CN116840864A - Startup zero value calibration method and device, electronic equipment and storage medium - Google Patents
Startup zero value calibration method and device, electronic equipment and storage medium Download PDFInfo
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Classifications
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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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
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Abstract
The invention provides a startup zero value calibration method, a startup zero value calibration device, electronic equipment and a storage medium, belonging to the technical field of satellite navigation, wherein the method comprises the following steps: determining first compensation data corresponding to each epoch based on the Doppler values, the pseudo-range observed values and the complete carrier phase observed values of the two receivers under each epoch; determining a starting zero value error compensation standard deviation corresponding to each epoch in a recursive manner based on the first compensation data corresponding to each epoch; performing rough difference elimination on the first compensation data corresponding to each epoch through a 3 sigma principle, and determining the second compensation data corresponding to each epoch; and determining a startup zero-value error compensation calibration value corresponding to each epoch by an averaging mode based on the second compensation data corresponding to each epoch. By adding the power-on zero error compensation calibration value to the carrier phase single difference part to correct the power-on zero error between two receivers, the power-on zero between a plurality of receivers can be calibrated efficiently.
Description
Technical Field
The present invention relates to the field of satellite navigation technologies, and in particular, to a startup zero value calibration method, a startup zero value calibration device, an electronic device, and a storage medium.
Background
With the continuous development of the global navigation satellite system (Global Navigation Satellite System, GNSS), the manufacturing process of the receiver board card is continuously improved, and the price and the volume of the receiver board card are continuously reduced, so that the construction of a more perfect receiver terminal system by using multiple antennas is possible. The multi-antenna refers to an antenna system formed by arranging according to a certain rule, and the arrangement rule is strongly related to requirements. Multi-antenna systems find wide application in numerous fields such as deformation monitoring, high-precision attitude determination, and high-precision positioning. Multi-antenna systems are widely used in the GNSS field. Real-time differential positioning (Real time kinematic, RTK) techniques can achieve centimeter-level positioning accuracy in real-time using multiple antennas. In addition, the multiple antennas can provide additional baseline constraint conditions, which is favorable for fixing the ambiguity among the multiple antennas, can improve the ambiguity fixing success rate and the convergence time, and common methods include a long baseline method, a short baseline method, a virtual baseline method and the like. Multiple antennas are also widely used in the fields of multipath effect suppression, spoofing interference detection, and the like.
The difficulty in achieving co-operation between multiple receivers is the precise synchronization between the individual receivers. In general, a receiver can only achieve frequency synchronization by locking the same external clock, but still cannot achieve time synchronization. Particularly for a common receiver, due to the limitation of the manufacturing process, the receiver board card has time deviation on signal sampling, and the problem that multiple receivers cannot realize time synchronization when simultaneously working and start up zero value exists, namely the multiple receivers cannot acquire observation data at the same moment. Errors caused by power-on nulls are absorbed by receiver clock errors, which introduce errors into the carrier phase observations, which cannot be eliminated by inter-station differences, since the power-on nulls for each receiver may be non-uniform. How to realize the power-on zero calibration between multiple receivers is a problem to be solved in the industry.
Disclosure of Invention
Aiming at the problems existing in the prior art, the embodiment of the invention provides a startup zero value calibration method, a startup zero value calibration device, electronic equipment and a storage medium.
In a first aspect, the present invention provides a startup zero value calibration method, including:
determining first compensation data corresponding to each epoch based on Doppler values, pseudo-range observation values and complete carrier phase observation values of two receivers under each epoch, wherein the first compensation data are used for representing startup zero-value error compensation values adopted by the two receivers for each satellite;
determining a starting zero value error compensation standard deviation corresponding to each epoch in a recursive manner based on the first compensation data corresponding to each epoch;
performing coarse difference elimination on the first compensation data corresponding to each epoch through a 3 sigma principle based on the starting zero value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch;
determining a startup zero-value error compensation calibration value corresponding to each epoch by an averaging mode based on second compensation data corresponding to each epoch, wherein the startup zero-value error compensation calibration value is used for correcting the startup zero-value error between the two receivers;
The two receivers collect satellite signals through the same antenna, and the two receivers are externally connected with the same clock.
Optionally, according to the method for calibrating the zero value of the startup provided by the present invention, the determining the first compensation data corresponding to each epoch based on the doppler values, the pseudo-range observed values and the complete carrier phase observed values of the two receivers under each epoch includes:
based on Doppler values and pseudo-range observation values of two receivers under a first epoch, performing time difference calculation by using the pseudo-range observation values and compensating by using the Doppler values, and determining second compensation data corresponding to the first epoch, wherein the first epoch is any epoch;
and eliminating transmission delay difference based on the complete carrier phase observed values of the two receivers under the first epoch and the second compensation data corresponding to the first epoch, and determining the first compensation data corresponding to the first epoch.
Optionally, according to the method for calibrating the zero value of the startup provided by the present invention, the determining the second compensation data corresponding to the first epoch based on the doppler values and the pseudo-range observed values of the two receivers under the first epoch, performing time difference calculation by using the pseudo-range observed values and compensation by using the doppler values includes:
Based on Doppler values and pseudo-range observation values of two receivers under a first epoch, determining second compensation data corresponding to the first epoch through the following power-on zero-value error compensation formula;
wherein the two receivers include a receiver i and a receiver j, c represents the speed of light, Δt 0,ij (τ) represents the difference between the time offset of receiver i at the start-up time and the time offset of receiver j at the start-up time, τ is the time corresponding to the first epoch, λ represents the satellite signal wavelength, f d,i (tau) represents the doppler value of the receiver i,pseudo-range observations of receiver i for satellite s at time τ are represented by +.>The pseudorange observations of receiver j for satellite s at time τ are represented.
Optionally, according to the method for calibrating the zero value of the startup provided by the present invention, the eliminating the transmission delay difference based on the complete carrier phase observed values of the two receivers under the first epoch and the second compensation data corresponding to the first epoch, and determining the first compensation data corresponding to the first epoch includes:
based on complete carrier phase observation values of two receivers under a first epoch and second compensation data corresponding to the first epoch, determining first compensation data corresponding to the first epoch through the following transmission delay difference calculation formula;
Wherein the two receivers comprise a receiver i and a receiver j,representing the power-on zero-value error compensation value adopted by the two receivers for each satellite s, wherein tau is the moment corresponding to the first epoch, c represents the light speed and deltat 0,ij (tau) represents the difference between the time offset of receiver i at the start-up instant and the time offset of receiver j at the start-up instant,representing the complete carrier phase observations between receiver i and satellite s, < >>Representing the complete carrier phase observations between receiver j and satellite s.
Optionally, according to the method for calibrating the zero value of the startup provided by the present invention, the determining, by a recursive manner, the standard deviation of the zero value error compensation of the startup corresponding to each epoch based on the first compensation data corresponding to each epoch includes:
determining a starting zero value error compensation average value and a starting zero value error compensation variance value corresponding to a second epoch based on the starting zero value error compensation average value and the starting zero value error compensation variance value determined by the previous epoch of the second epoch and first compensation data corresponding to the second epoch, wherein the second epoch is any epoch except the first epoch;
and determining a starting zero-value error compensation standard deviation corresponding to the second epoch based on the starting zero-value error compensation variance value corresponding to the second epoch.
Optionally, according to the method for calibrating a zero value of a startup, the determining the average value of the zero value error compensation of the startup and the variance value of the zero value error compensation of the startup determined based on the previous epoch of the second epoch and the first compensation data corresponding to the second epoch, determining the average value of the zero value error compensation of the startup and the variance value of the zero value error compensation of the startup corresponding to the second epoch includes:
determining a startup zero value error compensation average value corresponding to the second epoch through the following average value recurrence formula;
wherein A is τ Represents the power-on zero-value error compensation average value corresponding to the second epoch, tau is the moment corresponding to the second epoch, A τ-1 Representing a power-on zero-value error compensation average value, X, determined from a previous epoch of a second epoch τ And representing the first compensation data corresponding to the second epoch.
Optionally, according to the method for calibrating a zero value of a startup, the determining the average value of the zero value error compensation of the startup and the variance value of the zero value error compensation of the startup determined based on the previous epoch of the second epoch and the first compensation data corresponding to the second epoch, determining the average value of the zero value error compensation of the startup and the variance value of the zero value error compensation of the startup corresponding to the second epoch includes:
Determining a startup zero-value error compensation variance value corresponding to the second epoch through the following variance value recurrence formula;
wherein V is τ Represents the power-on zero-value error compensation variance value corresponding to the second epoch, tau is the moment corresponding to the second epoch, A τ-1 Representing a power-on zero-value error compensation average value, V, determined from a previous epoch of the second epoch τ-1 Representing a power-on zero-value error compensation variance value, X, determined from a previous epoch of a second epoch τ And representing the first compensation data corresponding to the second epoch.
In a second aspect, the present invention further provides a startup zero value calibration device, including:
the first determining module is used for determining first compensation data corresponding to each epoch based on Doppler values, pseudo-range observation values and complete carrier phase observation values of two receivers under each epoch, wherein the first compensation data is used for representing a startup zero-value error compensation value adopted by the two receivers for each satellite;
the second determining module is used for determining a starting zero-value error compensation standard deviation corresponding to each epoch through a recursive manner based on the first compensation data corresponding to each epoch;
the third determining module is used for performing coarse difference elimination on the first compensation data corresponding to each epoch through a 3 sigma principle based on the starting zero value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch;
A fourth determining module, configured to determine, based on second compensation data corresponding to each epoch, a startup zero-value error compensation calibration value corresponding to each epoch by means of averaging, where the startup zero-value error compensation calibration value is used to correct a startup zero-value error between the two receivers;
the two receivers collect satellite signals through the same antenna, and the two receivers are externally connected with the same clock.
In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements any of the above-mentioned power-on zero calibration methods when executing the program.
In a fourth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a power-on zero calibration method as described in any one of the above.
According to the boot zero calibration method, the device, the electronic equipment and the storage medium, satellite signals are acquired by configuring two receivers through the same antenna, and the two receivers are configured to be externally connected with the same clock, so that an environment of a zero baseline can be simulated, atmospheric errors, antenna end errors and transmission path errors can be eliminated as far as possible, further, doppler values, pseudo-range observed values and complete carrier phase observed values of the two receivers under each epoch are obtained, the Doppler values, the pseudo-range observed values and the complete carrier phase observed values can be used for carrying out boot zero compensation value calculation, first compensation data corresponding to each epoch can be determined, further, the boot zero error compensation standard deviation corresponding to each epoch can be determined in a recurrence mode based on the first compensation data corresponding to each epoch, further, rough difference rejection can be carried out on the first compensation data corresponding to each epoch through a 3 sigma principle, second compensation data (namely, compensation data after rough difference rejection) can be determined, further, based on the second compensation data corresponding to each epoch can be obtained, the zero error can be determined in a zero calibration mode, and the boot zero error can be partially corrected to the zero error between the corresponding to the zero calibration values, and the boot zero error can be achieved by the carrier phase error.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a power-on zero calibration method provided by the invention;
FIG. 2 is a schematic diagram of a hardware architecture for simulating a zero baseline environment provided by the present invention;
FIG. 3 is a second flowchart of the power-on zero calibration method according to the present invention;
FIG. 4 is a third flow chart of the power-on zero calibration method according to the present invention;
FIG. 5 is a flow chart of a power-on zero calibration method provided by the invention;
FIG. 6 is a schematic diagram of experimental results of three-frequency power-on zero-value error compensation of multiple satellites between two receivers provided by the invention;
fig. 7 is a schematic diagram of a statistical result of the startup zero-value error compensation provided by the present invention.
FIG. 8 is a schematic diagram of the structure of the startup zero calibration device provided by the invention;
Fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic flow chart of a power-on zero calibration method according to the present invention, and as shown in fig. 1, an execution body of the power-on zero calibration method may be an electronic device, for example, a computing core base board. The method comprises the following steps:
step 101, determining first compensation data corresponding to each epoch based on Doppler values, pseudo-range observation values and complete carrier phase observation values of two receivers under each epoch, wherein the first compensation data is used for representing a startup zero-value error compensation value adopted by the two receivers for each satellite;
the two receivers collect satellite signals through the same antenna, and the two receivers are externally connected with the same clock.
Specifically, fig. 2 is a schematic diagram of a hardware structure of a zero baseline simulation environment provided by the present invention, as shown in fig. 2, in order to achieve startup zero calibration between multiple receivers, two receivers may be configured to acquire satellite signals by using the same antenna, and two receivers (including a receiver i and a receiver j) may be configured to be externally connected to the same clock, so that the zero baseline simulation environment may be simulated, and atmospheric errors, antenna end errors, and transmission path errors may be eliminated as much as possible.
By acquiring the Doppler values, the pseudo-range observed values and the complete carrier phase observed values of the two receivers under each epoch, the Doppler values, the pseudo-range observed values and the complete carrier phase observed values can be utilized to calculate the compensation value of the power-on zero value, and the first compensation data corresponding to each epoch can be determined.
Step 102, determining a starting zero-value error compensation standard deviation corresponding to each epoch in a recursive manner based on the first compensation data corresponding to each epoch.
Specifically, for the first epoch, the starting zero-value error compensation value in the first compensation data can be statistically analyzed based on the first compensation data corresponding to the first epoch, the statistical result can include an average value, a variance, a standard deviation and the like, and the starting zero-value error compensation standard deviation corresponding to the first epoch can be obtained based on the statistical result.
For any epoch after the first epoch, a recursive manner may be used to determine a standard deviation of the zero-value error compensation for startup corresponding to the epoch, for example, for a certain second epoch (the second epoch is any epoch except the first epoch), statistical analysis may be performed based on a statistical result of a previous epoch of the second epoch and first compensation data corresponding to the second epoch to obtain a statistical result (may include an average value, a variance, a standard deviation, etc.) corresponding to the second epoch, and based on the statistical result corresponding to the second epoch, the standard deviation of the zero-value error compensation for startup corresponding to the second epoch may be obtained.
Step 103, performing coarse difference elimination on the first compensation data corresponding to each epoch through a 3 sigma principle based on the starting zero value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch.
Specifically, for the first compensation data corresponding to any epoch, the standard deviation of the zero-value error compensation of the startup corresponding to the epoch can be utilized, and the rough difference rejection is performed on the first compensation data corresponding to the epoch through the 3 sigma principle, so that the second compensation data corresponding to the epoch can be determined. After the coarse difference is removed from the first compensation data corresponding to each epoch, the second compensation data corresponding to each epoch (i.e., the compensation data after the coarse difference is removed) may be determined.
Step 104, determining a startup zero-value error compensation calibration value corresponding to each epoch by an averaging mode based on the second compensation data corresponding to each epoch, wherein the startup zero-value error compensation calibration value is used for correcting the startup zero-value error between the two receivers.
Specifically, for the second compensation data corresponding to any epoch, the startup zero value error compensation calibration value corresponding to the epoch can be determined by an averaging manner. After the second compensation data corresponding to each epoch is subjected to the averaging process, a startup zero-value error compensation calibration value corresponding to each epoch can be determined. By adding the power-on null error compensation calibration to the carrier phase single difference portion, the power-on null error between the two receivers can be corrected.
It will be appreciated that time offset correction may be performed on a typical receiver board using instantaneous doppler, pseudorange observations, and carrier phase observations. The hardware environment is easy to build, and only a zero baseline scene is needed to be simulated, and the multiple receivers are externally connected with the same clock. The algorithm complexity is low, the data processing flow is simple and convenient, and the realization cost is low.
The error caused by the zero value of the startup is a main error in the carrier phase observation, if the error cannot be corrected, the error is absorbed by the receiver clock error term, the carrier phase observation is increased by redundant error, and the zero value of the startup error compensation calibration value is added to the carrier phase single difference part to correct the zero value of the startup error between two receivers, so that the observation error can be effectively reduced.
According to the startup zero calibration method provided by the invention, satellite signals are acquired by configuring two receivers through the same antenna, the two receivers are externally connected with the same clock, the zero baseline environment can be simulated, further, the Doppler value, the pseudo-range observation value and the complete carrier phase observation value can be utilized to calculate the startup zero compensation value, the first compensation data corresponding to each epoch can be determined, further, the startup zero error compensation standard deviation corresponding to each epoch can be determined in a recursive manner based on the first compensation data corresponding to each epoch, further, the startup zero error compensation standard deviation can be utilized, the first compensation data corresponding to each epoch is subjected to coarse difference elimination through the 3 sigma principle, the second compensation data corresponding to each epoch is determined, further, the startup zero error compensation calibration value corresponding to each epoch can be determined in an averaging manner based on the second compensation data corresponding to each epoch, further, the zero error compensation calibration value can be added to the carrier phase single difference part, the zero error between the two receivers can be corrected, and the startup zero between a plurality of receivers can be effectively performed.
Optionally, according to the method for calibrating the zero value of the startup provided by the present invention, the determining the first compensation data corresponding to each epoch based on the doppler values, the pseudo-range observed values and the complete carrier phase observed values of the two receivers under each epoch includes:
based on Doppler values and pseudo-range observation values of two receivers under a first epoch, performing time difference calculation by using the pseudo-range observation values and compensating by using the Doppler values, and determining second compensation data corresponding to the first epoch, wherein the first epoch is any epoch;
and eliminating transmission delay difference based on the complete carrier phase observed values of the two receivers under the first epoch and the second compensation data corresponding to the first epoch, and determining the first compensation data corresponding to the first epoch.
Specifically, fig. 3 is a second flowchart of the boot zero calibration method according to the present invention, as shown in fig. 3, the method includes steps 301 to 307.
In step 301, a first epoch is determined as a first epoch.
Step 302, based on the Doppler values and the pseudo-range observed values of the two receivers under the first epoch, performing time difference calculation by using the pseudo-range observed values and compensating by using the Doppler values, determining second compensation data corresponding to the first epoch.
Step 303, eliminating the transmission delay difference based on the complete carrier phase observations of the two receivers under the first epoch and the second compensation data corresponding to the first epoch, and determining the first compensation data corresponding to the first epoch.
It will be appreciated that, considering the transmission delay difference of the compensating carrier on different receiver boards, the difference may be absorbed by clock differences, under the zero base line condition (in the zero base line condition, the inter-station difference causes the satellite end error, the ionosphere error and the troposphere error to be eliminated), the transmission delay difference may be eliminated based on the complete carrier phase observations of the two receivers under the first epoch and the second compensating data corresponding to the first epoch, so as to determine the first compensating data after eliminating the transmission delay difference.
Step 304, determining the power-on zero-value error compensation standard deviation corresponding to the first epoch in a recursive manner.
Step 305, determining whether the first epoch is the last epoch, if so, executing step 306, if not, determining the next epoch as the first epoch, and executing step 302.
Step 306, performing coarse difference elimination on the first compensation data corresponding to each epoch through a 3σ principle based on the starting zero value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch.
Step 307, determining the startup zero value error compensation calibration value corresponding to each epoch by an averaging method based on the second compensation data corresponding to each epoch.
Optionally, according to the method for calibrating the zero value of the startup provided by the present invention, the determining the second compensation data corresponding to the first epoch based on the doppler values and the pseudo-range observed values of the two receivers under the first epoch, performing time difference calculation by using the pseudo-range observed values and compensation by using the doppler values includes:
based on Doppler values and pseudo-range observation values of two receivers under a first epoch, determining second compensation data corresponding to the first epoch through the following power-on zero-value error compensation formula;
wherein the two receivers include a receiver i and a receiver j, c represents the speed of light, Δt 0,ij (τ) represents the difference between the time offset of receiver i at the start-up time and the time offset of receiver j at the start-up time, τ is the time corresponding to the first epoch, λ represents the satellite signal wavelength, f d,i (tau) represents the doppler value of the receiver i,pseudo-range observations of receiver i for satellite s at time τ are represented by +.>The pseudorange observations of receiver j for satellite s at time τ are represented.
Specifically, through the starting-up zero-value error compensation formula, under the condition of zero base line, the pseudo-range observation value is utilized to calculate the time difference, and then the instantaneous Doppler value is utilized to compensate, so that the starting-up zero-value error compensation value is obtained. For each satellite, the power-on zero-value error compensation value adopted by the two receivers can be determined based on the power-on zero-value error compensation formula so as to obtain first compensation data corresponding to the epoch.
Optionally, according to the method for calibrating the zero value of the startup provided by the present invention, the eliminating the transmission delay difference based on the complete carrier phase observed values of the two receivers under the first epoch and the second compensation data corresponding to the first epoch, and determining the first compensation data corresponding to the first epoch includes:
based on complete carrier phase observation values of two receivers under a first epoch and second compensation data corresponding to the first epoch, determining first compensation data corresponding to the first epoch through the following transmission delay difference calculation formula;
wherein the two receivers comprise a receiver i and a receiver j,representing the power-on zero-value error compensation value adopted by the two receivers for each satellite s, wherein tau is the moment corresponding to the first epoch, c represents the light speed and deltat 0,ij (tau) represents the difference between the time offset of receiver i at the start-up instant and the time offset of receiver j at the start-up instant,representing the complete carrier phase observations between receiver i and satellite s, < >>Representing the complete carrier phase observations between receiver j and satellite s.
Specifically, through the transmission delay difference calculation formula, the carrier difference can be used for solving the complete compensation value under the condition of zero base line condition The transmission delay difference can be eliminated by the complete compensation value, so that the transmission delay difference is prevented from being absorbed by clock errors.
Optionally, according to the method for calibrating the zero value of the startup provided by the present invention, the determining, by a recursive manner, the standard deviation of the zero value error compensation of the startup corresponding to each epoch based on the first compensation data corresponding to each epoch includes:
determining a starting zero value error compensation average value and a starting zero value error compensation variance value corresponding to a second epoch based on the starting zero value error compensation average value and the starting zero value error compensation variance value determined by the previous epoch of the second epoch and first compensation data corresponding to the second epoch, wherein the second epoch is any epoch except the first epoch;
and determining a starting zero-value error compensation standard deviation corresponding to the second epoch based on the starting zero-value error compensation variance value corresponding to the second epoch.
Specifically, fig. 4 is a third flowchart of the boot zero calibration method according to the present invention, as shown in fig. 4, and the method includes steps 401 to 407.
Step 401, determining first compensation data corresponding to the first epoch based on the doppler values, the pseudo-range observations and the full carrier phase observations of the two receivers under the first epoch.
Step 402, determining a starting zero-value error compensation average value, a starting zero-value error compensation variance value and a starting zero-value error compensation standard deviation corresponding to the first epoch through statistical analysis based on the first compensation data corresponding to the first epoch.
Step 403, determining a power-on zero-value error compensation average value and a power-on zero-value error compensation variance value corresponding to the second epoch based on the power-on zero-value error compensation average value and the power-on zero-value error compensation variance value determined by the previous epoch of the second epoch and the first compensation data corresponding to the second epoch.
Step 404, determining a standard deviation of the zero-value error compensation of the power-on corresponding to the second epoch based on the zero-value error compensation variance of the power-on corresponding to the second epoch.
Step 405, determining whether the second epoch is the last epoch, if so, executing step 406, if not, determining the next epoch as the second epoch, and executing step 403.
Step 406, performing coarse difference elimination on the first compensation data corresponding to each epoch through the 3σ principle based on the power-on zero-value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch.
Step 407, determining a startup zero value error compensation calibration value corresponding to each epoch by an averaging manner based on the second compensation data corresponding to each epoch.
It can be appreciated that the complete compensation valueThe compensation values calculated for the different satellites should be approximately the same, only in relation to the receiver and not in relation to the satellites. The zero value of the starting-up is related to the starting-up operation of the receiver, so that the calculation of the zero value of the starting-up is carried out at each starting-up moment of the receiver, the calculation of the zero value of the starting-up cannot be carried out in a post-hoc mode, and the calculation of the average value and the variance of the zero value of the starting-up is carried out in a mode of storing numerical values in real time or a recursive mode. The standard deviation of the starting zero-value error compensation corresponding to each epoch can be determined through a recursive manner, the first compensation data corresponding to each epoch is subjected to rough difference elimination through a 3 sigma principle, the second compensation data corresponding to each epoch (namely, the compensation data after rough difference elimination) is determined, the starting zero-value error compensation calibration value corresponding to each epoch can be determined through an averaging manner based on the second compensation data corresponding to each epoch, and then the starting zero-value error compensation calibration value can be added to a carrier phase single-difference part so as to correct the starting zero-value error between two receivers.
Optionally, according to the method for calibrating a zero value of a startup, the determining the average value of the zero value error compensation of the startup and the variance value of the zero value error compensation of the startup determined based on the previous epoch of the second epoch and the first compensation data corresponding to the second epoch, determining the average value of the zero value error compensation of the startup and the variance value of the zero value error compensation of the startup corresponding to the second epoch includes:
Determining a startup zero value error compensation average value corresponding to the second epoch through the following average value recurrence formula;
wherein A is τ Represents the power-on zero-value error compensation average value corresponding to the second epoch, tau is the moment corresponding to the second epoch, A τ-1 Representing a power-on zero-value error compensation average value, X, determined from a previous epoch of a second epoch τ And representing the first compensation data corresponding to the second epoch.
Specifically, by the average value recurrence formula, average value statistical analysis can be performed based on the startup zero value error compensation average value determined in the previous epoch of the second epoch, the startup zero value error compensation variance value and the first compensation data corresponding to the second epoch, so as to determine the startup zero value error compensation average value corresponding to the second epoch.
Optionally, according to the method for calibrating a zero value of a startup, the determining the average value of the zero value error compensation of the startup and the variance value of the zero value error compensation of the startup determined based on the previous epoch of the second epoch and the first compensation data corresponding to the second epoch, determining the average value of the zero value error compensation of the startup and the variance value of the zero value error compensation of the startup corresponding to the second epoch includes:
determining a startup zero-value error compensation variance value corresponding to the second epoch through the following variance value recurrence formula;
Wherein V is τ Represents the power-on zero-value error compensation variance value corresponding to the second epoch, tau is the moment corresponding to the second epoch, A τ-1 Representing a power-on zero-value error compensation average value, V, determined from a previous epoch of the second epoch τ-1 Representing a power-on zero-value error compensation variance value, X, determined from a previous epoch of a second epoch τ And representing the first compensation data corresponding to the second epoch.
Specifically, by the variance value recurrence formula, variance statistical analysis can be performed based on the startup zero value error compensation average value and the startup zero value error compensation variance value determined in the previous epoch of the second epoch and the first compensation data corresponding to the second epoch, so as to determine the startup zero value error compensation variance value corresponding to the second epoch.
Optionally, fig. 5 is a flowchart of a power-on zero calibration method according to the present invention, as shown in fig. 5, where the method includes steps 501 to 504.
The receiver board card has time deviation on signal sampling, and the influence caused by the time deviation is reflected in the local clock difference of the receiver i, as shown in the following local clock difference formula:
dt′ i ＝t 0，i +Δf i T s N；
wherein dt' i Representing the local clock difference, t, of the receiver i 0，i Time deviation representing the moment of the receiver i is switched on, also called the switch-on zero value, Δf i Representing the clock frequency, T, of the receiver i s Represents the sampling interval and N represents the number of samples.
The local clock difference of the receiver i and the local clock difference of the receiver j are subjected to difference making, so that the following difference making formula can be obtained:
Δdt′ ij ＝t 0，i -t 0，j +(Δf i -Δf j )T s N；
wherein t is 0，j Time deviation deltaf representing starting time of receiver j j Representing the clock frequency of receiver j.
If the two receivers are frequency-co-sourced during operation, Δf in the difference formula i -Δf j =0, at this time, if t 0，i And t 0，j Equal, the effect of receiver clock differences can be eliminated when differences are made between stations. Let Δt be 0，ij ＝t 0，i -t 0，j ，Δt 0，ij It is difficult to achieve that the elimination of two receivers at the hardware level requires complete time synchronization, and the compensation can be done at the algorithm level by the following steps 501 to 504.
Step 501, building a hardware environment.
Specifically, as shown in fig. 2, the same antenna may be used to collect the same signal and distribute the signal to two receivers i and j, so as to simulate the zero baseline environment and eliminate the atmospheric error, the antenna end error and the transmission path error as much as possible. The receiver i and the receiver j are externally connected with the same clock, so that the effect of frequency sharing is achieved.
Step 502, raw data acquisition.
Specifically, since the calculation result of a single epoch may have lower accuracy due to the influence of an observation error, a method of averaging multiple epochs and removing gross errors is generally adopted. Assuming that the total number of observation epochs is n, then raw data acquisition includes acquiring and storing Doppler values, pseudorange observations, and complete carrier phase observations for n epochs of two receivers.
Step 503, power-on zero value calculation.
Specifically, two receivers use the pseudo-range and Doppler value pairs Δt under zero-base condition 0,ij And compensating. At time t 0,ij The power-on zero-value error compensation of (2) can be represented by the following power-on zero-value error compensation formula:
wherein the two receivers include a receiver i and a receiver j, c represents the speed of light, Δt 0,ij (τ) represents the difference between the time offset of receiver i at the start-up time and the time offset of receiver j at the start-up time, τ is the time corresponding to the first epoch, λ represents the satellite signal wavelength, f d,i (tau) represents the doppler value of the receiver i,pseudo-range observations of receiver i for satellite s at time τ are represented by +.>The pseudorange observations of receiver j for satellite s at time τ are represented.
It can be understood that, through the above-mentioned power-on zero-value error compensation formula, the pseudo-range observation value can be used for calculating the time difference, and then the instantaneous Doppler value is used for compensation.
Further, consider the difference in propagation delay of the compensating carrier on different receiver boards, which can be absorbed by clock skewThe carrier difference can be used to find out the complete compensation value under the condition of zero base lineThe transmission delay difference calculation formula can be represented as follows:
Wherein the two receivers comprise a receiver i and a receiver j,represents the power-on zero-value error compensation value adopted by two receivers for each satellite s, tau is the moment corresponding to the first epoch, c represents the speed of light, deltat 0,ij (τ) represents the difference between the time offset of receiver i at the start-up time and the time offset of receiver j at the start-up time,/>Representing a complete carrier phase observation between receiver i and satellite s, which should include an ambiguity fraction,/->Representing a complete carrier phase observation between receiver j and satellite s, which should include an ambiguity portion.
Because the inter-station errors in the zero-base line case are eliminated, satellite-side errors, ionospheric errors and tropospheric errors are eliminated and are not considered. According to the transmission delay difference calculation formula, the compensation value of the startup zero value at the tau moment can be obtained
Step 504, data statistics analysis processing.
Specifically, according to the transmission delay difference calculation formula, a zero-value compensation value for startup of each epoch can be obtained, and a compensation value set of n epochs (i.e., first compensation data corresponding to each epoch) can be represented as follows:
the correction values calculated for the different satellites should be approximately the same, only in relation to the receiver and not in relation to the satellites. As can be seen from the above local clock difference formula, the power-on zero value is related to the power-on operation of the receiver, so that the power-on zero value should be calculated at each power-on time of the receiver, and the power-on zero value calculation cannot be performed in a post-hoc mode, so that the average value and variance calculation should be performed in a real-time numerical value storage mode or a recursive mode. The recurrence formula is as follows.
The average recurrence formula is as follows:
wherein A is τ Represents the power-on zero-value error compensation average value corresponding to the second epoch, tau is the moment corresponding to the second epoch, A τ-1 Representing a power-on zero-value error compensation average value, X, determined from a previous epoch of a second epoch τ Representing the first compensation data corresponding to the second epoch.
The variance value recurrence formula is as follows:
wherein V is τ Represents the power-on zero-value error compensation variance value corresponding to the second epoch, tau is the moment corresponding to the second epoch, A τ-1 Representing a power-on zero-value error compensation average value, V, determined from a previous epoch of the second epoch τ-1 Representing a power-on zero-value error compensation variance value, X, determined from a previous epoch of a second epoch τ Represent the firstThe first compensation data corresponding to the two epochs.
The standard deviation formula is as follows:
wherein V is τ Sum sigma τ The variance and standard deviation of the time τ.
Removing the coarse difference by using 3 sigma principle to obtain a new data set (namely second compensation data corresponding to each epoch) without the coarse difference, and at the moment, calculating againThe average value is used as a final power-on zero value compensation value (namely a power-on zero error compensation calibration value), and the final power-on zero value compensation value is added to the carrier phase single difference part for correction.
Fig. 6 is a schematic diagram of experimental results of three-frequency power-on zero-value error compensation of multiple satellites between two receivers provided by the invention, and fig. 7 is a schematic diagram of statistical results of power-on zero-value error compensation provided by the invention. The influence of the ambiguity is ignored in the calculation process, and only the result of the fractional part of the startup zero value correction value is calculated. In fig. 6, the power-on zero value calculation results of the satellites with three frequency points GL1, B1I and B1C are shown, and it can be seen that the correction values (compensation values) between the satellites with the same frequency are the same, and the power-on zero value correction values are related to the receiver and are not related to the satellites, and are consistent with reality. The timing statistics results for all satellite power-on zeros across multiple stations (including a station, B station, C station, and D station) are given in fig. 7. The frequencies of GL1 and B1C are consistent with the B1I frequency, so the power-on zero values of GL1 and B1C frequency points are close to each other and are different from B1C, which is consistent with the derivation of the power-on zero error compensation formula, the power-on zero compensation value is related to the instantaneous Doppler, and the instantaneous Doppler is related to the signal frequency.
According to the startup zero calibration method provided by the invention, satellite signals are acquired by configuring two receivers through the same antenna, the two receivers are externally connected with the same clock, the zero baseline environment can be simulated, further, the Doppler value, the pseudo-range observation value and the complete carrier phase observation value can be utilized to calculate the startup zero compensation value, the first compensation data corresponding to each epoch can be determined, further, the startup zero error compensation standard deviation corresponding to each epoch can be determined in a recursive manner based on the first compensation data corresponding to each epoch, further, the startup zero error compensation standard deviation can be utilized, the first compensation data corresponding to each epoch is subjected to coarse difference elimination through the 3 sigma principle, the second compensation data corresponding to each epoch is determined, further, the startup zero error compensation calibration value corresponding to each epoch can be determined in an averaging manner based on the second compensation data corresponding to each epoch, further, the zero error compensation calibration value can be added to the carrier phase single difference part, the zero error between the two receivers can be corrected, and the startup zero between a plurality of receivers can be effectively performed.
The starting-up zero value calibration device provided by the invention is described below, and the starting-up zero value calibration device described below and the starting-up zero value calibration method described above can be referred to correspondingly.
FIG. 8 is a schematic structural diagram of a zero calibration device for startup according to the present invention, as shown in FIG. 8, the device includes: a first determination module 801, a second determination module 802, a third determination module 803, and a fourth determination module 804, wherein:
a first determining module 801, configured to determine first compensation data corresponding to each epoch based on doppler values, pseudorange observation values, and complete carrier phase observation values of two receivers under each epoch, where the first compensation data is used to characterize a power-on zero-value error compensation value adopted by the two receivers for each satellite;
a second determining module 802, configured to determine, by recursion, a standard deviation of power-on zero-value error compensation corresponding to each epoch based on the first compensation data corresponding to each epoch;
the third determining module 803 is configured to perform coarse difference rejection on the first compensation data corresponding to each epoch according to the 3σ principle based on the power-on zero-value error compensation standard deviation corresponding to each epoch, and determine second compensation data corresponding to each epoch;
A fourth determining module 804, configured to determine, based on the second compensation data corresponding to each epoch, a startup zero-value error compensation calibration value corresponding to each epoch by means of averaging, where the startup zero-value error compensation calibration value is used to correct a startup zero-value error between the two receivers;
the two receivers collect satellite signals through the same antenna, and the two receivers are externally connected with the same clock.
Fig. 9 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 9, the electronic device may include: processor 910, communication interface (Communications Interface), memory 930, and communication bus 940, wherein processor 910, communication interface 920, and memory 930 communicate with each other via communication bus 940. Processor 910 may call logic instructions in memory 930 to perform a power-on zero calibration method comprising:
determining first compensation data corresponding to each epoch based on Doppler values, pseudo-range observation values and complete carrier phase observation values of two receivers under each epoch, wherein the first compensation data are used for representing startup zero-value error compensation values adopted by the two receivers for each satellite;
Determining a starting zero value error compensation standard deviation corresponding to each epoch in a recursive manner based on the first compensation data corresponding to each epoch;
performing coarse difference elimination on the first compensation data corresponding to each epoch through a 3 sigma principle based on the starting zero value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch;
determining a startup zero-value error compensation calibration value corresponding to each epoch by an averaging mode based on second compensation data corresponding to each epoch, wherein the startup zero-value error compensation calibration value is used for correcting the startup zero-value error between the two receivers;
the two receivers collect satellite signals through the same antenna, and the two receivers are externally connected with the same clock.
Further, the logic instructions in the memory 930 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, 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 removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for calibrating a boot zero value provided by the above methods, the method comprising:
determining first compensation data corresponding to each epoch based on Doppler values, pseudo-range observation values and complete carrier phase observation values of two receivers under each epoch, wherein the first compensation data are used for representing startup zero-value error compensation values adopted by the two receivers for each satellite;
determining a starting zero value error compensation standard deviation corresponding to each epoch in a recursive manner based on the first compensation data corresponding to each epoch;
performing coarse difference elimination on the first compensation data corresponding to each epoch through a 3 sigma principle based on the starting zero value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch;
determining a startup zero-value error compensation calibration value corresponding to each epoch by an averaging mode based on second compensation data corresponding to each epoch, wherein the startup zero-value error compensation calibration value is used for correcting the startup zero-value error between the two receivers;
The two receivers collect satellite signals through the same antenna, and the two receivers are externally connected with the same clock.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The power-on zero value calibration method is characterized by comprising the following steps of:
determining first compensation data corresponding to each epoch based on Doppler values, pseudo-range observation values and complete carrier phase observation values of two receivers under each epoch, wherein the first compensation data are used for representing startup zero-value error compensation values adopted by the two receivers for each satellite;
determining a starting zero value error compensation standard deviation corresponding to each epoch in a recursive manner based on the first compensation data corresponding to each epoch;
performing coarse difference elimination on the first compensation data corresponding to each epoch through a 3 sigma principle based on the starting zero value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch;
Determining a startup zero-value error compensation calibration value corresponding to each epoch by an averaging mode based on second compensation data corresponding to each epoch, wherein the startup zero-value error compensation calibration value is used for correcting the startup zero-value error between the two receivers;
the two receivers collect satellite signals through the same antenna, and the two receivers are externally connected with the same clock.
2. The power-on zero calibration method according to claim 1, wherein the determining the first compensation data corresponding to each epoch based on the doppler values, the pseudorange observations and the full carrier phase observations of the two receivers under each epoch comprises:
based on Doppler values and pseudo-range observation values of two receivers under a first epoch, performing time difference calculation by using the pseudo-range observation values and compensating by using the Doppler values, and determining second compensation data corresponding to the first epoch, wherein the first epoch is any epoch;
and eliminating transmission delay difference based on the complete carrier phase observed values of the two receivers under the first epoch and the second compensation data corresponding to the first epoch, and determining the first compensation data corresponding to the first epoch.
3. The power-on zero calibration method according to claim 2, wherein the determining the second compensation data corresponding to the first epoch based on the doppler values and the pseudo-range observations of the two receivers under the first epoch, performing time difference calculation using the pseudo-range observations, and performing compensation using the doppler values includes:
based on Doppler values and pseudo-range observation values of two receivers under a first epoch, determining second compensation data corresponding to the first epoch through the following power-on zero-value error compensation formula;
wherein the two receivers include a receiver i and a receiver j, c represents the speed of light, Δt 0,ij (τ) represents the difference between the time offset of receiver i at the start-up time and the time offset of receiver j at the start-up time, τ is the time corresponding to the first epoch, λ represents the satellite signal wavelength, f d,i (tau) represents the doppler value of the receiver i,pseudo-range observations of receiver i for satellite s at time τ are represented by +.>The pseudorange observations of receiver j for satellite s at time τ are represented.
4. The power-on zero calibration method according to claim 2, wherein the determining the first compensation data corresponding to the first epoch based on the complete carrier phase observations of the two receivers under the first epoch and the second compensation data corresponding to the first epoch, and eliminating a transmission delay difference, comprises:
Based on complete carrier phase observation values of two receivers under a first epoch and second compensation data corresponding to the first epoch, determining first compensation data corresponding to the first epoch through the following transmission delay difference calculation formula;
wherein the two receivers comprise a receiver i and a receiver j,representing the power-on zero-value error compensation value adopted by the two receivers for each satellite s, wherein tau is the moment corresponding to the first epoch, c represents the light speed and deltat 0,ij (τ) represents the difference between the time offset of receiver i at the start-up time and the time offset of receiver j at the start-up time,/>Representing the complete carrier phase observations between receiver i and satellite s, < >>Representing the complete carrier phase observations between receiver j and satellite s.
5. The method for calibrating a zero value during startup according to any one of claims 1 to 4, wherein determining, by recursion, a standard deviation of a zero value error during startup corresponding to each epoch based on the first compensation data corresponding to each epoch includes:
determining a starting zero value error compensation average value and a starting zero value error compensation variance value corresponding to a second epoch based on the starting zero value error compensation average value and the starting zero value error compensation variance value determined by the previous epoch of the second epoch and first compensation data corresponding to the second epoch, wherein the second epoch is any epoch except the first epoch;
And determining a starting zero-value error compensation standard deviation corresponding to the second epoch based on the starting zero-value error compensation variance value corresponding to the second epoch.
6. The method of calibrating a zero value for a power-on according to claim 5, wherein determining the average value of the zero value error compensation for the power-on and the variance value of the zero value error compensation for the power-on based on the first epoch of the second epoch and the first compensation data corresponding to the second epoch, comprises:
determining a startup zero value error compensation average value corresponding to the second epoch through the following average value recurrence formula;
wherein A is τ Represents the power-on zero-value error compensation average value corresponding to the second epoch, tau is the moment corresponding to the second epoch, A τ-1 Representing a power-on zero-value error compensation average value, X, determined from a previous epoch of a second epoch τ And representing the first compensation data corresponding to the second epoch.
7. The method of calibrating a zero value for a power-on according to claim 5, wherein determining the average value of the zero value error compensation for the power-on and the variance value of the zero value error compensation for the power-on based on the first epoch of the second epoch and the first compensation data corresponding to the second epoch, comprises:
Determining a startup zero-value error compensation variance value corresponding to the second epoch through the following variance value recurrence formula;
wherein V is τ Zero-value error compensation for starting-up corresponding to second epochThe variance value, τ is the time corresponding to the second epoch, A τ-1 Representing a power-on zero-value error compensation average value, V, determined from a previous epoch of the second epoch τ-1 Representing a power-on zero-value error compensation variance value, X, determined from a previous epoch of a second epoch τ And representing the first compensation data corresponding to the second epoch.
8. A power-on zero calibration device, comprising:
the first determining module is used for determining first compensation data corresponding to each epoch based on Doppler values, pseudo-range observation values and complete carrier phase observation values of two receivers under each epoch, wherein the first compensation data is used for representing a startup zero-value error compensation value adopted by the two receivers for each satellite;
the second determining module is used for determining a starting zero-value error compensation standard deviation corresponding to each epoch through a recursive manner based on the first compensation data corresponding to each epoch;
the third determining module is used for performing coarse difference elimination on the first compensation data corresponding to each epoch through a 3 sigma principle based on the starting zero value error compensation standard deviation corresponding to each epoch, and determining the second compensation data corresponding to each epoch;
A fourth determining module, configured to determine, based on second compensation data corresponding to each epoch, a startup zero-value error compensation calibration value corresponding to each epoch by means of averaging, where the startup zero-value error compensation calibration value is used to correct a startup zero-value error between the two receivers;
the two receivers collect satellite signals through the same antenna, and the two receivers are externally connected with the same clock.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the power-on zero calibration method of any one of claims 1 to 7 when the program is executed by the processor.
10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a power-on zero calibration method according to any one of claims 1 to 7.
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