according to the linearly expanded observation equation;
and eliminating time-varying parameters corresponding to the position coordinates to be solved of the mobile station in the least square observation equation, and establishing a sequential least square equation according to the least square observation equation after the time-varying parameters are eliminated.
4. The method of claim 1, wherein determining a posterior residual corresponding to the first double-difference integer ambiguity based on the first double-difference integer ambiguity comprises:
determining a position coordinate to be solved of the rover station according to the first double-difference integer ambiguity based on a double-difference carrier phase observation equation after linear expansion;
and determining a post-test residual error corresponding to the first double-difference integer ambiguity according to the position coordinate to be solved and the first double-difference integer ambiguity.
5. The method of claim 1, wherein determining a posterior residual corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity if the first double-difference integer ambiguity fixing fails comprises:
determining a first ratio according to the first double-difference integer ambiguity; the first ratio is the ratio between the error in the smallest unit weight in the first double-difference integer ambiguity and the error in the second smallest unit weight;
if the first ratio is smaller than or equal to a first threshold, determining that the first double-difference integer ambiguity fixing fails, and determining a post-test residual error corresponding to the first double-difference integer ambiguity according to the first double-difference integer ambiguity.
6. The method according to any one of claims 1-5, wherein said screening said first double-difference observation from said post-test residuals to obtain a second double-difference observation comprises:
screening the post-test residual error based on a preset threshold value to obtain a screened post-test residual error;
screening the first double-difference integer ambiguity according to the screened post-test residual errors to obtain a double-difference ambiguity subset;
and screening the first double-difference observation value according to the double-difference ambiguity subset to obtain a second double-difference observation value.
7. The method according to claim 6, wherein the screening the post-test residuals based on the preset threshold to obtain the screened post-test residuals comprises:
selecting a preset threshold corresponding to the post-test residual from a plurality of candidate thresholds according to the number of double-difference integer ambiguities in the first double-difference integer ambiguities corresponding to the post-test residual;
and determining the value which is less than or equal to the preset threshold value in the post-test residual errors as the post-test residual errors after screening according to the preset threshold value corresponding to the post-test residual errors.
8. The method of any one of claims 1-5, wherein determining a second double-differenced integer ambiguity from the second double-differenced observation comprises:
establishing a new sequential least square equation according to the second double-difference observed value;
solving the new sequential least square equation to obtain a second double-difference ambiguity floating solution;
and searching and obtaining a second double-difference integer ambiguity according to the second double-difference ambiguity floating solution based on a least square ambiguity reduction correlation adjustment algorithm.
9. The method according to any one of claims 1-5, further comprising:
determining a second ratio according to the second double-difference integer ambiguity; the second ratio is the ratio of the error in the smallest unit weight in the second double-difference integer ambiguity to the error in the second smallest unit weight;
and if the second ratio is larger than a first threshold, determining that the second double-difference integer ambiguity is successfully fixed, and determining a fixed solution of the position coordinate to be solved of the rover station according to the second double-difference integer ambiguity.
10. A partial ambiguity fixing apparatus, comprising:
the integer cycle determining module is used for fixing first double-difference integer cycle ambiguities corresponding to a plurality of satellites according to first double-difference observation values of the plurality of satellites; the first double-differenced pseudorange observations comprise first double-differenced pseudorange observations and first double-differenced carrier-phase observations,
a residual error determining module, configured to determine, according to the first double-difference integer ambiguity, a post-test residual error corresponding to the first double-difference integer ambiguity if the first double-difference integer ambiguity fails to be fixed;
and the screening module is used for screening the first double-difference observation value according to the post-test residual error to obtain a second double-difference observation value, and determining a second double-difference integer ambiguity according to the second double-difference observation value.
11. A partial ambiguity fixing apparatus, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the memory-stored computer-executable instructions cause the at least one processor to perform the partial ambiguity fixing method of any of claims 1-9.
12. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the partial-ambiguity fixing method of any one of claims 1-9.
13. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the partial ambiguity fixing method of any one of claims 1 to 9.
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