CN115877428A - Carrier phase integer ambiguity fixing method and system and readable storage medium - Google Patents

Carrier phase integer ambiguity fixing method and system and readable storage medium Download PDF

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Publication number
CN115877428A
CN115877428A CN202310017050.XA CN202310017050A CN115877428A CN 115877428 A CN115877428 A CN 115877428A CN 202310017050 A CN202310017050 A CN 202310017050A CN 115877428 A CN115877428 A CN 115877428A
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carrier phase
difference
double
phase measurement
base station
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邓中亮
钱峻
谢娜
胡恩文
张耀
马梓垚
罗恺
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Beijing Duwei Technology Co ltd
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Beijing Duwei Technology Co ltd
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Abstract

The application provides a method and a system for fixing carrier phase integer ambiguity and a readable storage medium, wherein the method for fixing the carrier phase integer ambiguity comprises the following steps: acquiring time-frequency resources, wherein the time-frequency resources comprise 5G time-frequency resources; performing multi-frequency band selection on the time-frequency resources to obtain positioning resources; carrying out double difference on the carrier phase of the positioning resource to obtain a double-difference carrier phase measurement equation; obtaining a wide lane combined observation equation and a narrow lane combined observation equation according to a double-difference carrier phase measurement equation; and calculating the integer ambiguity according to the wide lane combined observation equation and the narrow lane combined observation equation. According to the technical scheme, frequency band resources for positioning are selected through frequency band division, the whole-cycle ambiguity and the positioning precision are solved more accurately through a wide-lane and narrow-lane combination method, and the positioning performance of the 5G signal is improved.

Description

Carrier phase integer ambiguity fixing method and system and readable storage medium
Technical Field
The present application relates to the field of wireless communication positioning technologies, and in particular, to a method and a system for fixing carrier phase integer ambiguity, and a readable storage medium.
Background
With the rapid development of mobile communication technology, location-based services have gone into people's daily lives. Indoor positioning and navigation are widely concerned as an important field of LBS. Researchers around the world have proposed different indoor positioning techniques, including: wi-Fi, bluetooth, UWB, PDR, image and mobile communication networks, and the like. Compared with other positioning technologies, the indoor positioning technology based on the mobile communication network has the following advantages: 1. the coverage is wide 2, a unified standard system 3 is provided, and no additional positioning equipment or terminal is needed. The development of the fifth generation mobile communication technology further promotes the application of the mobile communication network in indoor positioning, and in the 5G standard of release 16, 5G Positioning Reference Signals (PRS) are defined and TDOA (time difference of arrival) observations can be provided indoors to meet the positioning service requirements. However, most of the existing 5G positioning methods use code phase positioning, and although the chip length can be adjusted to meter level by configuring subcarrier spacing, there is still a large measurement error compared with centimeter-level phase length of the carrier phase, resulting in inaccurate positioning result. In recent years, many researchers have conducted research on carrier phase positioning, and the most important problem is ambiguity resolution. The existing ambiguity fixing methods are all used for satellites, and if single difference is adopted for positioning, clock deviation of a base station transmitting end can generate great influence on terminal carrier ambiguity fixing.
Disclosure of Invention
The present application aims to solve or improve the above technical problems.
Therefore, a first objective of the present application is to provide a method for fixing carrier-phase integer ambiguity.
A second objective of the present application is to provide a carrier phase integer ambiguity fixing system.
A third object of the present application is to provide a carrier-phase integer ambiguity fixing system.
A fourth object of the present application is to provide a readable storage medium.
To achieve the first object of the present application, a technical solution of a first aspect of the present application provides a method for fixing carrier phase integer ambiguity, including: acquiring time-frequency resources, wherein the time-frequency resources comprise 5G time-frequency resources; performing multi-frequency band selection on the time-frequency resources to obtain positioning resources; carrying out double difference on the carrier phase of the positioning resource to obtain a double-difference carrier phase measurement equation; obtaining a wide lane combined observation equation and a narrow lane combined observation equation according to a double-difference carrier phase measurement equation; and calculating the integer ambiguity according to the wide lane combined observation equation and the narrow lane combined observation equation.
According to the method for fixing the carrier phase integer ambiguity, the 5G time frequency resource is obtained at first, and the 5G time frequency resource is subjected to multi-band selection to be used as the positioning resource. And carrying out double difference on the carrier phase of the selected positioning signal, firstly carrying out single difference to eliminate the influence of the base station clock difference on the positioning precision, and secondly eliminating the influence of the terminal clock difference on the positioning performance to obtain a double-difference carrier phase measurement equation. And then obtaining a wide lane combined observation equation and a narrow lane combined observation equation according to the double-difference carrier phase measurement equation, and calculating the integer ambiguity through the wide lane combined observation equation and the narrow lane combined observation equation. Frequency band resources for positioning are selected through frequency band division, the whole-cycle ambiguity and the positioning accuracy are solved more accurately through a wide-lane and narrow-lane combination method, the problem of 5G carrier phase positioning during double-frequency signal receiving is solved, and the positioning performance of the 5G signal is improved.
In addition, the technical scheme provided by the application can also have the following additional technical characteristics:
in the above technical solution, the carrier phase of the positioning resource is doubly differentiated to obtain a double-difference carrier phase measurement equation, which specifically includes: establishing a first carrier phase measurement equation of a user receiver to a first base station according to positioning resources; establishing a second carrier phase measurement equation of the reference station receiver to the first base station according to the positioning resource; and obtaining a first single-difference carrier phase measurement equation between the user receiver and the reference station receiver and relative to the first base station according to the first carrier phase measurement equation and the second carrier phase measurement equation.
In the technical scheme, the carrier phases of the positioning resources are doubly differentiated to obtain a double-difference carrier phase measurement equation, and specifically, a first carrier phase measurement equation of a user receiver to a first base station is established according to the positioning resources. And then establishing a second carrier phase measurement equation of the reference station receiver to the first base station according to the positioning resource. And finally, obtaining a first single-difference carrier phase measurement equation of the first base station between the user receiver and the reference station receiver according to the difference between the first carrier phase measurement equation and the second carrier phase measurement equation. The first carrier phase measurement equation is capable of deriving a carrier phase measurement of the user receiver to the first base station in units of wavelength. The second carrier-phase measurement equation can derive a carrier-phase measurement of the reference station receiver to the first base station in units of wavelength. The first single difference carrier phase measurement equation enables a single difference carrier phase measurement to be made between the user receiver and the reference station receiver for the first base station.
In the above technical solution, the double difference is performed on the carrier phase of the positioning resource to obtain a double-difference carrier phase measurement equation, which further includes: establishing a third carrier phase measurement equation of the user receiver to the second base station according to the positioning resource; establishing a fourth carrier phase measurement equation of the reference station receiver to the second base station according to the positioning resource; and obtaining a second single-difference carrier phase measurement equation between the user receiver and the reference station receiver and for the second base station according to the third carrier phase measurement equation and the fourth carrier phase measurement equation.
In the technical scheme, the carrier phase of the positioning resource is doubly differenced to obtain a double-difference carrier phase measurement equation, and a third carrier phase measurement equation of the user receiver to the second base station is established according to the positioning resource. And establishing a fourth carrier phase measurement equation of the reference station receiver to the second base station according to the positioning resource. And obtaining a second single-difference carrier phase measurement equation between the user receiver and the reference station receiver and for the second base station according to the third carrier phase measurement equation and the fourth carrier phase measurement equation. The third carrier phase measurement equation can derive a carrier phase measurement of the user receiver to the second base station in units of wavelength. The fourth carrier phase measurement equation can derive a carrier phase measurement of the reference station receiver to the second base station in units of wavelength. The second single difference carrier phase measurement equation may enable a single difference carrier phase measurement to the second base station between the user receiver and the reference station receiver.
In the above technical solution, the double difference is performed on the carrier phase of the positioning resource to obtain a double-difference carrier phase measurement equation, which further includes: and obtaining a double-difference carrier phase measurement equation according to the first single-difference carrier phase measurement equation and the second single-difference carrier phase measurement equation.
In the technical scheme, the carrier phase of the positioning resource is doubly differenced to obtain a double-difference carrier phase measurement equation, and the double-difference carrier phase measurement equation is obtained according to the first single-difference carrier phase measurement equation and the second single-difference carrier phase measurement equation. It is understood that the single-difference carrier-phase measurement of the first base station and the single-difference carrier-phase measurement of the second base station at the same measurement time can constitute a double-difference carrier-phase measurement.
In the above technical solution, the first carrier phase measurement equation is:
Figure 838275DEST_PATH_IMAGE001
；
the second carrier phase measurement equation is:
Figure 728870DEST_PATH_IMAGE002
；
the first single difference carrier phase measurement equation is:
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；
the third carrier phase measurement equation is:
Figure 338974DEST_PATH_IMAGE004
；
the fourth carrier phase measurement equation is:
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；
the second single difference carrier phase measurement equation is:
Figure 744548DEST_PATH_IMAGE006
；
wherein,fis a carrier frequency,
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Is the carrier wavelength->
Figure 498134DEST_PATH_IMAGE008
For a carrier phase measurement of a first base station in a subscriber receiver>
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For the actual distance of the first base station from the subscriber receiver, is>
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For the clock difference of the subscriber's receiver, is greater or less than>
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For a clock difference of a first base station>
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For a first base station to user receiver integer ambiguity, <' > in>
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For base station and user terminalMeasurement error due to multipath and receiver noise->
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For the reference station receiver to the carrier phase measurements of the first base station,
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is the actual distance from the first base station to the reference station receiver>
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For the clock difference of the reference station receiver>
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For a full cycle ambiguity from the first base station to the reference station receiver, <' >>
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Measurement errors due to multipath and receiver noise at the base station and reference station sides->
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Is the first single-difference carrier phase measurement value>
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A carrier phase measurement for a subscriber receiver for a second base station, based on the measured value>
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For the actual distance of the second base station from the subscriber receiver, is>
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Is the clock difference of the second base station, < > is>
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For a second base station to user receiver full cycle ambiguity, <' >>
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Measurement errors due to multipath and receiver noise at the base station and the user terminal, based on the measured signal strength and the measured signal strength>
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For a carrier phase measurement of a second base station by a reference station receiver, a value is determined>
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For the actual distance of the second base station from the reference station receiver>
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For a whole-cycle ambiguity from the second base station to the reference station receiver, in>
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Measurement errors due to multipath and receiver noise at the base station and reference station sides->
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Is the second single difference carrier phase measurement. />
In the technical scheme, the influence of the base station clock error on the positioning precision can be eliminated by performing single error, and the influence of the terminal clock error on the positioning performance is eliminated. It will be appreciated that in the above equation for observing carrier phase, the error parameters to the right of the equal sign are not actually required to be solved except for the geometric distance containing the receiver position information. If these error parameters can be eliminated by some means, their values do not have to be solved.
In the above technical solution, the double-difference carrier phase measurement equation is:
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；
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；
Figure 92922DEST_PATH_IMAGE032
；
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；
wherein,
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is the wavelength>
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For double-difference carrier phase measurement>
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Is the first single-difference carrier phase measurement value>
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Is the second single-difference carrier phase measurement, <' > is>
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Actual value of double difference carrier phase, based on the difference value>
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Is double-differential whole-cycle ambiguity,. Sup.>
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Double difference observation error.
In the technical scheme, the single-difference carrier phase measurement value of the first base station and the single-difference carrier phase measurement value of the second base station at the same measurement time can form a double-difference carrier phase measurement value.
In the above technical solution, the wide lane combined observation equation is:
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；
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；
Figure 971065DEST_PATH_IMAGE042
；
Figure DEST_PATH_IMAGE043
；
Figure 813119DEST_PATH_IMAGE044
；
wherein,
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is treated as double differential>
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The carrier phase difference observation value of the frequency band is greater or less>
Figure DEST_PATH_IMAGE047
Is treated as double differential>
Figure 399532DEST_PATH_IMAGE048
A carrier-phase double-difference observation of a frequency band,rfor the carrier phase double difference actual value after double difference processing,Tis a double-difference combination value of the clock difference, is greater than or equal to>
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For observing a double-difference combination value of noise>
Figure 487574DEST_PATH_IMAGE046
Is the 1 st frequency->
Figure 302077DEST_PATH_IMAGE048
Is the second frequency, is greater than or equal to>
Figure 500977DEST_PATH_IMAGE050
Is composed of
Figure 232173DEST_PATH_IMAGE046
Corresponding wavelength, <' > or>
Figure DEST_PATH_IMAGE051
Is->
Figure 491116DEST_PATH_IMAGE048
Corresponding wavelength, <' > or>
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Combine the frequency for wide lane>
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Combine the wavelength for wide lane>
Figure 356358DEST_PATH_IMAGE054
Is composed of
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Corresponding whole-cycle ambiguity,. Sub.>
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Is->
Figure 122637DEST_PATH_IMAGE048
Corresponding whole-cycle ambiguity,. Sub.>
Figure 98683DEST_PATH_IMAGE056
Full cycle ambiguity for wide lane combining>
Figure DEST_PATH_IMAGE057
For the double-difference wide-lane measurement,cis the speed of light.
In the technical scheme, the double-frequency double-difference carrier phase measurement value
Figure 436124DEST_PATH_IMAGE058
And &>
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Make up two difference wide lane measurement->
Figure 994855DEST_PATH_IMAGE057
. Under the same measurement noise amount condition, the longer the carrier wavelength of the combined measurement value is, the more advantageous the solution of the carrier phase integer ambiguity is. The whole-cycle ambiguity of the wide-lane combination can be solved more simply due to the long wavelengthN。
In the above technical scheme, the narrow lane combined observation equation is:
Figure DEST_PATH_IMAGE059
；
Figure 786093DEST_PATH_IMAGE060
；
Figure DEST_PATH_IMAGE061
；
Figure 412378DEST_PATH_IMAGE062
；
Figure DEST_PATH_IMAGE063
；
wherein,
Figure 238251DEST_PATH_IMAGE045
is treated as double differential>
Figure 744319DEST_PATH_IMAGE046
Carrier phase double-difference observation value of frequency band>
Figure 960537DEST_PATH_IMAGE047
Is treated as double differential>
Figure 889047DEST_PATH_IMAGE048
A carrier-phase double-difference observation of a frequency band,rfor the carrier phase double difference actual value after double difference processing,Tis a double-difference combination value of clock differences>
Figure 241531DEST_PATH_IMAGE049
For observing a double-difference combination value of noise>
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Is the 1 st frequency, <' > is>
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On the second frequency, is>
Figure 183576DEST_PATH_IMAGE050
Is composed of
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Corresponding wavelength, <' > or>
Figure 504016DEST_PATH_IMAGE051
Is->
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Corresponding wavelength, <' > or>
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Combines the frequency for the narrow lane and is based on the combined frequency>
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Combine the wavelength for the narrow lane>
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Is composed of
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Corresponding whole-cycle ambiguity, <' > v>
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Is->
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Corresponding whole-cycle ambiguity,. Sub.>
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Is the whole-cycle ambiguity of the narrow lane combination>
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For the double-difference narrow lane measurement value,cis the speed of light.
In the technical scheme, the double-frequency double-difference carrier phase measurement value
Figure 391277DEST_PATH_IMAGE058
And &>
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Make up two poor lane measurements->
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The whole-cycle ambiguity of the wide lane combination can be solved more simply due to the long wavelengthNBut will bring larger error, therefore, the narrow lane combination can make the positioning errorσAnd (5) shrinking.
In the above technical solution, the positioning resource includes time-frequency resource blocks with two continuous ends.
In the technical scheme, time frequency resource blocks with continuous two ends of available frequency are selected to configure positioning resources for accurate measurement of carrier phase.
To achieve the second object of the present application, a technical solution of a second aspect of the present application provides a carrier phase integer ambiguity fixing system, including: the acquisition module is used for acquiring 5G time frequency resources, wherein the time frequency resources comprise 5G time frequency resources; the positioning resource selection module is used for performing multi-band selection on the 5G time-frequency resources to obtain positioning resources; the double difference module is used for carrying out double difference on the carrier phase of the positioning resource to obtain a double difference carrier phase measurement equation; the wide-narrow lane module is used for obtaining a wide lane combined observation equation and a narrow lane combined observation equation according to the double-difference carrier phase measurement equation; and the ambiguity calculation module is used for calculating the ambiguity of the whole cycle according to the wide lane combined observation equation and the narrow lane combined observation equation.
The system for fixing the integer ambiguity of the carrier phase comprises an acquisition module, a positioning resource selection module, a double difference module, a wide-narrow lane module and an ambiguity calculation module. The acquisition module is used for acquiring data measurement indexes and user query data, and the acquisition module is used for acquiring 5G time-frequency resources, wherein the time-frequency resources comprise 5G time-frequency resources. The positioning resource selection module is used for performing multi-band selection on the 5G time-frequency resources to obtain positioning resources. And the double difference module is used for carrying out double difference on the carrier phase of the positioning resource to obtain a double difference carrier phase measurement equation. And the wide-narrow lane module is used for obtaining a wide lane combined observation equation and a narrow lane combined observation equation according to the double-difference carrier phase measurement equation. And the ambiguity calculation module is used for calculating the whole-cycle ambiguity according to the wide lane combined observation equation and the narrow lane combined observation equation. The frequency band resource for positioning is selected through frequency band division, the whole-cycle ambiguity and the positioning precision are solved more accurately through a wide-lane and narrow-lane combination method, the difficult problem of 5G carrier phase positioning during double-frequency signal receiving is solved, and the positioning performance of the 5G signal is improved.
To achieve the third object of the present application, a carrier phase integer ambiguity fixing system according to a third aspect of the present application includes: the method for fixing the carrier phase integer ambiguity comprises a memory and a processor, wherein the memory stores a program or an instruction which can be run on the processor, and the processor realizes the method for fixing the carrier phase integer ambiguity in any one of the technical solutions of the first aspect when executing the program or the instruction.
To achieve the fourth object of the present application, in a fourth aspect of the present application, a readable storage medium is provided, where a program or an instruction is stored, and the program or the instruction, when executed by a processor, implements the steps of the method for fixing carrier phase integer ambiguity in any one of the first aspect of the present application, so that the method has the technical effects of any one of the first aspect of the present application, and is not described herein again.
Additional aspects and advantages of the present application will be set forth in part in the description which follows, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart illustrating the steps of a method for fixing carrier phase integer ambiguity according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating the steps of a method for fixing carrier phase integer ambiguity according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating the steps of a method for fixing carrier phase integer ambiguity according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating the steps of a method for fixing carrier phase integer ambiguity according to an embodiment of the present application;
FIG. 5 is a block diagram illustrating an exemplary carrier-phase integer ambiguity fixing system according to an embodiment of the present application;
FIG. 6 is a block diagram of a carrier phase integer ambiguity fixing system according to another embodiment of the present application;
FIG. 7 is a flowchart illustrating steps of a carrier phase integer ambiguity fixing method according to an embodiment of the present application;
FIG. 8 is a schematic diagram illustrating multi-frequency selection for a carrier phase integer ambiguity fixing method according to an embodiment of the present application;
fig. 9 is a diagram illustrating a double difference of a carrier phase integer ambiguity fixing method according to an embodiment of the present application.
Wherein, the correspondence between the reference numbers and the part names in fig. 5 and fig. 6 is:
10: a carrier phase integer ambiguity fixing system; 110: an acquisition module; 120: a sample setting module; 130: a model training module; 140: a prediction module; 150: a cache module; 20: a carrier phase integer ambiguity fixing system; 300: a memory; 400: a processor.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
The carrier-phase integer ambiguity fixing method and system, and the readable storage medium according to some embodiments of the present application are described below with reference to fig. 1 to 9.
As shown in fig. 1, an embodiment of the first aspect of the present application provides a method for fixing carrier-phase integer ambiguity, including the following steps:
step S102: acquiring time-frequency resources, wherein the time-frequency resources comprise 5G time-frequency resources;
step S104: performing multi-band selection on the time-frequency resources to obtain positioning resources;
step S106: carrying out double difference on the carrier phase of the positioning resource to obtain a double-difference carrier phase measurement equation;
step S108: obtaining a wide lane combined observation equation and a narrow lane combined observation equation according to a double-difference carrier phase measurement equation;
step S110: and calculating the integer ambiguity according to the wide lane combined observation equation and the narrow lane combined observation equation.
According to the method for fixing the carrier phase integer ambiguity provided by the embodiment, the 5G time frequency resource is obtained first, and the multi-band selection is performed on the 5G time frequency resource to be used as the positioning resource. And then carrying out double difference on the carrier phase of the selected positioning signal, firstly carrying out single difference to eliminate the influence of the clock difference of the base station on the positioning precision, and secondly eliminating the influence of the clock difference of the terminal on the positioning performance to obtain a double-difference carrier phase measurement equation. And then obtaining a wide lane combined observation equation and a narrow lane combined observation equation according to the double-difference carrier phase measurement equation, and calculating the integer ambiguity through the wide lane combined observation equation and the narrow lane combined observation equation. Frequency band resources for positioning are selected through frequency band division, the whole-cycle ambiguity and the positioning accuracy are solved more accurately through a wide-lane and narrow-lane combination method, the problem of 5G carrier phase positioning during double-frequency signal receiving is solved, and the positioning performance of the 5G signal is improved.
The positioning resource comprises time-frequency resource blocks with two continuous ends. And selecting continuous time-frequency resource blocks at two ends of the available frequency to configure the positioning resources for accurately measuring the carrier phase.
As shown in fig. 2, according to the method for fixing the integer ambiguity of the carrier phase provided by an embodiment of the present application, the carrier phase of the positioning resource is doubly differentiated to obtain a double-difference carrier phase measurement equation, which specifically includes the following steps:
step S202: establishing a first carrier phase measurement equation of a user receiver to a first base station according to positioning resources;
step S204: establishing a second carrier phase measurement equation of the reference station receiver to the first base station according to the positioning resource;
step S206: and obtaining a first single-difference carrier phase measurement equation between the user receiver and the reference station receiver and relative to the first base station according to the first carrier phase measurement equation and the second carrier phase measurement equation.
In this embodiment, the carrier phases of the positioning resources are doubly differentiated to obtain a double-difference carrier phase measurement equation, specifically, a first carrier phase measurement equation of the user receiver to the first base station is first established according to the positioning resources. And then establishing a second carrier phase measurement equation of the reference station receiver to the first base station according to the positioning resource. And finally, obtaining a first single-difference carrier phase measurement equation of the first base station between the user receiver and the reference station receiver according to the difference between the first carrier phase measurement equation and the second carrier phase measurement equation. The first carrier phase measurement equation is capable of deriving a carrier phase measurement of the first base station by the user receiver in units of wavelength. The second carrier-phase measurement equation can derive a carrier-phase measurement of the reference station receiver to the first base station in units of wavelength. The first single difference carrier phase measurement equation enables a single difference carrier phase measurement to be made between the user receiver and the reference station receiver for the first base station.
As shown in fig. 3, according to the method for fixing the integer ambiguity of carrier phase according to an embodiment of the present application, the carrier phase of the positioning resource is doubly differentiated to obtain a double-difference carrier phase measurement equation, which further includes the following steps:
step S302: establishing a third carrier phase measurement equation of the user receiver to the second base station according to the positioning resource;
step S304: establishing a fourth carrier phase measurement equation of the reference station receiver to the second base station according to the positioning resource;
step S306: and obtaining a second single-difference carrier phase measurement equation between the user receiver and the reference station receiver and for the second base station according to the third carrier phase measurement equation and the fourth carrier phase measurement equation.
In this embodiment, the carrier phase of the positioning resource is doubly differentiated to obtain a double-difference carrier phase measurement equation, and a third carrier phase measurement equation of the user receiver to the second base station is established according to the positioning resource. And establishing a fourth carrier phase measurement equation of the reference station receiver to the second base station according to the positioning resource. And obtaining a second single-difference carrier phase measurement equation between the user receiver and the reference station receiver and for the second base station according to the third carrier phase measurement equation and the fourth carrier phase measurement equation. The third carrier phase measurement equation can derive a carrier phase measurement of the user receiver to the second base station in terms of wavelength. The fourth carrier phase measurement equation can derive a carrier phase measurement of the reference station receiver to the second base station in units of wavelength. The second single difference carrier phase measurement equation may enable a single difference carrier phase measurement to the second base station between the user receiver and the reference station receiver.
As shown in fig. 4, according to the method for fixing the integer ambiguity of carrier phase according to an embodiment of the present application, the carrier phase of the positioning resource is doubly differentiated to obtain a double-difference carrier phase measurement equation, which further includes the following steps:
step S402: and obtaining a double-difference carrier phase measurement equation according to the first single-difference carrier phase measurement equation and the second single-difference carrier phase measurement equation.
In this embodiment, the double difference is performed on the carrier phases of the positioning resources to obtain a double difference carrier phase measurement equation, and the double difference carrier phase measurement equation is obtained according to the first single difference carrier phase measurement equation and the second single difference carrier phase measurement equation. It is understood that the single-difference carrier-phase measurement of the first base station and the single-difference carrier-phase measurement of the second base station at the same measurement time can constitute a double-difference carrier-phase measurement.
In the above embodiment, the first carrier phase measurement equation is:
Figure 939305DEST_PATH_IMAGE001
；
the second carrier phase measurement equation is:
Figure 565458DEST_PATH_IMAGE002
；
the first single difference carrier phase measurement equation is:
Figure 280474DEST_PATH_IMAGE003
；
the third carrier phase measurement equation is:
Figure 384696DEST_PATH_IMAGE004
；
the fourth carrier phase measurement equation is:
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；
the second single difference carrier phase measurement equation is:
Figure 150975DEST_PATH_IMAGE006
；
wherein,fis a carrier frequency,
Figure 759811DEST_PATH_IMAGE007
Is the carrier wavelength->
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A carrier phase measurement for a subscriber receiver for a first base station, is evaluated>
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For the actual distance of the first base station from the subscriber receiver, is>
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For the clock difference of the subscriber's receiver, is greater or less than>
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Is the clock difference of the first base station, is greater than or equal to>
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For a full cycle ambiguity from the first base station to the user receiver, <' >>
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Measurement errors due to multipath and receiver noise at the base station and the subscriber station->
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For the reference station receiver to the carrier phase measurements of the first base station,
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is the actual distance from the first base station to the reference station receiver>
Figure 555202DEST_PATH_IMAGE016
For the clock difference of the reference station receiver>
Figure 868372DEST_PATH_IMAGE017
For a full cycle ambiguity from the first base station to the reference station receiver, <' >>
Figure 178130DEST_PATH_IMAGE018
Measurement errors due to multipath and receiver noise at the base and reference stations sides, based on the sum of the measured signal and the measured signal>
Figure 294860DEST_PATH_IMAGE019
Is the first single-difference carrier phase measurement value>
Figure 348266DEST_PATH_IMAGE020
A carrier phase measurement for a subscriber receiver for a second base station, based on the measured value>
Figure 515943DEST_PATH_IMAGE021
For the actual distance of the second base station from the subscriber receiver, in>
Figure 996602DEST_PATH_IMAGE022
Is the clock difference of the second base station, < > is>
Figure 289043DEST_PATH_IMAGE023
For a second base station to user receiver full cycle ambiguity, <' >>
Figure 959190DEST_PATH_IMAGE024
Measurement errors due to multipath and receiver noise at the base station and the subscriber station->
Figure 653477DEST_PATH_IMAGE025
For a carrier phase measurement of a second base station by a reference station receiver, a value is determined>
Figure 101776DEST_PATH_IMAGE026
For the actual distance of the second base station from the reference station receiver>
Figure 147092DEST_PATH_IMAGE027
For a whole-cycle ambiguity from the second base station to the reference station receiver, in>
Figure 542301DEST_PATH_IMAGE028
Measurement errors due to multipath and receiver noise at the base station and reference station sides->
Figure 671188DEST_PATH_IMAGE029
Is the second single difference carrier phase measurement.
Further, the double difference carrier phase measurement equation is:
Figure 759230DEST_PATH_IMAGE030
；
Figure 88580DEST_PATH_IMAGE031
；/>
Figure 21901DEST_PATH_IMAGE032
；
Figure 690779DEST_PATH_IMAGE033
；
wherein,
Figure 497193DEST_PATH_IMAGE007
is the wavelength>
Figure 985943DEST_PATH_IMAGE034
Is a double difference carrier phase measurement, is greater than or equal to>
Figure 316430DEST_PATH_IMAGE035
Is the first single-difference carrier phase measurement value>
Figure 839815DEST_PATH_IMAGE036
Is the second single-difference carrier phase measurement, <' > is>
Figure 4080DEST_PATH_IMAGE037
Double difference carrier phaseActual value->
Figure 291711DEST_PATH_IMAGE038
Is double-differential whole-cycle ambiguity,. Sup.>
Figure 832414DEST_PATH_IMAGE039
Double difference observation error.
In the above embodiment, the wide lane combined observation equation is:
Figure 538202DEST_PATH_IMAGE040
；
Figure 138947DEST_PATH_IMAGE041
；
Figure 602289DEST_PATH_IMAGE042
；
Figure 759732DEST_PATH_IMAGE043
；
Figure 257710DEST_PATH_IMAGE044
；
the narrow lane combined observation equation is as follows:
Figure 560515DEST_PATH_IMAGE059
；
Figure 776733DEST_PATH_IMAGE060
；
Figure 659238DEST_PATH_IMAGE061
；
Figure 591816DEST_PATH_IMAGE062
；
Figure 268785DEST_PATH_IMAGE063
；
wherein,
Figure 769036DEST_PATH_IMAGE045
is treated as double differential>
Figure 455232DEST_PATH_IMAGE046
The carrier phase difference observation value of the frequency band is greater or less>
Figure 662223DEST_PATH_IMAGE047
Is treated as double differential>
Figure 323142DEST_PATH_IMAGE048
A carrier-phase double-difference observation of a frequency band,rfor the carrier phase double difference actual value after double difference processing,Tis a double-difference combination value of the clock difference, is greater than or equal to>
Figure 248373DEST_PATH_IMAGE049
For observing a double-difference combination value of noise>
Figure 800577DEST_PATH_IMAGE046
Is the 1 st frequency->
Figure 127653DEST_PATH_IMAGE048
Is the second frequency, is greater than or equal to>
Figure 412004DEST_PATH_IMAGE050
Is->
Figure 604957DEST_PATH_IMAGE046
Corresponding wavelength, <' > or>
Figure 632956DEST_PATH_IMAGE051
Is->
Figure 142435DEST_PATH_IMAGE048
Corresponding wavelength, <' > or>
Figure 597687DEST_PATH_IMAGE064
Combines the frequency for the narrow lane and is based on the combined frequency>
Figure 497510DEST_PATH_IMAGE065
Combine the wavelength for the narrow lane>
Figure 876669DEST_PATH_IMAGE054
Is composed of
Figure 912759DEST_PATH_IMAGE046
Corresponding whole-cycle ambiguity,. Sub.>
Figure 538912DEST_PATH_IMAGE055
Is->
Figure 660452DEST_PATH_IMAGE048
Corresponding whole-cycle ambiguity,. Sub.>
Figure 30253DEST_PATH_IMAGE066
Is the whole-cycle ambiguity of the narrow lane combination>
Figure 983166DEST_PATH_IMAGE067
Is a double differential narrow lane measurement and c is the speed of light. Double-frequency double-difference carrier phase measurement->
Figure 780220DEST_PATH_IMAGE058
And &>
Figure 969150DEST_PATH_IMAGE047
Compositional double differential narrow lane measurements
Figure 939380DEST_PATH_IMAGE067
The whole-cycle ambiguity of the wide lane combination can be solved more simply due to the long wavelengthNBut will bring larger error, therefore, the narrow lane combination can make the positioning errorσAnd (5) shrinking.
As shown in fig. 5, an embodiment of a second aspect of the present application provides a carrier phase integer ambiguity fixing system 10, including: an obtaining module 110, configured to obtain 5G time frequency resources, where the time frequency resources include 5G time frequency resources; a positioning resource selecting module 120, configured to perform multi-band selection on the 5G time-frequency resource to obtain a positioning resource; a double difference module 130, configured to perform double difference on carrier phases of the positioning resources to obtain a double difference carrier phase measurement equation; the wide-narrow lane module 140 is configured to obtain a wide-lane combined observation equation and a narrow-lane combined observation equation according to the double-difference carrier phase measurement equation; and the ambiguity calculation module 150 is configured to calculate the ambiguity of the whole cycle according to the wide lane combined observation equation and the narrow lane combined observation equation.
The system 10 for fixing carrier phase integer ambiguity according to the present embodiment includes an obtaining module 110, a positioning resource selecting module 120, a double difference module 130, a wide-lane and narrow-lane module 140, and an ambiguity calculating module 150. The obtaining module is configured to obtain a data metric and user query data, where the obtaining module 110 is configured to obtain 5G time-frequency resources, where the time-frequency resources include 5G time-frequency resources. The positioning resource selection module 120 is configured to perform multi-band selection on the 5G time-frequency resources to obtain positioning resources. The double difference module 130 is configured to perform double difference on the carrier phase of the positioning resource to obtain a double difference carrier phase measurement equation. The wide-narrow lane module 140 is configured to obtain a wide lane combined observation equation and a narrow lane combined observation equation according to the double-difference carrier phase measurement equation. The ambiguity calculation module 150 is configured to calculate an integer ambiguity according to the wide lane combined observation equation and the narrow lane combined observation equation. Frequency band resources for positioning are selected through frequency band division, the whole-cycle ambiguity and the positioning accuracy are solved more accurately through a wide-lane and narrow-lane combination method, the problem of 5G carrier phase positioning during double-frequency signal receiving is solved, and the positioning performance of the 5G signal is improved.
As shown in fig. 6, embodiments of the third aspect of the present application provide a carrier-phase integer ambiguity fixing system 20, including: the memory 300 and the processor 400, wherein the memory 300 stores a program or an instruction that can be executed on the processor 400, and the processor 400 implements the steps of the method for fixing the carrier phase integer ambiguity in any embodiment of the first aspect when executing the program or the instruction, so that the method has the technical effects of any embodiment of the first aspect, and is not described herein again.
An embodiment of the fourth aspect of the present application provides a readable storage medium, where a program or an instruction is stored, and the program or the instruction, when executed by a processor, implements the steps of the method for fixing carrier phase integer ambiguity according to any embodiment of the first aspect, so that the method has the technical effects of any embodiment of the first aspect, and is not described herein again.
As shown in fig. 7, 8, and 9, according to the method for fixing the integer ambiguity of the carrier phase according to an embodiment of the present application, first, multi-band selection is performed on the time-frequency resource of 5G to be used as a positioning resource, then, double differentiation is performed on the carrier phase of the selected positioning signal, and finally, the integer ambiguity is solved through the multi-band linear combination measurement value of the carrier phase.
As shown in fig. 8, in particular, 5G has significantly improved positioning accuracy due to its large bandwidth and flexible resource configuration. In the R16 version of 3GPP, a new 5G positioning reference signal is defined, and the 5G positioning signal can achieve better adaptability and higher positioning performance through flexible parameter configuration. In this embodiment, the time-frequency resource blocks at two continuous ends of the available frequency are selected to configure the positioning resource for accurate measurement of the carrier phase.
As shown in fig. 9, two subscriber receivers that are not far apartuAnd reference station receiverrWhile tracing the number ofiAndjthe base station of (2) firstly eliminates the influence of the base station clock error on the positioning precision by single error, and secondly eliminates the influence of the terminal clock error on the positioning performance.
Receiver in wavelength unituAndrto satelliteiCarrier phase measurement of
Figure 950061DEST_PATH_IMAGE008
And &>
Figure 465487DEST_PATH_IMAGE068
Can be expressed as:
Figure DEST_PATH_IMAGE069
wherein,fis a carrier frequency,
Figure 561619DEST_PATH_IMAGE007
Is a wavelength ofcIs the speed of light. In the above-mentioned carrier phase observation equation, the right side of the equal sign is not really concerned except that the geometric distance containing the receiver position information is the parameter that we wish to solve. If these error parameters can be eliminated by some means, their values do not have to be solved, which is the essence of the differential combination technique.
User receiveruWith reference station receiverrTo base stationiSingle difference carrier phase measurement of
Figure 601119DEST_PATH_IMAGE035
Defined as the difference between their carrier phase measurements, i.e.
Figure 731886DEST_PATH_IMAGE070
Wherein,
Figure DEST_PATH_IMAGE071
similarly, the user receiveruWith reference station receiverrTo base stationjSingle difference carrier phase measurement of
Figure 916749DEST_PATH_IMAGE036
Comprises the following steps:
Figure 562494DEST_PATH_IMAGE072
single difference at the same measurement instant
Figure 77789DEST_PATH_IMAGE035
And &>
Figure 63062DEST_PATH_IMAGE036
Composed double-difference carrier phase measurement->
Figure DEST_PATH_IMAGE073
Comprises the following steps:
Figure 185870DEST_PATH_IMAGE074
wherein,
Figure DEST_PATH_IMAGE075
under the same measurement noise amount condition, the longer the carrier wavelength of the combined measurement value is, the more advantageous the solution of the carrier phase integer ambiguity is.
The double-frequency double-difference carrier phase measured value obtained by the above steps
Figure 787753DEST_PATH_IMAGE058
And &>
Figure 409534DEST_PATH_IMAGE047
Formed double differential wide lane measurements
Figure 249314DEST_PATH_IMAGE057
And double-difference narrow lane measurement->
Figure 792291DEST_PATH_IMAGE067
Respectively defined as:
Figure 350311DEST_PATH_IMAGE076
wherein, the observation equation of the wide lane combination is as follows:
Figure DEST_PATH_IMAGE077
wherein,
Figure 489300DEST_PATH_IMAGE078
the observation equation of the narrow lane combination is as follows:
Figure DEST_PATH_IMAGE079
wherein
Figure 777062DEST_PATH_IMAGE080
The whole-cycle ambiguity of the wide-lane combination can be solved more simply due to the long wavelengthNBut will bring larger error, therefore, the narrow lane combination can make the positioning errorσAnd (5) shrinking.
To sum up, the beneficial effect of this application embodiment is: the method solves the problem of a double-frequency carrier phase positioning method of the 5G base station in a complex environment, solves the whole-cycle ambiguity and the positioning precision more accurately by a wide-lane and narrow-lane combination method, and improves the positioning performance of the 5G signal.
In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "connected" may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or module must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (12)

1. A method for fixing carrier phase integer ambiguity, comprising:
acquiring time-frequency resources, wherein the time-frequency resources comprise 5G time-frequency resources;
performing multi-frequency band selection on the time frequency resource to obtain a positioning resource;
carrying out double difference on the carrier phase of the positioning resource to obtain a double-difference carrier phase measurement equation;
obtaining a wide lane combined observation equation and a narrow lane combined observation equation according to the double-difference carrier phase measurement equation;
and calculating the integer ambiguity according to the wide lane combined observation equation and the narrow lane combined observation equation.
2. The method according to claim 1, wherein the performing double differentiation on the carrier phase of the positioning resource to obtain a double-difference carrier phase measurement equation includes:
establishing a first carrier phase measurement equation of the user receiver to the first base station according to the positioning resource;
establishing a second carrier phase measurement equation of the reference station receiver to the first base station according to the positioning resource;
and obtaining a first single-difference carrier phase measurement equation between the user receiver and the reference station receiver for the first base station according to the first carrier phase measurement equation and the second carrier phase measurement equation.
3. The method of claim 2, wherein the double differencing the carrier phase of the positioning resource to obtain a double differenced carrier phase measurement equation, further comprises:
establishing a third carrier phase measurement equation of the user receiver to a second base station according to the positioning resource;
establishing a fourth carrier phase measurement equation of the reference station receiver to the second base station according to the positioning resource;
and obtaining a second single-difference carrier phase measurement equation between the user receiver and the reference station receiver for the second base station according to the third carrier phase measurement equation and the fourth carrier phase measurement equation.
4. The method of claim 3, wherein the double differentiating the carrier phase of the positioning resource to obtain a double-differenced carrier phase measurement equation further comprises:
and obtaining a double-difference carrier phase measurement equation according to the first single-difference carrier phase measurement equation and the second single-difference carrier phase measurement equation.
5. The method of claim 4, wherein the first carrier-phase measurement equation is:
Figure 886476DEST_PATH_IMAGE001
；
the second carrier phase measurement equation is:
Figure 446770DEST_PATH_IMAGE002
；
the first single-difference carrier phase measurement equation is:
Figure 218417DEST_PATH_IMAGE003
；
the third carrier phase measurement equation is:
Figure 169056DEST_PATH_IMAGE004
；
the fourth carrier phase measurement equation is:
Figure 97566DEST_PATH_IMAGE005
；
the second single-difference carrier phase measurement equation is:
Figure 450050DEST_PATH_IMAGE006
；
wherein,fis a carrier frequency,
Figure 392598DEST_PATH_IMAGE007
Is the carrier wavelength->
Figure 158429DEST_PATH_IMAGE008
A carrier phase measurement for a subscriber receiver for a first base station, is evaluated>
Figure 844625DEST_PATH_IMAGE009
For the actual distance of the first base station from the subscriber receiver, is>
Figure 864665DEST_PATH_IMAGE010
For the clock difference of the subscriber's receiver, is greater or less than>
Figure 978114DEST_PATH_IMAGE011
Is the clock difference of the first base station, is greater than or equal to>
Figure 903345DEST_PATH_IMAGE012
For a full cycle ambiguity from the first base station to the user receiver, <' >>
Figure 924391DEST_PATH_IMAGE013
Measurement errors due to multipath and receiver noise at the base station and the user terminal, based on the measured signal strength and the measured signal strength>
Figure 251467DEST_PATH_IMAGE014
For the reference station receiver to the carrier phase measurements of the first base station,
Figure 862051DEST_PATH_IMAGE015
is the actual distance from the first base station to the reference station receiver>
Figure 274577DEST_PATH_IMAGE016
For the clock difference of the reference station receiver>
Figure 302576DEST_PATH_IMAGE017
For a full cycle ambiguity from the first base station to the reference station receiver, <' >>
Figure 546476DEST_PATH_IMAGE018
Measurement errors due to multipath and receiver noise at the base station and reference station sides->
Figure 1728DEST_PATH_IMAGE019
Is the first single-difference carrier phase measurement value>
Figure 635972DEST_PATH_IMAGE020
For a carrier phase measurement of a subscriber receiver to a second base station>
Figure 749552DEST_PATH_IMAGE021
For the actual distance of the second base station from the subscriber receiver, is>
Figure 51221DEST_PATH_IMAGE022
Is the clock difference of the second base station, < > is>
Figure 677374DEST_PATH_IMAGE023
For a second base station to user receiver full cycle ambiguity, <' >>
Figure 126810DEST_PATH_IMAGE024
Measurement errors due to multipath and receiver noise at the base station and the subscriber station->
Figure 496611DEST_PATH_IMAGE025
For a carrier phase measurement of a second base station by a reference station receiver, a value is determined>
Figure 698791DEST_PATH_IMAGE026
For the actual distance of the second base station from the reference station receiver>
Figure 495846DEST_PATH_IMAGE027
For a full cycle ambiguity of a second base station to a reference station receiver, <' >>
Figure 104682DEST_PATH_IMAGE028
Measurement errors due to multipath and receiver noise at the base station and reference station sides->
Figure 340491DEST_PATH_IMAGE029
Is the second single difference carrier phase measurement.
6. The method of claim 5, wherein the double-difference carrier-phase measurement equation is:
Figure 351173DEST_PATH_IMAGE030
；
Figure 319129DEST_PATH_IMAGE031
；/>
Figure 228310DEST_PATH_IMAGE032
；
Figure 939914DEST_PATH_IMAGE033
；
wherein,
Figure 601839DEST_PATH_IMAGE007
is the wavelength>
Figure 740697DEST_PATH_IMAGE034
Is a double difference carrier phase measurement, is greater than or equal to>
Figure 324125DEST_PATH_IMAGE035
Is the first single-difference carrier-phase measurement,
Figure 419513DEST_PATH_IMAGE036
for a second single-difference carrier phase measurement, is determined>
Figure 139208DEST_PATH_IMAGE037
Double-difference carrier phase actual value->
Figure 448966DEST_PATH_IMAGE038
Is a double-difference integer ambiguity,
Figure 582007DEST_PATH_IMAGE039
double-difference observation errors.
7. The carrier-phase integer ambiguity fixing method of any one of claims 1-6, wherein the wide-lane combined observation equation is:
Figure 635414DEST_PATH_IMAGE040
；
Figure 475194DEST_PATH_IMAGE041
；
Figure 503324DEST_PATH_IMAGE042
；
Figure 61344DEST_PATH_IMAGE043
；
Figure 980759DEST_PATH_IMAGE044
；
wherein,
Figure 675045DEST_PATH_IMAGE045
is treated as double differential>
Figure 592186DEST_PATH_IMAGE046
The carrier phase difference observation value of the frequency band is greater or less>
Figure 417928DEST_PATH_IMAGE047
Is treated as double differential>
Figure 813137DEST_PATH_IMAGE048
A carrier-phase double-difference observation of a frequency band,rthe actual carrier phase double difference value after double difference processing,Tis a double-difference combination value of clock differences>
Figure 627510DEST_PATH_IMAGE049
For observing a double-difference combination value of noise>
Figure 777868DEST_PATH_IMAGE046
Is the 1 st frequency, <' > is>
Figure 44901DEST_PATH_IMAGE048
Is the second frequency, is greater than or equal to>
Figure 243802DEST_PATH_IMAGE050
Is->
Figure 725730DEST_PATH_IMAGE046
Corresponding wavelength, <' > or>
Figure 719093DEST_PATH_IMAGE051
Is->
Figure 270160DEST_PATH_IMAGE048
Corresponding wavelength, <' > or>
Figure 7172DEST_PATH_IMAGE052
Combine the frequency for wide lane>
Figure 530558DEST_PATH_IMAGE053
Combine the wavelength for wide lane>
Figure 540495DEST_PATH_IMAGE054
Is->
Figure 782121DEST_PATH_IMAGE046
Corresponding whole-cycle ambiguity,. Sub.>
Figure 57244DEST_PATH_IMAGE055
Is->
Figure 763032DEST_PATH_IMAGE048
Corresponding whole-cycle ambiguity,. Sub.>
Figure 98199DEST_PATH_IMAGE056
Is the whole-cycle ambiguity of the wide lane combination>
Figure 374590DEST_PATH_IMAGE057
For the double-difference wide-lane measurement,cis the speed of light.
8. The carrier-phase integer ambiguity fixing method of any one of claims 1-6, wherein the narrow-lane combined observation equation is:
Figure 453405DEST_PATH_IMAGE058
；
Figure 951382DEST_PATH_IMAGE059
；/>
Figure 50925DEST_PATH_IMAGE060
；
Figure 1564DEST_PATH_IMAGE061
；
Figure 930074DEST_PATH_IMAGE062
；
wherein,
Figure 282558DEST_PATH_IMAGE045
is treated as double differential>
Figure 225106DEST_PATH_IMAGE046
The carrier phase difference observation value of the frequency band is greater or less>
Figure 990937DEST_PATH_IMAGE047
For processed in double difference>
Figure 411554DEST_PATH_IMAGE048
A carrier-phase double-difference observation of a frequency band,rfor the carrier phase double difference actual value after double difference processing,Tis a double-difference combination value of the clock difference, is greater than or equal to>
Figure 884124DEST_PATH_IMAGE049
For observing double-difference combined values of noise>
Figure 810623DEST_PATH_IMAGE046
Is the 1 st frequency->
Figure 735853DEST_PATH_IMAGE048
On the second frequency, is>
Figure 756899DEST_PATH_IMAGE050
Is->
Figure 818396DEST_PATH_IMAGE046
Corresponding wavelength, <' > or>
Figure 102747DEST_PATH_IMAGE051
Is->
Figure 95367DEST_PATH_IMAGE048
Corresponding wavelength, <' > or>
Figure 123366DEST_PATH_IMAGE063
Combines the frequency for the narrow lane and is based on the combined frequency>
Figure 367265DEST_PATH_IMAGE064
Combine the wavelength for the narrow lane>
Figure 556938DEST_PATH_IMAGE054
Is->
Figure 456761DEST_PATH_IMAGE046
Corresponding whole-cycle ambiguity, <' > v>
Figure 570342DEST_PATH_IMAGE055
Is->
Figure 872010DEST_PATH_IMAGE048
Corresponding whole-cycle ambiguity, <' > v>
Figure 560480DEST_PATH_IMAGE065
Is the whole-cycle ambiguity of the narrow lane combination>
Figure 947599DEST_PATH_IMAGE066
For the double-difference narrow lane measurement value,cis the speed of light.
9. The method according to any of claims 1 to 6, wherein the positioning resource comprises two consecutive time-frequency resource blocks.
10. A carrier-phase integer ambiguity fixing system, comprising:
an obtaining module (110) configured to obtain 5G time-frequency resources, where the time-frequency resources include 5G time-frequency resources;
a positioning resource selection module (120) for performing multi-band selection on the 5G time-frequency resource to obtain a positioning resource;
a double difference module (130) for performing double difference on the carrier phase of the positioning resource to obtain a double difference carrier phase measurement equation;
the wide-narrow lane module (140) is used for obtaining a wide-lane combined observation equation and a narrow-lane combined observation equation according to the double-difference carrier phase measurement equation;
and the ambiguity calculation module (150) is used for calculating the whole-cycle ambiguity according to the wide lane combined observation equation and the narrow lane combined observation equation.
11. A carrier-phase integer ambiguity fixing system, comprising:
a memory (300) and a processor (400), wherein the memory (300) has stored thereon a program or instructions executable on the processor (400), the processor (400) when executing the program or instructions implementing the steps of the carrier phase integer ambiguity fixing method according to any one of claims 1 to 9.
12. A readable storage medium having a program or instructions stored thereon, which when executed by a processor implement the steps of the carrier-phase integer ambiguity fixing method of any one of claims 1 to 9.
CN202310017050.XA 2023-01-06 2023-01-06 Carrier phase integer ambiguity fixing method and system and readable storage medium Pending CN115877428A (en)

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Application publication date: 20230331