CN116577816A - Method, device and storage medium for determining position of subscriber station by using double-difference positioning - Google Patents

Method, device and storage medium for determining position of subscriber station by using double-difference positioning Download PDF

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Publication number
CN116577816A
CN116577816A CN202310847912.1A CN202310847912A CN116577816A CN 116577816 A CN116577816 A CN 116577816A CN 202310847912 A CN202310847912 A CN 202310847912A CN 116577816 A CN116577816 A CN 116577816A
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determining
carrier phase
subscriber station
phase information
reference station
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CN116577816B (en
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沈朝阳
侯海洋
李翌铭
刘川
高千峰
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Galaxy Aerospace Beijing Network Technology Co ltd
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Galaxy Aerospace Beijing Network Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application discloses a method, a device and a storage medium for determining the position of a subscriber station by using double-difference positioning. Comprising the following steps: monitoring a first satellite and a second satellite respectively, and determining a plurality of first reference station carrier phase information and a plurality of first subscriber station carrier phase information according to a plurality of first positioning signals corresponding to the first satellite; a plurality of second reference station carrier phase information and a plurality of second subscriber station carrier phase information are determined based on a plurality of second positioning signals corresponding to a second satellite. Thereby determining the position coordinates of the subscriber station based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the position coordinates of the reference station, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information. Therefore, the technical effect that the resource consumption is high when the position coordinates of the subscriber station are obtained by using the double-difference carrier phase difference model is avoided.

Description

Method, device and storage medium for determining position of subscriber station by using double-difference positioning
Technical Field
The present application relates to the field of satellite positioning technologies, and in particular, to a method, an apparatus, and a storage medium for determining a position of a subscriber station by using dual differential positioning.
Background
The high-precision GPS measurement positioning technology is widely applied to various fields such as land planning, various engineering construction and the like by the advantages of high precision, high efficiency, low cost, real-time positioning, simplicity and convenience in operation and the like. Along with the wide application of GPS measurement positioning technology, the positioning method and the data processing theory are also continuously developed and perfected.
Principle of GPS measurement positioning technology: the distances between satellites of known locations and the subscriber station are measured, and the subscriber station can then determine its specific location on the earth by communicating with at least 4 satellites and calculating the distances to the 4 satellites, respectively. However, the accuracy of locating a specific location of a subscriber station using this method is not high, for several reasons: 1. atmospheric layer effects; 2. satellite ephemeris error; 3. satellite clock errors; 4. multipath errors. The GPS positioning signals may be received after being reflected by different obstructions, and thus the subscriber station may receive multiple positioning signals (e.g., including a master positioning signal and multiple slave positioning signals generated by the master positioning signal after reflection).
In order to solve the above error, a carrier phase differential model is proposed. The carrier phase difference model is to make a difference between the carrier phase received by the subscriber station and the carrier phase received by the reference station, and finally complete the positioning calculation of the subscriber station by using the observed quantity after the error is eliminated. The carrier phase differential model can be divided into a single-difference carrier phase differential model and a double-difference carrier phase differential model according to the difference times of observables between the subscriber station and the reference station.
Fig. 1A is a schematic diagram of a conventional single-difference carrier-phase differential model. Referring to FIG. 1A, there is providedrAs a reference station,uis a subscriber station. Reference stationrAnd subscriber stationuMeanwhile, the carrier phase of one satellite is monitored, and then the observed quantity is subjected to difference elimination to eliminate errors. Let two stations observe the satellite at the same time asiReference stationrIs the carrier phase observation of (a)φ r (i) And subscriber stationuIs the carrier phase observation of (a)φ u (i) . Subscriber stationuReference stationrCarrier phase observations of (a)φ u (i) Andφ r (i) the calculation formula of (2) is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,r r (i) representing satellitesiWith reference stationrThe geometric distance between the two parts of the frame,r u (i) representing satellitesiWith subscriber stationuThe geometric distance between the two parts of the frame,I r (i) representing satellitesiThe transmitted electromagnetic wave signal reaching the reference stationrThe ionospheric delay that is generated at the time,I u (i) representing satellitesiThe transmitted electromagnetic wave signal reaches the subscriber stationuThe ionospheric delay that is generated at the time,T r (i) representing satellitesiThe transmitted electromagnetic wave signal reaching the reference stationrThe tropospheric delay time which is generated in the process,T u (i) representing satellitesiThe transmitted electromagnetic wave signal reaches the subscriber stationuThe tropospheric delay time which is generated in the process,δt i representing satellitesiA clock error with respect to the GPS time,δt u representing subscriber stationsuA clock error with respect to the GPS time,δt r indicating a reference stationrA clock error with respect to the GPS time,N r (i) indicating a reference station rMonitoring satellitesiIs used for the whole-cycle ambiguity of (a),N u (i) representing subscriber stationsuMonitoring satellitesiIs a whole-cycle ambiguity of (2). Carrier frequencyfThen the relationship between carrier wavelength, speed of light and frequency is available:
subscriber stationuReference station is subtracted from carrier phase observations of (a)rCan obtain the difference of the carrier phase measurement valueφ ur (i) The calculation formula of (2) is as follows:
equation 5 can be obtained by combining equation 1, equation 2, equation 3, and equation 4:
wherein, the liquid crystal display device comprises a liquid crystal display device,δt ur 、I ur (i) andT ur (i) the calculation formula of (2) is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,r ur (i) representing subscriber stationsuAnd satelliteiGeometric distance between and reference stationrAnd satelliteiThe difference in the geometric distance between them,I ur (i) representing subscriber stationsuAnd satelliteiIonospheric delay and reference station therebetweenrAnd satelliteiThe difference in ionospheric delay between them,T ur (i) representing subscriber stationsuAnd satelliteiTropospheric delay and reference station therebetweenrAnd satelliteiThe difference in tropospheric delay between them,N ur (i) representing subscriber stationsuAnd satelliteiInteger ambiguity between and reference stationrAnd satelliteiThe difference in integer ambiguity between them,representing subscriber stationsuAnd satelliteiRandom error between and reference stationrAnd satelliteiDifference in random errors between.
Further, due to the subscriber station in the carrier phase difference subsystemuWill not normally be distant from the reference station rToo far, in this case the subscriber stationuReference stationrThe delays of the received carrier signals through the ionosphere are substantially the same. Troposphere to subscriber station when the altitude difference between the two is not largeuReference stationrThe degree of delay of the combined signal is also substantially the same. In this way the first and second light sources,I ur (i) andT ur (i) are all approximately equal to zero, so equation 5 can be further reduced to:
as can be seen from the above equation 11, if it is desired to obtainr ur (i) Then the subscriber station needs to be founduReference stationrClock error between。
Therefore, a double-difference carrier phase difference model is provided on the basis of the single-difference carrier phase difference model. The double-difference carrier phase difference model is based on a single-difference carrier phase difference model, 4 satellites are monitored simultaneously, and carrier phase information, ephemeris information and the like of the corresponding satellites are obtained. The subscriber station thus solves for the position coordinates based on the carrier phase information of the reference station received from the reference station. Wherein fig. 1B shows a schematic diagram of a dual differential carrier phase differential model. Referring to FIG. 1B, satellite 1, satellite 2, satellite 3, and satellite 4 are shown with carrier signals at the same frequency and carrier wavelength to a reference stationrAnd subscriber stationuAnd sending positioning information.
So that the subscriber station can be calculated for satellite 1, satellite 2, satellite 3 and satellite 4, respectively uWith reference stationrSingle difference phase difference between:
the differences between the single difference phase differences of satellite 2, satellite 3 and satellite 4 and satellite 1 are then calculated, respectively. Specifically, fig. 1C is a schematic diagram of a prior art dual differential carrier-phase differential. Referring to fig. 1C, a subscriber station is provideduRelative to a reference stationrIs a phase position vectorb ur Reference stationrThe unit vector of the monitored satellite (e.g., satellite 1) isE r (1) Subscriber stationuAt the position ofE r (1) In the direction and reference stationrThe distance difference is the geometric distance of the unidirectional differencer ur (1) . Due to subscriber stationuRelative to a reference stationrDistance between them compared to the reference stationr(or subscriber station)u) The geometrical distance from the satellite 1 is negligible and therefore the subscriber station can be considereduUnit vector sum to monitored satellite 1E r (1) Equal. Based on the above description, the subscriber stationuReference stationrAt the position ofE r (1) Single difference in directionr ur (1) Subscriber stationu(or reference station)r) Unit vector to satellite 1E r (1) Subscriber stationuRelative to a reference stationrIs a phase position vector of (2)b ur The following relation exists between:
wherein the point multiplication in equation 16 has the meaning of finding a phase position vectorb ur In unit vectorE r (1) Projection values thereon.
Further, the double-difference carrier phase difference model eliminates clock errors based on the single-difference carrier phase difference model. Therefore, based on the single-difference carrier-phase differential model, the calculation formulas of the double-difference carrier-phase differential model corresponding to the satellite 1 and the satellite 2, the double-difference carrier-phase differential model corresponding to the satellite 1 and the satellite 3 and the double-difference carrier-phase differential model corresponding to the satellite 1 and the satellite 4 can be obtained:
The subscriber station is then calculated according to equation 17 aboveuRelative to a reference stationrIs a phase position vector of (2)b ur 。
However, as is clear from the above description, the double-difference carrier-phase differential model can directly eliminate the clock error between the subscriber station and the reference station, compared to the single-difference carrier-phase differential model, but the number of satellites used for the double-difference carrier-phase differential model is at least 4, and therefore there is a problem that the resource consumption is large in using the double-difference carrier-phase differential model to determine the position coordinates of the subscriber station.
The disclosure number is CN108363079A, and the name is GNSS pseudo-range differential positioning method and system for the portable intelligent device. The method comprises the following steps: acquiring an original GNSS observation value of the intelligent equipment, and performing smoothing treatment on the pseudo-range observation value by utilizing the carrier phase observation value of continuous loss of the circumference to acquire a pseudo-range smoothing value of the visible satellite; acquiring and analyzing RTCM data of a reference station, and acquiring a reference station position, a reference station pseudo-range observation value and ephemeris after analyzing the RTCM data; generating a pseudo-range double-difference observed value of the visible satellite according to the pseudo-range smooth value and the reference station pseudo-range observed value; calculating the position of the visible satellite according to the ephemeris; obtaining the relative position of the intelligent equipment relative to the reference station through a baseline vector calculation algorithm according to the pseudo-range double-difference observation value and the position of the visible satellite; the relative position is converted into local coordinates.
The publication number is CN103837879A, the name is a method for realizing high-precision positioning based on Beidou system civil carrier phase combination, comprising the following steps: calculating an initial user position, and calculating GEO ultra-wide lane integer ambiguity by using the initial user position; rounding the GEO ultra-wide lane combination observed quantity, calculating the whole-cycle ambiguity of the GEO ultra-wide lane, calculating the GEO ultra-wide lane combination double-difference observed quantity error, and determining the GEO ultra-wide lane ambiguity searching range; performing dimension reduction search on the whole-cycle ambiguity of the GEO wide lane to obtain an accurate value of the ambiguity of the GEO wide lane; selecting one MEO/IGSO satellite and primarily calculating the whole-cycle ambiguity of a wide lane; obtaining an MEO/IGSO wide lane ambiguity precision value through searching; calculating double-difference ambiguity values on B1, B2 and S frequency points by using the ambiguity combination relation of the ultra-wide lane and the wide lane; and performing satellite-based double-difference positioning by using the calculated double-difference ambiguity values on the B1, B2 and S frequency points and the carrier phase measured by the receiver, and calculating the high-precision position of the user.
Aiming at the technical problems that the number of satellites used for the double-difference carrier-phase differential model in the prior art is large, and the resource consumption is large when the double-difference carrier-phase differential model is used for solving the position coordinates of the subscriber station, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device and a storage medium for determining the position of a subscriber station by using double-difference positioning, which are used for at least solving the technical problems that the number of satellites used by a double-difference carrier-phase difference model in the prior art is large, and therefore, the resource consumption is large when the double-difference carrier-phase difference model is used for obtaining the position coordinates of the subscriber station.
According to one aspect of the disclosed embodiments, there is provided a method of determining a position of a subscriber station using dual differential positioning, comprising: determining position coordinates of the reference station; monitoring a first satellite, and determining a plurality of first positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of first positioning signals are different; monitoring the second satellite, and determining a plurality of second positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals; determining a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determining a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals; determining a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals, and determining a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and determining the position coordinates of the subscriber station based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the position coordinates of the reference station, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information.
According to another aspect of the embodiments of the present disclosure, there is also provided a storage medium including a stored program, wherein the method of any one of the above is performed by a processor when the program is run.
According to another aspect of the embodiments of the present disclosure, there is also provided an apparatus for determining a position of a subscriber station using dual differential positioning, including: the first position coordinate determining module is used for determining position coordinates of the reference station; the system comprises a plurality of first positioning signal determining modules, a plurality of second positioning signal determining modules and a plurality of first positioning signal transmitting modules, wherein the plurality of first positioning signal determining modules are used for monitoring a first satellite and determining a plurality of first positioning signals corresponding to different moments, and carrier wavelengths of the plurality of first positioning signals are different; the plurality of second positioning signal determining modules are used for monitoring the second satellite and determining a plurality of second positioning signals corresponding to different moments, wherein the carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals; a reference station carrier phase information determining module for determining a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determining a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals; the subscriber station carrier phase information determining module is used for determining a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals and determining a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and a second position coordinate determining module for determining the position coordinates of the subscriber station based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the position coordinates of the reference station, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information.
According to another aspect of the embodiments of the present disclosure, there is also provided an apparatus for determining a position of a subscriber station using dual differential positioning, including: a processor; and a memory, coupled to the processor, for providing instructions to the processor for processing the steps of: determining position coordinates of the reference station; monitoring a first satellite, and determining a plurality of first positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of first positioning signals are different; monitoring the second satellite, and determining a plurality of second positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals; determining a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determining a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals; determining a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals, and determining a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and determining the position coordinates of the subscriber station based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the position coordinates of the reference station, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information.
The application provides a method for determining a subscriber station by using double-difference positioning. First, the reference station determines position coordinates. Then, the reference station monitors a first satellite and determines a plurality of first positioning signals with different carrier wavelengths; the reference station monitors the second satellite and determines a plurality of second positioning signals having different carrier wavelengths. The carrier wavelengths of the first positioning signals and the second positioning signals correspond. Further, the reference station determines a plurality of first reference station carrier phase information according to a plurality of first positioning signals with different carrier wavelengths; the reference station determines a plurality of second reference station carrier phase information based on a plurality of second positioning signals having different carrier wavelengths. In addition, the subscriber station determines a plurality of first subscriber station carrier phase information according to a plurality of first positioning signals with different carrier wavelengths; the subscriber station determines a plurality of second subscriber station carrier phase information based on a plurality of second positioning signals having different carrier wavelengths. Finally, the subscriber station determines the position coordinates of the subscriber station based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the position coordinates of the reference station, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information.
Unlike the prior art, the reference station in the embodiment of the present application does not need to monitor a plurality of satellites (for example, 4 satellites) and determine a plurality of carrier phase information according to positioning signals transmitted by the plurality of satellites, but only needs to monitor a first satellite and a second satellite (for example, 2 satellites) and determine a plurality of carrier phase information according to a plurality of positioning signals with different carrier wavelengths transmitted by the first satellite and the second satellite. Therefore, the embodiment of the application can achieve the technical effect of saving resources. The method and the device solve the technical problems that the number of satellites used by the double-difference carrier phase difference model in the prior art is large, and therefore the resource consumption is large when the double-difference carrier phase difference model is used for solving the position coordinates of the subscriber station.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the present disclosure, and together with the description serve to explain the present disclosure. In the drawings:
FIG. 1A is a schematic diagram of a prior art single-difference carrier-phase differential model;
FIG. 1B is a schematic diagram of a prior art dual differential carrier phase differential model;
FIG. 1C is a schematic diagram of a prior art dual differential carrier phase differential;
fig. 2A is a schematic diagram of a hardware architecture of a satellite system according to the first aspect of embodiment 1 of the present application;
fig. 2B is a schematic diagram of a hardware architecture of the reference station according to the first aspect of embodiment 1 of the present application;
FIG. 3 is a schematic diagram of a first satellite and a second satellite transmitting a plurality of positioning signals of different carrier wavelengths to a reference station and a subscriber station, respectively, according to a first aspect of embodiment 1 of the present application;
FIG. 4 is a flow chart of a method for determining a position of a subscriber station using dual differential positioning according to the first aspect of embodiment 1 of the present application;
FIG. 5 is a schematic diagram of an apparatus for determining a position of a subscriber station using dual differential positioning according to a first aspect of embodiment 2 of the present application; and
fig. 6 is a schematic diagram of an apparatus for determining a position of a subscriber station using dual differential positioning according to the first aspect of embodiment 3 of the present application.
Detailed Description
In order to better understand the technical solutions of the present disclosure, the following description will clearly and completely describe the technical solutions of the embodiments of the present disclosure with reference to the drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are merely embodiments of a portion, but not all, of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to the present embodiment, there is provided an embodiment of a method of determining the position of a subscriber station using dual differential positioning, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and that although a logical sequence is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in a different order than what is illustrated herein.
Fig. 2A further illustrates a schematic diagram of the hardware architecture of the satellite system 10. Referring to fig. 2A, the satellite system 10 includes an integrated electronic system including: processor, memory, bus management module and communication interface. Wherein the memory is coupled to the processor such that the processor can access the memory, read program instructions stored in the memory, read data from the memory, or write data to the memory. The bus management module is connected to the processor and also to a bus, such as a CAN bus. The processor can communicate with the satellite-borne peripheral connected with the bus through the bus managed by the bus management module. In addition, the processor is also in communication connection with the camera, the star sensor, the measurement and control transponder, the data transmission equipment and other equipment through the communication interface. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 2A is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the satellite system may also include more or fewer components than shown in FIG. 2A, or have a different configuration than shown in FIG. 2A.
Fig. 2B further shows a schematic diagram of the hardware architecture of the reference station 20. Referring to fig. 2B, reference station 20 may include one or more processors (which may include, but are not limited to, a microprocessor MCU, a processing device such as a programmable logic device FPGA), a memory for storing data, a transmission device for communication functions, and an input/output interface. Wherein the memory, the transmission device and the input/output interface are connected with the processor through a bus. In addition, the method may further include: a display connected to the input/output interface, a keyboard, and a cursor control device. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 2B is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the reference station may also include more or fewer components than shown in fig. 2B, or have a different configuration than shown in fig. 2B.
It should be noted that one or more of the processors and/or other data processing circuits shown in fig. 2A and 2B may be referred to herein generally as a "data processing circuit. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the computing device. As referred to in the embodiments of the present disclosure, the data processing circuit acts as a processor control (e.g., selection of the variable resistance termination path to interface with).
The memories shown in fig. 2A and 2B may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the method for determining a position of a subscriber station using dual differential positioning in the embodiments of the present disclosure, and the processor may execute various functional applications and data processing by executing the software programs and modules stored in the memories, that is, implement the method for determining a position of a subscriber station using dual differential positioning of the application program described above. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory
It should be noted here that in some alternative embodiments, the apparatus shown in fig. 2A and 2B described above may include hardware elements (including circuits), software elements (including computer code stored on a computer readable medium), or a combination of both hardware elements and software elements. It should be noted that fig. 2A and 2B are only one example of a specific example, and are intended to illustrate the types of components that may be present in the above-described devices.
Fig. 3 is a schematic diagram of a first satellite and a second satellite transmitting a plurality of positioning signals of different carrier wavelengths to a reference station and a subscriber station, respectively, according to an embodiment of the present application. Referring to fig. 3, reference station 20 receives at different timesA plurality of first positioning signals of different carrier wavelengths transmitted by the satellite 1. For example, reference station 20 is at timeT 1 Receiving the carrier wavelength transmitted by satellite 1λ 1 Is a first positioning signal of (a); reference station 20 at timeT 2 Receiving the carrier wavelength transmitted by satellite 1λ 2 Is a first positioning signal of (a); reference station 20 at timeT 3 Receiving the carrier wavelength transmitted by satellite 1λ 3 Is provided for the first positioning signal of (a).
At the same time, the reference station 20 receives a plurality of second positioning signals of different carrier wavelengths transmitted by the satellite 2 at different times. For example, reference station 20 is at time T 1 Receiving the carrier wavelength transmitted by satellite 2λ 1 Is a second positioning signal of (a); reference station 20 at timeT 2 Receiving the carrier wavelength transmitted by satellite 2λ 2 Is a second positioning signal of (a); reference station 20 at timeT 3 Receiving the carrier wavelength transmitted by satellite 2λ 3 Is included in the first positioning signal.
Like reference station 20, subscriber station 30 receives a plurality of first positioning signals of different carrier wavelengths transmitted by satellite 1 at different times. For example, the subscriber station 30 is at timeT 1 Receiving the carrier wavelength transmitted by satellite 1λ 1 Is a first positioning signal of (a); the subscriber station 30 is at the momentT 2 Receiving the carrier wavelength transmitted by satellite 1λ 2 Is a first positioning signal of (a); the subscriber station 30 is at the momentT 3 Receiving the carrier wavelength transmitted by satellite 1λ 3 Is provided for the first positioning signal of (a).
At the same time, the subscriber station 30 receives a plurality of second positioning signals of different carrier wavelengths transmitted by the satellite 2 at different times. For example, the subscriber station 30 is at timeT 1 Receiving the carrier wavelength transmitted by satellite 2λ 1 Is a second positioning signal of (a); the subscriber station 30 is at the momentT 2 Receiving carrier waves transmitted by satellite 2Long lengthλ 2 Is a second positioning signal of (a); the subscriber station 30 is at the momentT 3 Receiving the carrier wavelength transmitted by satellite 2λ 3 Is included in the first positioning signal.
In the above operating environment, according to a first aspect of the present embodiment, there is provided a method of determining a position of a subscriber station using double difference positioning, the method being implemented by a processor shown in fig. 2B. Fig. 4 shows a schematic flow chart of the method, and referring to fig. 4, the method includes:
S402: determining position coordinates of the reference station;
s404: monitoring a first satellite, and determining a plurality of first positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of first positioning signals are different;
s406: monitoring the second satellite, and determining a plurality of second positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals;
s408: determining a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determining a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals;
s410: determining a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals, and determining a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and
s412: the position coordinates of the subscriber station are determined based on the first plurality of subscriber station carrier phase information, the second plurality of subscriber station carrier phase information, the position coordinates of the reference station, the first plurality of reference station carrier phase information, and the second plurality of reference station carrier phase information.
Specifically, referring to fig. 3, first, since the reference station 20 is used as a reference station for the subscriber station 30, the position coordinates of the reference station 20 are determinable (S402). The position coordinates of the reference station 20 may be, for example, longitude and latitude coordinates.
Then, the reference station 20 and the subscriber station 30 monitor the satellite 1, respectively, and determine a plurality of first positioning signals corresponding to different times (S404). For example, the reference station 20 monitors the satellite 1 so as to receive the time of dayT 1 Corresponding carrier wave wavelengthλ 1 Is a first positioning signal of (a); the reference station 20 monitors the satellite 1 so as to receive the time of dayT 2 Corresponding carrier wave wavelengthλ 2 Is a first positioning signal of (a); the reference station 20 monitors the satellite 1 so as to receive the time of dayT 3 Corresponding carrier wave wavelengthλ 3 Is provided for the first positioning signal of (a). As with reference station 20, subscriber station 30 monitors satellite 1 to receive the time of dayT 1 Corresponding carrier wave wavelengthλ 1 Is a first positioning signal of (a); the subscriber station 30 monitors the satellite 1 so as to receive the time of dayT 2 Corresponding carrier wave wavelengthλ 2 Is a first positioning signal of (a); the subscriber station 30 monitors the satellite 1 so as to receive the time of dayT 3 Corresponding carrier wave wavelengthλ 3 Is provided for the first positioning signal of (a).
At the same time, the reference station 20 and the subscriber station 30 monitor the satellites 2, respectively, and determine a plurality of second positioning signals corresponding to different times (S406). For example, the reference station 20 monitors the satellite 2 so that it receives the time of dayT 1 Corresponding carrier wave wavelengthλ 1 Is a second positioning signal of (a); the reference station 20 monitors the satellite 2 so that it receives the time of dayT 2 Corresponding carrier wave wavelengthλ 2 Is a second positioning signal of (a); the reference station 20 monitors the satellite 2 so that it receives the time of dayT 3 Corresponding carrier wave wavelengthλ 3 Is included in the first positioning signal. As with reference station 20, subscriber station 30 monitors satellite 2 to receive the time of dayT 1 Corresponding carrier wave wavelengthλ 1 Is a second positioning signal of (a); the subscriber station 30 is for satellite2, monitoring so as to receive the time and momentT 2 Corresponding carrier wave wavelengthλ 2 Is a second positioning signal of (a); the subscriber station 30 monitors the satellite 2 so that it receives the time of dayT 3 Corresponding carrier wave wavelengthλ 3 Is included in the first positioning signal.
Further, the reference station 20 determines a plurality of first reference station carrier phase information based on the plurality of first positioning signalsφ r (1,j) The method comprises the steps of carrying out a first treatment on the surface of the The reference station 20 determines a plurality of second reference station carrier phase information based on the plurality of second positioning signalsφ r (2,j) (S408). For example, referring to fig. 3, reference station 20 is shown to be based on carrier wavelength λ 1 Determining first reference station carrier phase informationφ r (1,1) Reference station 20 is based on carrier wavelengthλ 2 Determining first reference station carrier phase informationφ r (1,2) Reference station 20 is based on carrier wavelengthλ 3 Determining first reference station carrier phase informationφ r (1,3) 。
For another example, reference station 20 is based on carrier wavelengthλ 1 Determining the first reference station carrier phase informationφ r (2,1) Reference station 20 is based on carrier wavelengthλ 2 Determining the first reference station carrier phase informationφ r (2,2) Reference station 20 is based on carrier wavelengthλ 3 Determining the first reference station carrier phase informationφ r (2,3) 。
The reference station 20 then transmits the plurality of first reference station carrier phase informationφ r (1,j) And a plurality of second reference station carrier phase informationφ r (2,j) To the subscriber station 30.
Further, the subscriber station 30 determines a plurality of first subscriber station carrier phase information based on the plurality of first positioning signalsφ u (1,j) The method comprises the steps of carrying out a first treatment on the surface of the The subscriber station 30 determines a plurality of second subscriber station carrier phase information based on the plurality of second positioning signalsφ u (2,j) （S410）。
For example, referring to fig. 3, subscriber station 30 is shown to be dependent on carrier wavelengthλ 1 Determining first subscriber station carrier phase informationφ u (1,1) Subscriber station 30 is based on carrier wavelength λ 2 Determining first subscriber station carrier phase informationφ u (1,2) Subscriber station 30 is based on carrier wavelengthλ 3 Determining first subscriber station carrier phase informationφ u (1,3) 。
As another example, subscriber station 30 is based on carrier wavelengthλ 1 Determining the first subscriber station carrier phase informationφ u (2,1) Subscriber station 30 is based on carrier wavelengthλ 2 Determining the first subscriber station carrier phase informationφ u (2,2) Subscriber station 30 is based on carrier wavelengthλ 3 Determining the first subscriber station carrier phase informationφ u (2,3) 。
Finally, the subscriber station 30 determines the position coordinates of the subscriber station 30 based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the position coordinates of the reference station, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information (S412).
Specifically, first, the subscriber station 30 establishes a double difference carrier phase expression. The subscriber station 30 then determines a third carrier phase difference value based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information. Further, the subscriber station 30 determines a plurality of third integer ambiguity differences based on the plurality of first positioning signals and the plurality of second positioning signals. The subscriber station 30 then determines a third distance difference based on the plurality of first positioning signals and the plurality of second positioning signals. Finally, the subscriber station 30 brings the third distance difference, the plurality of third integer ambiguity differences, and the third carrier-phase difference value into a dual-difference carrier-phase expression, thereby determining the position coordinates of the subscriber station 30. The foregoing will be described in detail later, and thus will not be described in detail here.
As described in the background art, although the dual-difference carrier-phase differential model can directly eliminate the clock error between the subscriber station and the reference station relative to the single-difference carrier-phase differential model, the number of satellites used by the dual-difference carrier-phase differential model is greater than that of satellites used by the single-difference carrier-phase differential model, so that the resource consumption is greater in using the dual-difference carrier-phase differential model to calculate the position coordinates of the subscriber station.
Accordingly, the embodiment of the present application does not need to monitor a plurality of satellites (e.g., 4 satellites), and determines a plurality of carrier phase information corresponding to the reference station according to the positioning signals transmitted by the plurality of satellites, but only needs to monitor the first satellite and the second satellite, and determines a plurality of carrier phase information corresponding to the reference station according to a plurality of positioning signals with different carrier wavelengths transmitted by the first satellite and the second satellite, and transmits the plurality of carrier phase information corresponding to the reference station to the subscriber station.
As with the reference station, the embodiment of the present application does not need to monitor a plurality of satellites (for example, 4 satellites), and determines a plurality of carrier phase information corresponding to the subscriber station according to the positioning signals transmitted by the plurality of satellites, but only needs to monitor the first satellite and the second satellite, and determines a plurality of carrier phase information corresponding to the subscriber station according to a plurality of positioning signals having different carrier wavelengths transmitted by the first satellite and the second satellite. The subscriber station can thereby determine its own position coordinates from the plurality of carrier phase information corresponding to the reference station and the plurality of carrier phase information corresponding to itself.
Therefore, the embodiment of the application can achieve the technical effect of saving resources. The method and the device solve the technical problems that the number of satellites used by the double-difference carrier phase difference model in the prior art is large, and therefore the resource consumption is large when the double-difference carrier phase difference model is used for solving the position coordinates of the subscriber station.
Optionally, the operation of determining the position coordinates of the subscriber station according to the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information includes: the method comprises the steps of performing difference on a plurality of first subscriber station carrier phase information and a plurality of first reference station carrier phase information, and obtaining a plurality of first carrier phase difference values; the carrier phase information of the plurality of second subscriber stations and the carrier phase information of the plurality of second reference stations are differenced, and a plurality of second carrier phase difference values are obtained; the first carrier phase observation difference values and the second carrier phase observation difference values are subjected to difference, and a plurality of third carrier phase difference values are obtained; and determining the position coordinates of the subscriber station according to the plurality of third carrier phase difference values.
Further optionally, the method further comprises: determining a plurality of first reference station integer ambiguities corresponding to the reference stations according to the plurality of first positioning signals, and determining a plurality of second reference station integer ambiguities corresponding to the reference stations according to the plurality of second positioning signals; determining a plurality of first subscriber station integer ambiguities corresponding to the subscriber station according to the plurality of first positioning signals, and determining a plurality of second subscriber station integer ambiguities corresponding to the subscriber station according to the plurality of second positioning signals; the method comprises the steps of making differences between a plurality of first user station integer ambiguities and a plurality of first reference station integer ambiguities, and obtaining a plurality of first integer ambiguity differences; the integer ambiguity of the plurality of second subscriber stations is differenced with the integer ambiguity of the plurality of second reference stations, and a plurality of second integer ambiguity differences are obtained; and differencing the plurality of second integer ambiguity differences with the plurality of first integer ambiguity differences, and obtaining a plurality of third integer ambiguity differences.
Further optionally, the method further comprises: determining a first phase position vector of a subscriber station corresponding to a first satellite relative to a reference station; determining a first unit vector of a reference station corresponding to a first satellite relative to the satellite; determining a first distance difference between the user station and the reference station in the direction of the first unit vector according to the first phase position vector and the first unit vector; determining a second phase position vector of the subscriber station corresponding to the second satellite relative to the reference station; determining a second unit vector of the reference station corresponding to the second satellite relative to the satellite; determining a second distance difference between the user station and the reference station in the direction of the second unit vector according to the second phase position vector and the second unit vector; and making a difference between the first distance difference and the second distance difference, and obtaining a third distance difference.
Further optionally, the method further comprises: establishing a double-difference carrier phase expression; and determining the position coordinates of the subscriber station based on the third distance difference, the plurality of third integer ambiguity differences, and the third carrier phase difference using the dual-difference carrier phase expression.
Specifically, referring to fig. 3, first, the subscriber station 30, upon receiving the position coordinates of the reference station 20, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information, needs to determine a plurality of third carrier phase difference values from the plurality of first reference station carrier phase information and the plurality of second reference station carrier phase information. Specifically, taking satellite 1 in fig. 3 as an example, the subscriber station 30 will have a plurality of first subscriber station carrier phase information φ u (1,j) And a plurality of first reference station carrier phase informationφ r (1,j) And performing difference, and obtaining a plurality of first carrier phase difference values, wherein the specific calculation formula is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,φ ur (1,j) representing differences in the plurality of first subscriber station carrier phase information differing in carrier wavelength from the plurality of first reference station carrier phase information differing in carrier wavelength corresponding to satellite 1,φ u (1,j) representing a plurality of first subscriber station carrier phase information different from the carrier wavelength corresponding to satellite 1,φ r (1,j) a plurality of first reference station carrier phase information different in carrier wavelength from the corresponding satellite 1 are shown.
For example, first, the subscriber station 30 sets the carrier wavelength corresponding to the satellite 1 to beλ 1 First subscriber station carrier phase information of (a)φ u (1,1) The carrier wave wavelength isλ 2 First subscriber station carrier phase information of (a)φ u (1,2) A carrier wavelength ofλ 3 First subscriber station carrier phase information of (a)φ u (1,3) And is brought into the above formula. Then, the subscriber station 30 sets the carrier wavelength corresponding to the satellite 1 to beλ 1 First reference station carrier phase information of (a)φ r (1,1) The carrier wave wavelength isλ 2 First reference station carrier phase information of (a)φ r (1,2) A carrier wavelength ofλ 3 First reference station carrier phase information of (a)φ r (1,3) And is brought into the above formula. Thus, the carrier wavelength corresponding to the satellite 1 is obtained asλ 1 Is the first carrier-phase difference value of (2) φ ur (1,1) The carrier wave wavelength isλ 2 Is the first carrier-phase difference value of (2)φ ur (1,2) A carrier wavelength ofλ 3 Is the first carrier-phase difference value of (2)φ ur (1,3) 。
Further, referring to the above operations, taking satellite 2 in fig. 3 as an example, the subscriber station 30 calculates a plurality of second carrier phase difference values according to the following formula:
subscriber station 30 will first communicate withThe carrier wave wavelength corresponding to the satellite 2 isλ 1 First subscriber station carrier phase information of (a)φ u (2,1) The carrier wave wavelength isλ 2 First subscriber station carrier phase information of (a)φ u (2,2) A carrier wavelength ofλ 3 First subscriber station carrier phase information of (a)φ u (2,3) And is brought into the above formula. Then the carrier wave corresponding to the satellite 2 is set asλ 1 First reference station carrier phase information of (a)φ r (2,1) The carrier wave wavelength isλ 2 First reference station carrier phase information of (a)φ r (2,2) A carrier wavelength ofλ 3 First reference station carrier phase information of (a)φ r (2,3) And is brought into the above formula. Thereby obtaining a carrier wavelength corresponding to the satellite 2 asλ 1 Is the first carrier-phase difference value of (2)φ ur (2,1) The carrier wave wavelength isλ 2 Is the first carrier-phase difference value of (2)φ ur (2,2) A carrier wavelength ofλ 3 Is the first carrier-phase difference value of (2)φ ur (2,3) 。
Further, the subscriber station 30 performs a difference between the plurality of first carrier-phase observed differences and the plurality of second carrier-phase observed differences to obtain a plurality of third carrier-phase observed differences, and the calculation formula is as follows:
Thus, the subscriber station 30 gets the carrier wavelengthλ 1 Corresponding third carrier phase difference valueAnd carrier wavelengthλ 2 Corresponding third carrier phase difference value->And carrier wavelengthλ 3 Corresponding third carrier phase difference value->。
The reference station 20 then determines the carrier wavelength from the plurality of first positioning signalsλ 1 Corresponding first reference station integer ambiguityN r (1,1) Determining and carrier wavelengthλ 2 Corresponding first reference station integer ambiguityN r (1,2) Determining and carrier wavelengthλ 3 Corresponding first reference station integer ambiguityN r (1,3) 。
The reference station 20 determines the carrier wavelength based on the plurality of second positioning signalsλ 1 Corresponding second reference station integer ambiguityN r (2,1) Determining and carrier wavelengthλ 2 Corresponding first reference station integer ambiguityN r (2,2) Determining and carrier wavelengthλ 3 Corresponding first reference station integer ambiguityN r (2,3) 。
The subscriber station 30 determines the carrier wavelength based on the plurality of second positioning signalsλ 1 Corresponding first subscriber station integer ambiguityN u (1,1) Determining and carrier wavelengthλ 2 Corresponding first subscriber station integer ambiguityN u (1,2) Determining and carrier wavelengthλ 3 Corresponding first subscriber station integer ambiguityN u (1,3) 。
The subscriber station 30 determines the carrier wavelength based on the plurality of second positioning signalsλ 1 Corresponding second subscriber station integer ambiguityN u (2,1) Determining Fixed and carrier wavelengthλ 2 Corresponding first subscriber station integer ambiguityN u (2,2) Determining and carrier wavelengthλ 3 Corresponding first subscriber station integer ambiguityN u (2,3) 。
Further, the reference station 20 transmits the plurality of first reference station integer ambiguities and the plurality of second reference station integer ambiguities to the subscriber station 30.
Taking satellite 1 of fig. 3 as an example, the subscriber station 30 makes a difference between the plurality of first subscriber station integer ambiguities and the plurality of first reference station integer ambiguities and obtains a plurality of first integer ambiguity differences. The calculation formula is as follows:
thus, according to the above formula 21, a first integer ambiguity difference can be obtainedN ur (1,1) First integer ambiguity differenceN ur (1,2) First integer ambiguity differenceN ur (1,3) 。
Further, taking satellite 2 of fig. 3 as an example, the subscriber station 30 makes a difference between the second plurality of subscriber station integer ambiguities and the second plurality of reference station integer ambiguities, and obtains a second plurality of integer ambiguity differences. The calculation formula is as follows:
thus, a second integer ambiguity difference can be obtained according to equation 22 aboveN ur (2,1) Second integer ambiguity differenceN ur (2,2) Second integer ambiguity differenceN ur (2,3) 。
Finally, the subscriber station 30 performs a difference between the plurality of second integer ambiguity differences and the plurality of first integer ambiguity differences, and obtains a plurality of third integer ambiguity differences. The calculation formula is as follows:
Thus, the subscriber station 30 gets the carrier wavelengthλ 1 Corresponding third integer ambiguity differenceAnd carrier wavelengthλ 2 Corresponding third integer ambiguity difference +.>And carrier wavelengthλ 3 Corresponding third integer ambiguity difference +.>。
In addition, the subscriber station 30 determines a first phase position vector corresponding to the satellite 1 relative to the reference station 20b ur (1) And determines a first unit vector of the reference station 20 corresponding to the satellite 1 with respect to the satellite 1. Finally, subscriber station 30 is configured to determine a first phase position vectorb ur (1) And a first unit vector->Determining that subscriber station 30 is in the first unit vector +.>First distance difference from the reference station 20>. First distance difference->Reference is made to equation 16 above.
The subscriber station 30 then determines a second phase position vector corresponding to satellite 2 relative to the reference station 20b ur (2) And determines a second unit vector of the reference station 20 corresponding to the satellite 2 with respect to the satellite 2. Finally, the subscriber station 30 is based on the second phase position vectorb ur (2) And a second unit vector->Determining that subscriber station 30 is in the second unit vector +.>Second distance difference from the reference station 20>. Second distance difference->Reference is made to equation 16 above.
Finally, the subscriber station 30 will first distance difference And a second distance difference->And making a difference, and obtaining a third distance difference. The calculation formula is as follows:
finally, subscriber station 30 establishes a dual differential carrier phase expression. The double difference carrier phase expression is as follows:
the subscriber station 30 brings the third distance difference, the plurality of third integer ambiguity differences, and the third carrier-phase difference value into a double-difference carrier-phase expression, thereby yielding a system of equations:
so that the position coordinates of the subscriber station 30 can be determined from the above-described system of equations.
Thus, according to the first aspect of the present embodiment, the technical effect of saving resources can be achieved.
Further, as shown with reference to fig. 2A and 2B, according to a second aspect of the present embodiment, there is provided a storage medium. The storage medium includes a stored program, wherein the method of any one of the above is performed by a processor when the program is run.
Thus, according to the embodiment, the technical effect of saving resources can be achieved.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a mobile terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
Example 2
Fig. 5 shows an apparatus 500 for determining a position of a subscriber station using dual differential positioning according to the first aspect of the present embodiment, the apparatus 500 corresponding to the method according to the first aspect of embodiment 1. Referring to fig. 5, the apparatus 500 includes: a first position coordinate determining module 510 for determining position coordinates of the reference station; a plurality of first positioning signal determining modules 520, configured to monitor the first satellite and determine a plurality of first positioning signals corresponding to different times, where carrier wavelengths of the plurality of first positioning signals are different; a plurality of second positioning signal determining modules 530, configured to monitor a second satellite and determine a plurality of second positioning signals corresponding to different times, where carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals; a reference station carrier phase information determining module 540, configured to determine a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determine a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals; a subscriber station carrier phase information determining module 550, configured to determine a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals, and determine a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and a second position coordinate determining module 560 for determining the position coordinates of the subscriber station based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the position coordinates of the reference station, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information.
Optionally, the second location coordinate determination module 560 includes: the first carrier phase difference value determining module is used for making differences between the carrier phase information of the plurality of first subscriber stations and the carrier phase information of the plurality of first reference stations and obtaining a plurality of first carrier phase difference values; the second carrier phase difference value determining module is used for making differences between the carrier phase information of the plurality of second subscriber stations and the carrier phase information of the plurality of second reference stations and obtaining a plurality of second carrier phase difference values; the third carrier phase difference value determining module is used for making differences between the plurality of first carrier phase observation difference values and the plurality of second carrier phase observation difference values and obtaining a plurality of third carrier phase difference values; and a second position coordinate determining sub-module for determining the position coordinate of the subscriber station according to the plurality of third carrier phase difference values.
Optionally, the apparatus 500 further comprises: the reference station integer ambiguity determining module is used for determining a plurality of first reference station integer ambiguities corresponding to the reference station according to the plurality of first positioning signals and determining a plurality of second reference station integer ambiguities corresponding to the reference station according to the plurality of second positioning signals; the system comprises a subscriber station integer ambiguity determining module, a second positioning module and a control module, wherein the subscriber station integer ambiguity determining module is used for determining a plurality of first subscriber station integer ambiguities corresponding to the subscriber station according to a plurality of first positioning signals and determining a plurality of second subscriber station integer ambiguities corresponding to the subscriber station according to a plurality of second positioning signals; the first integer ambiguity difference determining module is used for making differences between the integer ambiguities of the plurality of first user stations and the integer ambiguities of the plurality of first reference stations and obtaining a plurality of first integer ambiguity differences; the second integer ambiguity difference determining module is used for making differences between the integer ambiguities of the plurality of second subscriber stations and the integer ambiguities of the plurality of second reference stations and obtaining a plurality of second integer ambiguity differences; and a third integer ambiguity difference determining module, configured to perform a difference between the plurality of second integer ambiguity differences and the plurality of first integer ambiguity differences, and obtain a plurality of third integer ambiguity differences.
Optionally, the apparatus 500 further comprises: a first phase position vector determination module for determining a first phase position vector of a subscriber station corresponding to a first satellite relative to a reference station; a first unit vector determination module for determining a first unit vector of a reference station corresponding to the first satellite with respect to the first satellite; the first distance difference determining module is used for determining a first distance difference between the user station and the reference station in the direction of the first unit vector according to the first phase position vector and the first unit vector; a second phase position vector determination module for determining a second phase position vector of the subscriber station corresponding to the second satellite relative to the reference station; a second unit vector determination module for determining a second unit vector of the reference station corresponding to the second satellite with respect to the second satellite; a second distance difference determining module, configured to determine a second distance difference between the user station and the reference station in a direction of the second unit vector according to the second phase position vector and the second unit vector; and a third distance difference determining module for making a difference between the first distance difference and the second distance difference and obtaining a third distance difference.
Optionally, the apparatus 500 further comprises: the expression building module is used for building a double-difference carrier phase expression; and a position coordinate determining sub-module for determining the position coordinate of the subscriber station based on the third distance difference, the plurality of third integer ambiguity differences, and the third carrier phase difference using the double-difference carrier phase expression.
Thus, according to the embodiment, the technical effect of saving resources can be achieved.
Example 3
Fig. 6 shows an apparatus 600 for determining a position of a subscriber station using dual differential positioning according to the first aspect of the present embodiment, the apparatus 600 corresponding to the method according to the first aspect of embodiment 1. Referring to fig. 6, the apparatus 600 includes: a processor 610; and a memory 620 coupled to the processor 610 for providing instructions to the processor 610 for processing the following processing steps: determining position coordinates of the reference station; monitoring a first satellite, and determining a plurality of first positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of first positioning signals are different; monitoring the second satellite, and determining a plurality of second positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals; determining a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determining a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals; determining a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals, and determining a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and determining the position coordinates of the subscriber station based on the plurality of first subscriber station carrier phase information, the plurality of second subscriber station carrier phase information, the position coordinates of the reference station, the plurality of first reference station carrier phase information, and the plurality of second reference station carrier phase information.
Thus, according to the embodiment, the technical effect of saving resources can be achieved.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. A method for determining a position of a subscriber station using dual differential positioning, comprising:
determining position coordinates of the reference station;
monitoring a first satellite and determining a plurality of first positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of first positioning signals are different;
monitoring a second satellite and determining a plurality of second positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals;
determining a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determining a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals;
determining a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals, and determining a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and
And determining the position coordinates of the subscriber station according to the first subscriber station carrier phase information, the second subscriber station carrier phase information, the position coordinates of the reference station, the first reference station carrier phase information and the second reference station carrier phase information.
2. The method of claim 1, wherein determining the position coordinates of the subscriber station based on the plurality of first subscriber station carrier-phase information, the plurality of second subscriber station carrier-phase information, the plurality of first reference station carrier-phase information, and the plurality of second reference station carrier-phase information comprises:
the carrier phase information of the plurality of first subscriber stations and the carrier phase information of the plurality of first reference stations are subjected to difference, and a plurality of first carrier phase difference values are obtained;
the carrier phase information of the plurality of second subscriber stations and the carrier phase information of the plurality of second reference stations are subjected to difference, and a plurality of second carrier phase difference values are obtained;
the plurality of first carrier phase observation differences and the plurality of second carrier phase observation differences are subjected to difference, and a plurality of third carrier phase difference values are obtained; and
And determining the position coordinates of the subscriber station according to the plurality of third carrier phase difference values.
3. The method as recited in claim 2, further comprising:
determining a plurality of first reference station integer ambiguities corresponding to the reference stations according to the plurality of first positioning signals, and determining a plurality of second reference station integer ambiguities corresponding to the reference stations according to the plurality of second positioning signals;
determining a plurality of first subscriber station integer ambiguities corresponding to the subscriber station according to the plurality of first positioning signals, and determining a plurality of second subscriber station integer ambiguities corresponding to the subscriber station according to the plurality of second positioning signals;
the integer ambiguity of the plurality of first user stations is differenced from the integer ambiguity of the plurality of first reference stations, and a plurality of first integer ambiguity differences are obtained;
the integer ambiguity of the plurality of second subscriber stations is differenced with the integer ambiguity of the plurality of second reference stations, and a plurality of second integer ambiguity differences are obtained; and
and differencing the plurality of second integer ambiguity differences with the plurality of first integer ambiguity differences, and obtaining a plurality of third integer ambiguity differences.
4. A method according to claim 3, further comprising:
determining a first phase position vector of the subscriber station corresponding to the first satellite relative to the reference station;
determining a first unit vector of the reference station corresponding to the first satellite relative to the first satellite;
determining a first distance difference between the subscriber station and the reference station in the direction of the first unit vector according to the first phase position vector and the first unit vector;
determining a second phase position vector of the subscriber station corresponding to the second satellite relative to the reference station;
determining a second unit vector of the reference station corresponding to the second satellite relative to the second satellite;
determining a second distance difference between the user station and the reference station in the direction of the second unit vector according to the second phase position vector and the second unit vector; and
and making a difference between the first distance difference and the second distance difference, and obtaining a third distance difference.
5. The method as recited in claim 4, further comprising:
establishing a double-difference carrier phase expression; and
and determining position coordinates of the subscriber station based on the third distance difference, the plurality of third integer ambiguity differences, and the third carrier phase difference value using the dual-difference carrier phase expression.
6. A storage medium comprising a stored program, wherein the method of any one of claims 1 to 5 is performed by a processor when the program is run.
7. An apparatus for determining a position of a subscriber station using dual differential positioning, comprising:
the first position coordinate determining module is used for determining position coordinates of the reference station;
the system comprises a plurality of first positioning signal determining modules, a plurality of second positioning signal determining modules and a plurality of first positioning signal transmitting modules, wherein the plurality of first positioning signal determining modules are used for monitoring a first satellite and determining a plurality of first positioning signals corresponding to different moments, and carrier wavelengths of the plurality of first positioning signals are different;
the system comprises a plurality of second positioning signal determining modules, a plurality of first positioning signal transmitting modules and a plurality of second positioning signal receiving modules, wherein the second positioning signal determining modules are used for monitoring a second satellite and determining a plurality of second positioning signals corresponding to different moments, the carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals;
a reference station carrier phase information determining module, configured to determine a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determine a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals;
A subscriber station carrier phase information determining module, configured to determine a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals, and determine a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and
and the second position coordinate determining module is used for determining the position coordinates of the subscriber station according to the first subscriber station carrier phase information, the second subscriber station carrier phase information, the position coordinates of the reference station, the first reference station carrier phase information and the second reference station carrier phase information.
8. The apparatus of claim 7, wherein the second location coordinate determination module comprises:
the first carrier phase difference value determining module is used for making differences between the carrier phase information of the plurality of first subscriber stations and the carrier phase information of the plurality of first reference stations and obtaining a plurality of first carrier phase difference values;
the second carrier phase difference value determining module is used for making differences between the carrier phase information of the plurality of second subscriber stations and the carrier phase information of the plurality of second reference stations and obtaining a plurality of second carrier phase difference values;
The third carrier phase difference value determining module is configured to perform a difference between the plurality of first carrier phase observation difference values and the plurality of second carrier phase observation difference values, and obtain a plurality of third carrier phase difference values; and
and the second position coordinate determining submodule is used for determining the position coordinate of the subscriber station according to the plurality of third carrier phase difference values.
9. The apparatus of claim 8, wherein the apparatus further comprises:
the reference station integer ambiguity determining module is used for determining a plurality of first reference station integer ambiguities corresponding to the reference station according to the plurality of first positioning signals and determining a plurality of second reference station integer ambiguities corresponding to the reference station according to the plurality of second positioning signals;
the subscriber station integer ambiguity determining module is used for determining a plurality of first subscriber station integer ambiguities corresponding to the subscriber station according to the plurality of first positioning signals and determining a plurality of second subscriber station integer ambiguities corresponding to the subscriber station according to the plurality of second positioning signals;
the first integer ambiguity difference determining module is used for making differences between the integer ambiguities of the plurality of first user stations and the integer ambiguities of the plurality of first reference stations and obtaining a plurality of first integer ambiguity differences;
The second integer ambiguity difference determining module is used for making differences between the integer ambiguities of the plurality of second subscriber stations and the integer ambiguities of the plurality of second reference stations and obtaining a plurality of second integer ambiguity differences; and
and the third integer ambiguity difference determining module is used for making differences between the second integer ambiguity differences and the first integer ambiguity differences and obtaining third integer ambiguity differences.
10. An apparatus for determining a position of a subscriber station using dual differential positioning, comprising:
a processor; and
a memory, coupled to the processor, for providing instructions to the processor to process the following processing steps:
determining position coordinates of the reference station;
monitoring a first satellite and determining a plurality of first positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of first positioning signals are different;
monitoring a second satellite and determining a plurality of second positioning signals corresponding to different moments, wherein carrier wavelengths of the plurality of second positioning signals are different, and the plurality of first positioning signals correspond to the carrier wavelengths of the plurality of second positioning signals;
Determining a plurality of first reference station carrier phase information corresponding to the reference station according to the plurality of first positioning signals, and determining a plurality of second reference station carrier phase information corresponding to the reference station according to the plurality of second positioning signals;
determining a plurality of first subscriber station carrier phase information corresponding to the subscriber station according to the plurality of first positioning signals, and determining a plurality of second subscriber station carrier phase information corresponding to the subscriber station according to the plurality of second positioning signals; and
and determining the position coordinates of the subscriber station according to the first subscriber station carrier phase information, the second subscriber station carrier phase information, the position coordinates of the reference station, the first reference station carrier phase information and the second reference station carrier phase information.
CN202310847912.1A 2023-07-12 2023-07-12 Method, device and storage medium for determining position of subscriber station by using double-difference positioning Active CN116577816B (en)

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