CN115902958A - Method, device and equipment for calibrating phase-frequency deviation between receivers - Google Patents
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Abstract
The application discloses a method, a device and equipment for calibrating phase-frequency deviation between receivers. The calibration method of the phase-frequency deviation between the receivers comprises the following steps: obtaining observation data of a first receiver and a second receiver for a plurality of epochs of a plurality of satellites of the GLONASS system, wherein the observation data comprises phase observation values and pseudo-range observation values of a first carrier and a second carrier of the satellites; determining double-difference ambiguity residual errors under a plurality of phase inter-frequency deviation search values of a first carrier corresponding to each epoch of each satellite according to observation data; obtaining an average value of double-difference ambiguity residual errors of all satellite epochs under each phase inter-frequency deviation search value in a plurality of phase inter-frequency deviation search values; and calibrating the relative value of the phase-frequency deviation between the first receiver and the second receiver according to the minimum value of the plurality of average values. By the method, the device and the equipment for calibrating the phase-to-frequency deviation between the receivers, the calibration efficiency of the phase-to-frequency deviation between the receivers can be improved.
Description
Technical Field
The application belongs to the technical field of positioning, and particularly relates to a method, a device and equipment for calibrating phase-frequency deviation between receivers.
Background
The Global Navigation Satellite System (GNSS) mainly includes: the Global Positioning System (GPS) in the united states, the guroney system (GLONASS) in russia, the galileo system (Calileo) in the european union, and the beidou satellite navigation system (BDS) in china, and the like.
GLONASS employs frequency division multiple access for signal transmission, unlike other systems employing code division multiple access. The receiver simultaneously observes that the frequencies of the satellite signals are different, and the satellite signals with different frequencies enter corresponding frequency channels inside the receiver, so that different inter-frequency bias (IFB) can be generated. The inter-frequency phase bias (IFPB) and the inter-frequency code bias (IFCB) may be classified according to the observation value type.
Because IFPB needs to reach centimetre level's precision, in order to guarantee IFPB's demarcation precision among the correlation technique, need based on zero base line or short baseline data demarcation IFPB, nevertheless through zero base line or short baseline data demarcation IFPB, the demarcation degree of difficulty is great, IFPB calibrates the efficiency lower.
Disclosure of Invention
The embodiment of the application aims to provide an IFPB calibration method, device and equipment between receivers, and the problem of low IFPB calibration efficiency can be solved.
In a first aspect, an embodiment of the present application provides an IFPB calibration method between receivers, including:
obtaining observation data of a first receiver and a second receiver for a plurality of epochs of a plurality of satellites of the GLONASS system, wherein the observation data comprises phase observation values and pseudo-range observation values of a first carrier and a second carrier of the satellites;
determining a double-difference ambiguity residual under a plurality of IFPB search values of the first carrier corresponding to each epoch of each satellite according to the observation data;
obtaining an average value of double-difference ambiguity residuals of all satellites under each IFPB search value in a plurality of IFPB search values;
and calibrating the IFPB relative value between the first receiver and the second receiver according to the minimum value of the plurality of average values.
In a second aspect, an embodiment of the present application provides an apparatus for IFPB calibration between receivers, including:
a first obtaining module, configured to obtain observation data of a first receiver and a second receiver for multiple epochs of multiple satellites of the GLONASS system, where the observation data includes phase observations and pseudo-range observations of a first carrier and a second carrier for the satellites;
a determining module, configured to determine, according to the observation data, a double-difference ambiguity residual under a plurality of IFPB search values corresponding to the first carrier of each epoch of each satellite;
the second obtaining module is used for obtaining an average value of double-difference ambiguity residual errors of all satellites under each IFPB search value in the multiple IFPB search values;
and the calibration module is used for calibrating the IFPB relative value between the first receiver and the second receiver according to the minimum value of the average values.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, where the program or instructions implement the steps of the method according to the first aspect when executed by the processor.
In a fourth aspect, embodiments of the present application provide a readable storage medium on which a program or instructions are stored, which when executed by a processor, implement the steps of the method according to the first aspect.
In an embodiment of the application, phase observations and pseudorange observations of a first carrier and a second carrier for a satellite are obtained for a plurality of epochs of a GLONASS system satellite by a first receiver and a second receiver; determining a double-difference ambiguity residual under a plurality of IFPB search values of the first carrier corresponding to each epoch of each satellite according to the observation data; obtaining an average value of double-difference ambiguity residuals of all satellites under each IFPB search value in a plurality of IFPB search values; and calibrating the relative IFPB value between the first receiver and the second receiver according to the minimum value of the plurality of average values. Compared with the scheme for calibrating the IFPB in the related art, the IFPB calibration method and the IFPB calibration device are not limited by the length of the base line, the IFPB can be easily calibrated through the middle base line or the long base line, and the IFPB calibration efficiency can be improved.
Drawings
Fig. 1 is a schematic flowchart of an IFPB calibration method between receivers according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an inter-receiver IFPB calibration apparatus provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;
fig. 4 is a hardware configuration diagram of an electronic device implementing an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived from the embodiments in the present application by a person skilled in the art, are within the scope of protection of the present application.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application are capable of operation in sequences other than those illustrated or described herein, and that the terms "first," "second," etc. are generally used in a generic sense and do not limit the number of terms, e.g., a first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The method, the apparatus, the device and the medium for calibrating IFPB between receivers provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings by specific embodiments and application scenarios thereof.
Fig. 1 is a schematic flowchart of an IFPB calibration method between receivers according to an embodiment of the present application. The inter-receiver IFPB calibration method may include:
s101: obtaining observation data of a first receiver and a second receiver for a plurality of epochs of a plurality of satellites of the GLONASS system, wherein the observation data comprises phase observation values and pseudo-range observation values of a first carrier and a second carrier of the satellites;
s102: determining a double-difference ambiguity residual under a plurality of IFPB search values of the first carrier corresponding to each epoch of each satellite according to the observation data;
s103: obtaining an average value of double-difference ambiguity residuals of all satellites under each IFPB search value in a plurality of IFPB search values;
s104: and calibrating the relative IFPB value between the first receiver and the second receiver according to the minimum value of the plurality of average values.
Specific implementations of the above steps will be described in detail below.
In the embodiment of the application, phase observations and pseudo-range observations of a first carrier and a second carrier aiming at a plurality of epochs of a plurality of satellites of a GLONASS system are obtained through a first receiver and a second receiver; determining a double-difference ambiguity residual under a plurality of IFPB search values of a first carrier corresponding to each epoch of each satellite according to the observation data; obtaining an average value of double-difference ambiguity residuals of all satellites under each IFPB search value in a plurality of IFPB search values; and calibrating the IFPB relative value between the first receiver and the second receiver according to the minimum value of the plurality of average values. Compared with the scheme for calibrating the IFPB in the related art, the IFPB calibration method and the IFPB calibration device are not limited by the length of the base line, and the IFPB can be calibrated easily through the middle base line or the long base line, so that the IFPB calibration efficiency can be improved.
In some possible implementations of the embodiment of the present application, the search range of the IFPB may be preset, and then, the search is performed in a certain step size.
In some possible implementations of embodiments of the present application, the search range of the IFPB may be negative (-) 100 millimeters (mm) to positive (+) 100mm, with a step size of 1mm; the IFPB search range can be-150 mm to 150mm, and the step length is 1mm; the search range of the IFPB can also be-200 mm to 200mm, and the step size is 1mm. The search range and step size of the IFPB can be set according to actual requirements.
In some possible implementations of the embodiments of the present application, S102 may include: determining a wide lane ambiguity of a first carrier and a second carrier wide lane combination corresponding to a first epoch of a first satellite under each IFPB search value according to the observation data aiming at the IFPB search values, wherein the first epoch of the first satellite is any one epoch of any one satellite in a plurality of epochs of the satellites; according to the observation data, calculating the non-ionized layer combination ambiguity of a first carrier and a second carrier corresponding to a first epoch of a first satellite; determining double-difference ambiguity of a first carrier corresponding to a first epoch of a first satellite according to the widelane ambiguity and the ionosphere-free combined ambiguity; and determining the residual error of the double-difference ambiguity according to the double-difference ambiguity.
In some possible implementations of the embodiments of the present application, the widelane ambiguity of the first carrier and the second carrier widelane combination corresponding to the first epoch of the first satellite at each IFPB search value may be determined by the following formula (1):
wherein, Δ N in formula (1) WL Is the widelane ambiguity in units of weeks, λ WL Is a wide-lane wavelength, and is,
is a wide-lane phase observation in units of weeks, Δ ^ ρ is a double-difference geodetic range of the first receiver and the second receiver to the first satellite, Δ ^ O is a double-difference orbital error, Δ ^ T is a double-difference tropospheric error, and/or>
For double differential ionospheric errors>
Is the error of the inter-frequency deviation, Δ ∈ isDouble difference noise.
Similarly, for an IFPB search value, the widelane ambiguity for the first and second carrier widelane combinations corresponding to satellite epochs other than the first epoch of the first satellite of the plurality of satellite epochs at the IFPB search value can be determined using equation (1) above.
Similarly, for other IFPB search values of the plurality of IFPB search values, the widelane ambiguity for the widelane combination of the first carrier and the second carrier corresponding to each epoch of each satellite of the plurality of epochs of the plurality of satellites at the IFPB search value may be determined using equation (1) above.
In some possible implementations of the embodiment of the present application, for a plurality of IFPB search values, a combined observation value (MW) algorithm may be used to determine the widelane ambiguity under each IFPB search value according to observation data.
In some possible implementations of the embodiment of the present application, when determining the widelane ambiguity at each IFPB search value by using the MW algorithm, the widelane ambiguity at each IFPB search value may be determined by using the following formula (2).
Wherein, Δ N in formula (1) WL Is the ambiguity of the width of the lane,
is a carrier phase observation of the first carrier, is greater than>
Is a carrier phase observation of the second carrier wave, f 1 Is the frequency, f, of the first carrier 2 At the frequency of the second carrier, P1 is the pseudorange observation for the first carrier, P2 is the pseudorange observation for the second carrier, λ WL Wide-lane wavelengths.
In the embodiment of the application, through the MW algorithm, the influence of ionosphere errors and troposphere delay errors can be eliminated, and then the IFPB calibration accuracy between receivers can be improved.
In some possible implementations of embodiments of the present application, in calculating the ionospheric-free combined ambiguity for the first carrier and the second carrier corresponding to the first epoch of the first satellite based on the observation data, the ionospheric-free combined ambiguity may be determined using equation (3) below.
Wherein Δ N in formula (3) ion-free Is the degree of paste, lambda, of the ionosphere-free combined mold in units of weeks ion-free Is a wavelength combination without an ionosphere layer,
is an ionosphere-free combination phase observation value taking a week as a unit, Δ ρ is a double difference range of the first receiver and the second receiver to the satellite, Δ ^ O is a double difference orbital error, Δ ^ T is a double difference tropospheric error,
as an error in inter-frequency deviation, Δ ∈ is double difference noise.
Wherein, in the formula (4), f 1 Is the frequency, λ, of the first carrier 1 Is the wavelength of the first carrier wave,
is a carrier phase observation of the first carrier wave, f 2 Is the frequency, λ, of the second carrier 2 Is the wavelength of the second carrier wave>
Is a carrier-phase observation of the second carrier.
Similarly, for a certain IFPB search value, the ionosphere-free combination ambiguity for the first carrier and the second carrier corresponding to satellite epochs other than the first satellite epoch among the plurality of satellite epochs at that IFPB search value can be determined using equation (3) above.
Similarly, for other IFPB search values of the plurality of IFPB search values, the ionospheric-free combination pattern ambiguity for the first carrier and the second carrier corresponding to each epoch of each satellite of the plurality of epochs at the IFPB search value can be determined using equation (3) above.
In some possible implementations of embodiments of the present application, in determining a double-difference ambiguity for a first carrier corresponding to a first epoch of a first satellite based on a widelane ambiguity and an ionosphere-free combined ambiguity, the double-difference ambiguity may be determined according to equation (5) below:
wherein, Δ N in formula (5) 1 Is double difference ambiguity, Δ N ion-free Is the paste degree of the combination die without an ionized layer, delta N WL Is the width lane ambiguity, f 1 Is the frequency, f, of the first carrier 2 Is the frequency of the second carrier.
Similarly, for a certain IFPB search value, the double-difference ambiguity for the first carrier corresponding to the satellite epoch of the plurality of satellite epochs other than the first satellite epoch at that IFPB search value can be determined using equation (5) above.
Similarly, for other IFPB search values of the plurality of IFPB search values, the double-difference ambiguity for the first carrier corresponding to each epoch of each satellite of the plurality of epochs of the plurality of satellites at the IFPB search value can be determined using equation (5) above.
In some possible implementations of embodiments of the present application, when determining a residual of a double-difference ambiguity for a first carrier corresponding to a first epoch of a first satellite based on the double-difference ambiguity, the residual of the double-difference ambiguity may be determined according to equation (6) below:
wherein Δ ^ res is the residual of double-difference ambiguity, Δ ^ ρ is the double-difference pseudorange of the first receiver and the second receiver to the first satellite in equation (6),
a double difference phase observation, Δ N, for a first carrier for a first receiver and a second receiver 1 For double-difference ambiguity, λ 1 Is the wavelength of the first carrier.
Similarly, for a certain IFPB search value, the residual of the double-difference ambiguity for the first carrier corresponding to a satellite epoch other than the first satellite epoch in the plurality of satellite epochs at that IFPB search value can be determined using equation (6) above.
Similarly, for other IFPB search values of the plurality of IFPB search values, the double-difference ambiguity for the first carrier corresponding to each epoch of each satellite of the plurality of epochs of the plurality of satellites at the IFPB search value can be determined using equation (6) above.
After determining the double-difference ambiguity residual for the first carrier corresponding to a satellite epoch other than each epoch of the plurality of satellites at the IFPB search value for a certain IFPB search value, an average of the double-difference ambiguity residual for the first carrier corresponding to the plurality of satellite epochs at the IFPB search value may be calculated.
Similarly, an average of the residuals of the double-difference ambiguities of the first carrier corresponding to the plurality of epochs of the satellite at each of the plurality of IFPB search values may be determined.
After determining an average value of the double-difference ambiguities of the first carrier corresponding to multiple epochs of multiple satellites at each IFPB search value of the multiple IFPB search values, the average values may be compared to obtain a minimum value of the average values, and then in S104, the IFPB search value corresponding to the minimum value may be calibrated as an IFPB relative value between the first receiver and the second receiver.
The double-difference ambiguity determined by the above formula (5) is a float solution of the double-difference ambiguity. In practical application, when the requirement on precision is high, the floating solution of the double-difference ambiguity can be fixed to obtain a fixed solution of the double-difference ambiguity, and then a fixed solution residual error of the double-difference ambiguity can be obtained according to the formula (6) and the fixed solution of the double-difference ambiguity.
It is to be understood that the observation data in S101 includes phase observations and pseudorange observations for a first carrier and a second carrier of a satellite for each epoch of a plurality of epochs of a plurality of satellites at each of a plurality of IFPB search values.
When double-difference ambiguity of a first carrier of a satellite under an IFPB search value of a certain epoch of the certain satellite is determined, phase observation values and pseudo-range observation values of the first carrier and a second carrier of the satellite under the IFPB search value of the epoch of the satellite are used for determining.
It should be noted that, in the inter-receiver IFPB calibration method provided in the embodiment of the present application, the execution main body may be an inter-receiver IFPB calibration device, or a control module in the inter-receiver IFPB calibration device, configured to execute the inter-receiver IFPB calibration method. The inter-receiver IFPB calibration device provided in the embodiment of the present application is described by taking an example in which the inter-receiver IFPB calibration device executes an inter-receiver IFPB calibration method.
Fig. 2 is a schematic structural diagram of an inter-receiver IFPB calibration apparatus provided in the embodiment of the present application. The inter-receiver IFPB calibration apparatus 200 may include:
a first obtaining module 201, configured to obtain observation data of a first receiver and a second receiver for a plurality of epochs of a plurality of satellites of the GLONASS system, where the observation data includes phase observations and pseudorange observations for a first carrier and a second carrier of the satellites;
a determining module 202, configured to determine, according to the observation data, a double-difference ambiguity residual under a plurality of IFPB search values corresponding to the first carrier of each epoch of each satellite;
a second obtaining module 203, configured to obtain an average value of double-difference ambiguity residuals of all satellites under each IFPB search value in the multiple IFPB search values;
a calibration module 204, configured to calibrate the relative IFPB value between the first receiver and the second receiver according to a minimum value of the plurality of average values.
In an embodiment of the application, phase observations and pseudorange observations of a first carrier and a second carrier for a satellite are obtained for a plurality of epochs of a GLONASS system satellite by a first receiver and a second receiver; determining a double-difference ambiguity residual under a plurality of IFPB search values of the first carrier corresponding to each epoch of each satellite according to the observation data; obtaining an average value of double-difference ambiguity residuals of all satellites under each IFPB search value in a plurality of IFPB search values; and calibrating the relative IFPB value between the first receiver and the second receiver according to the minimum value of the plurality of average values. Compared with the scheme for calibrating the IFPB in the related art, the IFPB calibration method and the IFPB calibration device are not limited by the length of the base line, and the IFPB can be calibrated easily through the middle base line or the long base line, so that the IFPB calibration efficiency can be improved.
In some possible implementations of embodiments of the present application, the determining module 202 includes:
the first determining submodule is used for determining the wide lane ambiguity of a first carrier and a second carrier wide lane combination corresponding to a first epoch of a first satellite under each IFPB search value according to the plurality of IFPB search values and the observation data respectively, wherein the first epoch of the first satellite is any one epoch of any one satellite in a plurality of epochs of the plurality of satellites;
the calculation submodule is used for calculating the non-ionized layer combined ambiguity of a first carrier and a second carrier corresponding to a first epoch of a first satellite according to the observation data;
a second determining submodule, configured to determine a double-difference ambiguity of a first carrier corresponding to a first epoch of a first satellite according to the widelane ambiguity and the ionosphere-free combined ambiguity;
and the third determining submodule is used for determining the residual error of the double-difference ambiguity according to the double-difference ambiguity.
In some possible implementations of the embodiments of the present application, the first determining sub-module is specifically configured to:
and determining the widelane ambiguity under each IFPB search value by utilizing a combined observation value MW algorithm according to the observation data aiming at the IFPB search values.
In some possible implementations of the embodiments of the present application, the second determining submodule is specifically configured to:
according to the above equation (5), the double-difference ambiguities are determined.
In some possible implementations of the embodiments of the present application, the third determining sub-module is specifically configured to:
the residual of the double-difference ambiguity is determined according to equation (6) above.
The inter-receiver IFPB calibration apparatus in the embodiment of the present application may be an apparatus, or may be a component, an integrated circuit, or a chip in a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the embodiments of the present application are not particularly limited.
The inter-receiver IFPB calibration apparatus in the embodiment of the present application may be an apparatus having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which is not specifically limited in the embodiment of the present application.
The inter-receiver IFPB calibration apparatus provided in the embodiment of the present application can implement each process in the inter-receiver IFPB calibration method embodiment of fig. 1, and for avoiding repetition, details are not repeated here.
Optionally, as shown in fig. 3, an electronic device 300 is further provided in this embodiment of the present application, and includes a processor 301, a memory 302, and a program or an instruction stored in the memory 302 and executable on the processor 301, where the program or the instruction is executed by the processor 301 to implement each process of the inter-receiver IFPB calibration method embodiment, and can achieve the same technical effect, and in order to avoid repetition, it is not described here again.
It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and the non-mobile electronic devices described above.
In some possible implementations of embodiments of the present Application, the processor 301 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of embodiments of the present Application.
In some possible implementations of embodiments of the present application, the Memory 302 may include Read-Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash Memory devices, electrical, optical, or other physical/tangible Memory storage devices. Thus, in general, the memory 302 includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to the inter-receiver IFPB calibration methods according to embodiments of the present application.
Fig. 4 is a hardware configuration diagram of an electronic device implementing an embodiment of the present application.
The electronic device 400 includes, but is not limited to: radio unit 401, network module 402, audio output unit 403, input unit 404, sensor 405, display unit 406, user input unit 407, interface unit 408, memory 409, and processor 410.
Those skilled in the art will appreciate that the electronic device 400 may further include a power source (e.g., a battery) for supplying power to various components, and the power source may be logically connected to the processor 410 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The electronic device structure shown in fig. 4 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is omitted here.
Wherein the processor 410 is configured to: obtaining observation data of a first receiver and a second receiver for a plurality of epochs of a plurality of satellites of the GLONASS system, wherein the observation data comprises phase observations and pseudorange observations of a first carrier and a second carrier for the satellites; determining a double-difference ambiguity residual under a plurality of IFPB search values of the first carrier corresponding to each epoch of each satellite according to the observation data; obtaining an average value of double-difference ambiguity residuals of all satellites under each IFPB search value in a plurality of IFPB search values; and calibrating the relative IFPB value between the first receiver and the second receiver according to the minimum value of the plurality of average values.
In an embodiment of the application, phase observations and pseudorange observations of a first carrier and a second carrier for a satellite are obtained for a plurality of epochs of a GLONASS system satellite by a first receiver and a second receiver; determining a double-difference ambiguity residual under a plurality of IFPB search values of the first carrier corresponding to each epoch of each satellite according to the observation data; obtaining an average value of double-difference ambiguity residuals of all satellites under each IFPB search value in a plurality of IFPB search values; and calibrating the relative IFPB value between the first receiver and the second receiver according to the minimum value of the plurality of average values. Compared with the scheme for calibrating the IFPB in the related art, the IFPB calibration method and the IFPB calibration device are not limited by the length of the base line, the IFPB can be easily calibrated through the middle base line or the long base line, and the IFPB calibration efficiency can be improved.
In some possible implementations of embodiments of the present application, the processor 410 is specifically configured to:
determining a wide lane ambiguity of a first carrier and a second carrier wide lane combination corresponding to a first epoch of a first satellite under each IFPB search value according to the observation data aiming at the IFPB search values, wherein the first epoch of the first satellite is any one epoch of any one satellite in a plurality of epochs of the satellites;
according to the observation data, calculating the non-ionized layer combination ambiguity of a first carrier and a second carrier corresponding to a first epoch of a first satellite;
determining double-difference ambiguity of a first carrier corresponding to a first epoch of a first satellite according to the widelane ambiguity and the ionosphere-free combined ambiguity;
and determining the residual error of the double-difference ambiguity according to the double-difference ambiguity.
In some possible implementations of embodiments of the present application, the processor 410 is specifically configured to:
and aiming at a plurality of IFPB (information and performance class) search values, determining the widelane ambiguity under each IFPB search value by utilizing a combined observation value MW (maximum power) algorithm according to the observation data.
In some possible implementations of embodiments of the present application, the processor 410 is specifically configured to:
according to the above equation (5), the double-difference ambiguities are determined.
In some possible implementations of embodiments of the present application, the processor 410 is specifically configured to:
the residual of the double-difference ambiguity is determined according to equation (6) above.
It should be understood that, in the embodiment of the present application, the input Unit 404 may include a Graphics Processing Unit (GPU) 4041 and a microphone 4042, and the Graphics processor 4041 processes image data of a still picture or a video obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 406 may include a display panel 4061, and the display panel 4061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 407 includes a touch panel 4071 and other input devices 4072. A touch panel 4071, also referred to as a touch screen. The touch panel 4071 may include two parts, a touch detection device and a touch controller. Other input devices 4072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein. The memory 409 may be used to store software programs as well as various data including, but not limited to, application programs and an operating system. The processor 410 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communication. It will be appreciated that the modem processor described above may not be integrated into the processor 410.
The embodiments of the present application further provide a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the inter-receiver IFPB calibration method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, and examples of the computer readable storage medium include non-transitory computer readable storage media such as ROM, RAM, magnetic or optical disks, and the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a computer software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.
Claims (11)
1. A calibration method for phase-frequency offset between receivers is characterized by comprising the following steps:
obtaining observation data of a first receiver and a second receiver for a plurality of epochs of a plurality of satellites of the GLONASS system, wherein the observation data comprises phase observations and pseudorange observations for a first carrier and a second carrier of a satellite;
determining, from the observation data, a double-difference ambiguity residual at a plurality of phase-to-frequency offset search values for the first carrier corresponding to each of the epochs of each of the satellites;
obtaining an average value of the double-difference ambiguity residual errors of all the satellites under each phase inter-frequency deviation search value in the multiple phase inter-frequency deviation search values;
and calibrating the relative value of the phase-frequency deviation between the first receiver and the second receiver according to the minimum value of the plurality of average values.
2. The method of claim 1, wherein said determining, from said observation data, a double-difference ambiguity residual at a plurality of phase-to-frequency offset search values for said first carrier corresponding to each of said epochs of each of said satellites comprises:
determining a widelane ambiguity of a widelane combination of the first carrier and the second carrier corresponding to a first epoch of a first satellite under each phase inter-frequency deviation search value according to the observation data respectively for a plurality of phase inter-frequency deviation search values, wherein the first epoch of the first satellite is any one epoch of any one satellite in a plurality of epochs of the plurality of satellites;
calculating ionospheric-free combined ambiguity for the first carrier and the second carrier corresponding to the first epoch of the first satellite based on the observation data;
determining a double-difference ambiguity for the first carrier corresponding to a first epoch of the first satellite based on the widelane ambiguity and the ionospheric-free combined ambiguity;
and determining the residual error of the double-difference ambiguity according to the double-difference ambiguity.
3. The method of claim 2, wherein the determining a widelane ambiguity for the first carrier and the second carrier widelane combination corresponding to a first epoch of a first satellite for each phase-to-frequency offset search value from the observation data for a plurality of phase-to-frequency offset search values, respectively, comprises:
and aiming at a plurality of phase inter-frequency deviation search values, determining the widelane ambiguity under each phase inter-frequency deviation search value by utilizing a combined observed value MW algorithm according to the observed data.
4. The method of claim 2, wherein determining the double-difference ambiguity for the first carrier corresponding to the first satellite first epoch from the widelane ambiguity and the ionosphere-free combined ambiguity comprises:
determining the double-difference ambiguity according to the following formula:
wherein,
is the double difference ambiguity, < >>
Combine ambiguities for the absence of ionosphere, <' >>
Is the width lane ambiguity, f 1 Is the frequency, f, of the first carrier 2 Is the frequency of the second carrier.
5. The method of claim 2, wherein determining the residual of the double-difference ambiguity from the double-difference ambiguity comprises:
determining a residual of the double-difference ambiguity according to the following formula:
wherein,
for the residual of the double-difference ambiguity, <>
A double differential range for the first satellite for the first receiver and the second receiver, and->
For the first receiver and the second receiverA double-difference phase observation on the first carrier by the second receiver, based on a time-varying threshold>
For said double-difference ambiguity, λ 1 Is the wavelength of the first carrier.
6. An apparatus for calibrating phase-to-frequency offset between receivers, the apparatus comprising:
a first obtaining module, configured to obtain observation data of a first receiver and a second receiver for a plurality of epochs of a plurality of satellites of the GLONASS system, wherein the observation data includes phase observations and pseudorange observations for a first carrier and a second carrier of a satellite;
a determining module configured to determine a double-difference ambiguity residual under a plurality of phase inter-frequency bias search values corresponding to the first carrier of each epoch of each satellite according to the observation data;
a second obtaining module, configured to obtain an average value of the double-difference ambiguity residuals of all epochs of all satellites under each phase inter-frequency offset search value in the multiple phase inter-frequency offset search values;
and the calibration module is used for calibrating the phase frequency deviation relative value between the first receiver and the second receiver according to the minimum value of the average values.
7. The apparatus of claim 6, wherein the determining module comprises:
a first determining sub-module, configured to determine, according to the observation data, a widelane ambiguity of the first carrier and the second carrier widelane combination corresponding to a first epoch of a first satellite for each phase-frequency offset search value, respectively, where the first epoch of the first satellite is any one epoch of a plurality of epochs of the plurality of satellites;
a calculation submodule, configured to calculate an ionospheric-free combined ambiguity for the first carrier and the second carrier corresponding to a first epoch of the first satellite based on the observation data;
a second determination sub-module to determine a double-difference ambiguity for the first carrier corresponding to a first epoch of the first satellite based on the widelane ambiguity and the ionosphere-free combined ambiguity;
and the third determining submodule is used for determining the residual error of the double-difference ambiguity according to the double-difference ambiguity.
8. The apparatus of claim 7, wherein the first determination submodule is specifically configured to:
and aiming at a plurality of phase inter-frequency deviation search values, determining the widelane ambiguity under each phase inter-frequency deviation search value by utilizing a combined observed value MW algorithm according to the observed data.
9. The apparatus of claim 7, wherein the second determination submodule is specifically configured to:
determining the double-difference ambiguity according to the following formula:
wherein,
is the double difference ambiguity, < >>
Combine ambiguities for the absence of ionosphere, <' >>
Is the width lane ambiguity f 1 Is the frequency, f, of the first carrier 2 Is the frequency of the second carrier.
10. The apparatus of claim 7, wherein the third determination submodule is specifically configured to:
determining a residual of the double-difference ambiguity according to the following formula:
wherein,
for the residual of said double-difference ambiguity>
For both the first receiver and the second receiver, a double diversity for the first satellite, a combination of a first diversity and a second diversity>
Double-difference phase observations, -based on the first carrier, of the first receiver and the second receiver>
Is said double-difference ambiguity, λ 1 Is the wavelength of the first carrier.
11. An electronic device, characterized in that the electronic device comprises: a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions when executed by the processor implementing the steps of the inter-receiver phase-to-frequency offset calibration method as claimed in any one of claims 1 to 5.
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