CN117908066A - Beidou global rapid precise positioning method based on internal station - Google Patents
Beidou global rapid precise positioning method based on internal station Download PDFInfo
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Abstract
The Beidou global rapid precise positioning method based on the internal station comprises the following steps of: s1: the Beidou main control station receives data in real time; s2: performing precise orbit determination of the Beidou satellite to obtain floating ambiguity of the carrier phase measurement of the internal station; s3: performing precise orbit determination on a low-orbit satellite to obtain floating ambiguity of carrier phase measurement of a satellite-borne receiver; s4: the Beidou main control station comprehensively processes floating point ambiguity parameters acquired by all the inner stations and the low-orbit satellite-borne receivers, and iteratively estimates to obtain a north bucket wide lane and narrow lane phase deviation product; s5: the user receives, measures and decodes the Beidou satellite downlink signals and performs PPP calculation; s6: and the PPP-AR quick and precise positioning calculation is realized through phase deviation product correction, inter-satellite single difference observed quantity construction and a partial ambiguity fixing algorithm. The method takes the low-orbit satellite with the satellite-borne Beidou receiver as a space-based mobile monitoring station, integrally processes the data of the low-orbit satellite-borne receiver and the data of an internal station, and realizes autonomous and controllable generation of a Beidou satellite phase deviation product.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a Beidou global rapid precise positioning method based on an internal station.
Background
The Beidou III is a global satellite navigation system with first embedded satellite-based precise single-point positioning (Precise Point Positioning, PPP) service, comprehensively coordinates geostationary orbit satellite broadcasting, and realizes the positioning accuracy of 0.3 m horizontally and 0.6 m vertically under 20-minute convergence conditions in China and surrounding areas based on monitoring of an internal station. However, there are also the following limitations: 1) The convergence time is long, the positioning precision is low, the urgent requirements of the global real-time high-precision positioning user in the intelligent era cannot be completely met, and the gap is obvious compared with the service capacity of 0.2m horizontally and 0.4 m vertically under the condition of 5 minutes convergence of the European Galileo system; 2) Limited by the broadcasting platform, the service area is limited to China and the periphery.
The main reason that the European Galileo system has high-precision service capability is found by research to be that the European Galileo system adopts a PPP ambiguity fixing (Precise Point Positioning Ambiguity Resolution, PPP-AR) positioning system instead of a standard PPP. PPP-AR is the leading edge technology in the global precision positioning field at home and abroad, and provides support for the service to rely on 4 types of products: precision orbit, precision clock skew, code bias, and phase bias. The Beidou III is based on an 'intra-station plus inter-satellite link', solves the difficult problem of generating a precise orbit and a precise clock error product, and is suitable for satellite requirements of overseas overhead work; based on the measured value of the downlink navigation signal of the internal station, the code deviation is generated, and the code deviation is very stable and almost does not change within a few days, so that an internal calibration and global service scheme can be adopted; for the phase deviation, corresponding products are not provided temporarily, and it is required to explain that the phase deviation is divided into a wide lane phase deviation and a narrow lane phase deviation, wherein the narrow lane phase deviation has poor stability, generally needs to be updated once every 15 minutes, cannot monitor results in the environment after the satellite leaves the environment, can only be extracted by means of a downlink navigation signal, and cannot be replaced by using an inter-satellite link mode. The European Galileo system realizes the generation of the phase deviation product of the full arc segment by utilizing the common view of the global station to the navigation satellite, thereby providing PPP-AR service with better performance. In the prior art, the problem that the Beidou satellite full-arc phase deviation product cannot be directly obtained based on the internal station measurement data exists.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a Beidou global rapid accurate positioning method based on an internal station, which takes a low-orbit satellite provided with a satellite-borne Beidou receiver as a space-based mobile monitoring station, integrally processes low-orbit satellite-borne receiver data and internal station data, and realizes autonomous and controllable generation of a Beidou satellite phase deviation product.
In order to achieve the above purpose, the present invention adopts the following scheme:
The invention provides a Beidou global rapid precise positioning method based on an internal station, which comprises the following steps of:
s1: the Beidou main control station receives and processes Beidou satellite-ground and inter-satellite data in real time;
s2: performing precise orbit determination of the Beidou satellite to obtain floating ambiguity of the carrier phase measurement of the internal station;
s3: performing precise orbit determination on a low-orbit satellite to obtain floating ambiguity of carrier phase measurement of a satellite-borne receiver;
S4: the Beidou main control station comprehensively processes floating ambiguity parameters acquired by all the inner stations and the low-orbit satellite-borne receivers, and adopts a least square method with an additional gravity center reference to obtain a north bucket wide lane and narrow lane phase deviation product through iterative estimation;
S5: the global user receives, measures and decodes the Beidou satellite downlink signals in real time and performs PPP calculation;
S6: on the basis of the step S5, quick and precise positioning and resolving of PPP-AR are realized through phase deviation product correction, inter-satellite single difference observed quantity construction and partial ambiguity fixing algorithm.
Further, in step S1, the receiving process includes the steps of:
s1-1: a plurality of ground monitoring stations distributed in a scattered manner in China receive high-precision multifrequency pseudo-range and carrier phase observation data of the Beidou satellite in real time and transmit the data to a Beidou master control station;
S1-2: inter-satellite link measurement data of all the big Dipper satellites in and out of the environment are downloaded to an indoor big Dipper measurement and control station through a certain node satellite in the environment and transmitted to a big Dipper master control station;
S1-3: the Beidou main control station receives measurement data from the monitoring station and the measurement and control station in real time, and simultaneously collects auxiliary information such as tidying station information, antenna information, navigation messages and the like.
Further, in step S1, the processing procedure includes the following steps:
S1-4: the Beidou master control station processes the Beidou satellite-ground data of the internal station, firstly, a phase smoothing pseudo-range mode is adopted to reduce measurement noise, then difference is made among different frequency points to obtain geometric distance-free observed quantity, and then a least square method with additional gravity center reference constraint is adopted to integrally estimate code deviation parameters and ionosphere model parameters.
Further, in step S2, the Beidou main control station comprehensively processes Beidou satellite-ground and inter-satellite data, adopts a real-time filtering or recursive least square method to realize precise orbit determination and short time prediction of the navigation satellite, and simultaneously obtains precise coordinates of the inner station, troposphere delay, ionosphere-free combined floating ambiguity of the tracked part of Beidou satellite and wide-lane floating ambiguity through solution.
Further, step S3 includes the steps of:
S3-1: the method comprises the steps of fixing Beidou satellite orbits, coordinates of an internal station, troposphere delay and ionosphere-free combined floating ambiguity, setting the clock difference of a reference clock of a certain reference station to be zero, using Beidou satellite-ground multi-frequency carrier phase measurement data, filtering or recursively calculating the precise clock difference of a high sampling rate of an internal satellite in real time and performing short time prediction, and further using the internal Beidou satellite as a node, and solving the precise clock difference of an external Beidou satellite and performing short time prediction through an inter-satellite link 'one hop';
s3-2: a plurality of low-orbit satellites which are provided with satellite-borne Beidou receivers and have an inter-satellite communication data transmission function receive high-precision multi-frequency pseudo-range and carrier phase observation data of the Beidou satellites in real time, and the high-precision multi-frequency pseudo-range and carrier phase observation data are converged to a certain node satellite in the environment by a low-orbit inter-satellite link, then are downloaded to an inner low-orbit measurement and control station and are transmitted to a Beidou main control station;
S3-3: the Beidou main control station adopts a simplified dynamics method to carry out real-time filtering and resolving based on Beidou precise orbit, clock error, code deviation products and satellite-borne Beidou measurement data, so as to realize low-orbit satellite precise orbit determination and short-time forecasting, and simultaneously, the resolving obtains ionosphere-free combined floating ambiguity and wide-lane floating ambiguity of a low-orbit satellite-borne receiver tracking Beidou satellites.
Further, step S4 includes the steps of:
S4-1: the Beidou main control station comprehensively processes all wide-lane floating ambiguity corresponding to all the inner stations and the low-rail satellite-borne receivers, and adopts a least square method with an additional gravity center reference to obtain a wide-lane phase deviation product through iterative estimation;
S4-2: the Beidou main control station converts the ionosphere-free combined floating point ambiguity, the wide lane floating point ambiguity and the wide lane phase deviation product to obtain a narrow lane floating point ambiguity;
S4-3: and the Beidou main control station comprehensively processes the narrow lane floating ambiguity corresponding to all the inner stations and the low-orbit satellite-borne receivers, and adopts a least square method with an additional gravity center reference to obtain a narrow lane phase deviation product through iterative estimation.
Further, in step S5, the global user receiving, measuring and decoding the downlink signal of the beidou satellite in real time includes the following steps:
S5-1: the Beidou main control station formats precise orbit, precise clock error, code deviation and phase deviation parameters of all Beidou satellites according to the precise text format and transmits the parameters to the Beidou injection station;
S5-2: the Beidou injection station injects precise telegrams into a node satellite in the environment through an uplink, and the node satellite distributes the precise telegrams to all Beidou satellites in the constellation through inter-satellite links;
s5-3: broadcasting accurate telegraph text while broadcasting broadcast ephemeris and ranging signals by all Beidou satellites;
S5-4: the user terminal receiver receives the Beidou satellite downlink signals visible at the position of the user terminal receiver in real time, processes the Beidou satellite downlink signals to obtain high-precision multi-frequency pseudo-range and carrier phase observation data, and decodes the high-precision multi-frequency pseudo-range and carrier phase observation data to obtain precision orbit, precision clock error, code deviation and phase deviation parameters of the visible satellites.
Further, in step S6, the user terminal receiver performs fast and precise positioning data processing, and the main process includes data preprocessing and quality control, standard pseudo-range single-point positioning, PPP mathematical model establishment, PPP calculation, and PPP-AR under phase deviation support.
Further, in step S6, in the PPP-AR ambiguity fixing process, single-station inter-satellite offset can be performed, so as to eliminate the influence of phase deviation at the receiver end; the PPP-AR does not require that all the phase deviation parameters of the visible satellites are known, and the phase deviation parameters of more than 4 visible satellites are generally known, so that partial ambiguity fixation can be realized, and the partial ambiguity fixation can be realized as a constraint parameter calculation result of a virtual observation equation to realize quick and precise positioning.
The beneficial effects of the invention are as follows:
The invention provides a Beidou global quick and precise positioning method based on an inner station, namely, autonomous and controllable generation of a middle-high orbit Beidou satellite phase deviation product is realized by integrally processing low orbit satellite-borne Beidou receiver data and inner station data, the product precision is equivalent to a global station estimation result, the Beidou global station building difficulty is effectively avoided, the method can be applied to next generation Beidou global high-precision service technology route determination, and the Beidou high-precision service is promoted to be converted and upgraded from PPP to PPP-AR mode.
Drawings
Fig. 1 is a schematic flow chart of a Beidou global quick and precise positioning method based on an internal station, which is provided by an embodiment of the application;
Fig. 2A is a wide-lane phase deviation result estimated based on measured data of receivers of 106 ground stations worldwide according to an embodiment of the present application;
fig. 2B is a wide-lane phase deviation result obtained by estimating actual measurement data of a satellite-borne receiver based on 9 low-orbit satellites according to an embodiment of the present application;
fig. 3A is a narrow lane phase deviation result estimated based on actual measurement data of a satellite-borne receiver of 9 low-orbit satellites and actual measurement data of 1 ground station receiver provided by an embodiment of the present application;
Fig. 3B is a narrow lane phase deviation result estimated based on actual measurement data of satellite-borne receivers of 9 low-orbit satellites and actual measurement data of 4 ground station receivers according to an embodiment of the present application;
FIG. 4A is a diagram showing a comparison result of positioning errors in the eastern direction of an overseas subscriber station using PPP and PPP-AR modes, respectively, according to an embodiment of the present application;
fig. 4B is a comparison result of positioning errors in the north direction of the user station in the overseas mode using PPP and PPP-AR mode, respectively;
FIG. 4C is a comparison result of positioning errors in the elevation direction of an overseas subscriber station respectively calculated using PPP and PPP-AR modes according to an embodiment of the present application;
fig. 5 is a schematic overall flow chart of a method according to an embodiment of the present application.
Detailed Description
In order to make the technical solution and advantages of the present invention more clear, the technical solution of the embodiments of the present invention will be fully described below with reference to the accompanying drawings in the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. 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.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
As shown in fig. 5, the invention provides a global quick and precise Beidou positioning method based on an internal station, which takes a low-orbit satellite provided with a satellite-borne Beidou receiver as a space-based mobile monitoring station, integrally processes low-orbit satellite-borne receiver data and internal station data, and realizes autonomous and controllable generation of a Beidou satellite phase deviation product.
The following describes in further detail the global quick and precise Beidou positioning method based on the internal station provided by the embodiment of the application with reference to the attached drawings of the specification, and as shown in fig. 1, a specific implementation mode of the method can comprise the following steps:
And step 101, the Beidou main control station receives and processes Beidou satellite-ground and inter-satellite data in real time, adopts a real-time filtering or recursive least square method to realize precise orbit determination and short time prediction of the navigation satellite, and simultaneously obtains precise coordinates of the inner station, troposphere delay and ionosphere-free combined floating ambiguity and wide-lane floating ambiguity of a part of Beidou satellites through solution calculation.
As an example, the set of parameters to be solved in the inter-station+inter-satellite link joint orbit determination process is as follows:
Wherein O s is the Beidou satellite initial time state vector, and consists of an initial position [ x s,ys,zs]T and an initial speed And kinetic model parameters/>Composition; o r is the internal ground station coordinate vector [ x r,yr,zr]T;tr is the internal station receiver clock difference; /(I)Delay for the zenith troposphere of the internal station; /(I)The floating ambiguity is combined for ionosphere-Free (Ionosphere-Free, IF) acquired by the rover.
In addition, in the scheme provided by the embodiment of the application, the floating ambiguity of a Wide-Lane (WL) can be obtained by combining satellite and ground observables:
wherein, f 1 and f 2 are frequency values of the Beidou two frequency point signals; and/> Carrier phase measurements for the two frequency point signals for the inter-station receiver; /(I)And/>Pseudo-range measurement values of two frequency point signals for an internal station receiver; lambda WL＝c/(f1-f2) is the wavelength of the widelane ambiguity.
And 102, based on Beidou precise orbit, clock error, code deviation products and satellite-borne Beidou measurement data, the Beidou main control station adopts a simplified dynamics method to carry out real-time filtering and resolving to realize low-orbit satellite precise orbit determination and short-time forecasting, and simultaneously, resolving to obtain ionosphere-free combined floating ambiguity and wide-lane floating ambiguity of a low-orbit satellite-borne receiver tracking Beidou satellites.
As an example, in the low-orbit satellite simplified dynamic orbit determination process, the set of parameters to be solved is:
Wherein O l is a low orbit satellite initial time state vector, and consists of an initial position [ x l,yl,zl]T ], an initial speed [ v l,x,vl,y,vl,z]T and a force model parameter [ p l,1,pl,2,…,pl,n]T; t l is the low-rail satellite-borne receiver clock skew; ionosphere-free combined floating ambiguity acquired for low-rail satellite-borne receivers.
In addition, in the scheme provided by the embodiment of the application, the wide lane floating point ambiguity can be obtained by combining satellite-borne observables:
In the method, in the process of the invention, And/>Carrier phase measurement values of the satellite-borne receiver on two frequency point signals; /(I)And/>Pseudo-range measurements for two frequency point signals for a satellite-borne receiver.
And 103, comprehensively processing floating ambiguity parameters acquired by all the internal stations and the low-orbit satellite-borne receivers by the Beidou main control station, and obtaining phase deviation products of the wide lane and the narrow lane of the north bucket by adopting a least square method with an additional gravity center reference through iterative estimation.
For example, assume that n indoor stations and k low-orbit satellites can track m Beidou satellites, and take the decimal part of wide-lane floating ambiguityAs an observed quantity, constructing a wide-lane phase deviation estimation observation equation:
Where H ij is a row vector containing (m+n+k) elements, and the j-th and (m+i) -th elements are 1 and the remaining elements are 0. Due to phase deviation at satellite end The phase deviation d r(l),WL is linearly related to the phase deviation d r(l),WL at the receiver end, in order to eliminate the rank deficiency of the equation, the phase deviation of the wide lane of one satellite is fixed to be 0 by adopting a gravity center reference, and the phase deviation of the wide lane of all Beidou satellites and the receiver can be obtained by carrying out least square iteration estimation.
Further, by ionosphere-free floating ambiguityWide lane floating ambiguity/>Satellite end wide lane phase deviation/>The receiver end wide Lane phase deviation d r(l),WL can push out the Narrow Lane (NL) floating ambiguityExpression form:
taking the decimal part of the narrow lane floating point ambiguity As observed quantity, constructing a narrow lane phase deviation estimation observation equation:
due to phase deviation at satellite end The phase deviation d r(l),NL is linearly related to the phase deviation d r(l),NL at the receiver end, in order to eliminate the rank deficiency of the equation, the phase deviation of the narrow lane of one satellite is fixed to be 0 by adopting a gravity center reference, and the phase deviation of the narrow lane of all Beidou satellites and the receiver can be obtained by carrying out least square iteration estimation.
For example, referring to fig. 2A, 2B, 3A and 3B, fig. 2A shows a wide-lane phase deviation result estimated based on receiver actual measurement data of 106 ground stations worldwide according to an embodiment of the present application; fig. 2B shows a wide-lane phase deviation result obtained by estimating actual measurement data of a satellite-borne receiver based on 9 low-orbit satellites according to an embodiment of the present application; fig. 3A shows a narrow lane phase deviation result estimated based on actual measurement data of a satellite-borne receiver of 9 low-orbit satellites and actual measurement data of 1 ground station receiver provided by an embodiment of the present application; fig. 3B shows a narrow lane phase deviation result estimated based on actual measurement data of satellite-borne receivers of 9 low-earth satellites and actual measurement data of 4 ground station receivers according to an embodiment of the present application. It should be noted that the currently disclosed satellite-borne Beidou data are few, and the embodiment selects satellite-borne GPS data to extract GPS satellite phase deviation, has similar working principle and can be used as an important means for verifying the technical feasibility of the application.
Specifically, the phase deviation results of the wide lane of the navigation satellite extracted based on the actual measurement data of the 9 low-orbit satellites and the global 106 ground stations have good consistency, the standard deviation of the phase deviation estimation values of the wide lane is within 0.1 week, the estimation accuracy is high, and the feasibility of the method is verified; a small number of ground stations are further added on the basis of 9 low-orbit satellites, and the standard deviation of the narrow lane phase deviation estimation values is within 0.1 week, so that the estimation accuracy is higher, the larger the number of the ground stations is, the higher the product accuracy and stability are, and the feasibility of the method is verified.
Step 104, the global user receives, measures and decodes the Beidou satellite downlink signals in real time and carries out PPP (point-to-point) calculation, and on the basis, the PPP-AR quick and precise positioning calculation is realized through phase deviation product correction, inter-satellite single difference observed quantity construction and a partial ambiguity fixing algorithm.
For example, since the subscriber station does not participate in the phase deviation estimation, the phase deviation estimation of the receiver end of the corresponding subscriber station cannot be obtained, so in order to avoid considering the phase deviation of the receiver end, the single station PPP-AR can perform the inter-satellite differential operation on the ambiguity parameter, and generally select the satellite with the highest altitude angle at the observation time as the reference satellite s 0, the inter-satellite single-difference widelane and narrow-lane ambiguity are as follows:
wherein, the double superscripts represent inter-satellite single difference operation; and/> Can be obtained by combining observables; /(I)And/>The method can be obtained by converting corresponding ionosphere-free combined floating ambiguity, wide lane floating ambiguity and satellite end wide lane phase deviation; /(I)And/>The master control station calculates the betting and broadcasts the betting to the user through the satellite message to decode. The user gets/>, by rounding offSearching by LAMBDA algorithm to obtain/>Finally, the single difference ionosphere-free combined ambiguity between stars with integer characteristics is:
and then the original positioning observation equation can be replaced to update the position and other parameters, or the parameter solving constraint is carried out through a virtual observation equation form with the added ambiguity.
By way of example, referring to fig. 4A, 4B and 4C, fig. 4A shows a comparison result of positioning errors in the eastern direction by an overseas subscriber station respectively employing PPP and PPP-AR modes provided by an embodiment of the application; FIG. 4B shows a comparison result of positioning errors in the north direction of an overseas subscriber station using PPP and PPP-AR modes, respectively, according to an embodiment of the present application; fig. 4C shows a comparison result of positioning errors in the elevation direction of an overseas subscriber station respectively using PPP and PPP-AR modes according to an embodiment of the application. Compared with the PPP result, the PPP-AR can obviously shorten the convergence time and improve the positioning accuracy.
In the description of the present specification, reference to the terms "one embodiment" and "example" and the like mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily aimed at being combined in a suitable manner in the opposite embodiments or examples.
It must be pointed out that the above description of the embodiments is not intended to be limiting but to assist in understanding the core idea of the invention, and that any modifications to the invention and alternatives equivalent to the present product, which do not depart from the principle of the invention, are intended to be within the scope of the claims of the invention.
Claims (9)
1. The Beidou global rapid precise positioning method based on the internal station is characterized by comprising the following steps of:
s1: the Beidou main control station receives and processes Beidou satellite-ground and inter-satellite data in real time;
s2: performing precise orbit determination of the Beidou satellite to obtain floating ambiguity of the carrier phase measurement of the internal station;
s3: performing precise orbit determination on a low-orbit satellite to obtain floating ambiguity of carrier phase measurement of a satellite-borne receiver;
S4: the Beidou main control station comprehensively processes floating ambiguity parameters acquired by all the inner stations and the low-orbit satellite-borne receivers, and adopts a least square method with an additional gravity center reference to obtain a north bucket wide lane and narrow lane phase deviation product through iterative estimation;
S5: the global user receives, measures and decodes the Beidou satellite downlink signals in real time and performs PPP calculation;
S6: on the basis of the step S5, quick and precise positioning and resolving of PPP-AR are realized through phase deviation product correction, inter-satellite single difference observed quantity construction and partial ambiguity fixing algorithm.
2. The method according to claim 1, wherein in step S1, the receiving process comprises the steps of:
s1-1: a plurality of ground monitoring stations distributed in a scattered manner in China receive high-precision multifrequency pseudo-range and carrier phase observation data of the Beidou satellite in real time and transmit the data to a Beidou master control station;
S1-2: inter-satellite link measurement data of all the big Dipper satellites in and out of the environment are downloaded to an indoor big Dipper measurement and control station through a certain node satellite in the environment and transmitted to a big Dipper master control station;
S1-3: the Beidou main control station receives measurement data from the monitoring station and the measurement and control station in real time, and simultaneously collects auxiliary information such as tidying station information, antenna information, navigation messages and the like.
3. The method according to claim 2, wherein in step S1, the processing procedure comprises the steps of:
S1-4: the Beidou master control station processes the Beidou satellite-ground data of the internal station, firstly, a phase smoothing pseudo-range mode is adopted to reduce measurement noise, then difference is made among different frequency points to obtain geometric distance-free observed quantity, and then a least square method with additional gravity center reference constraint is adopted to integrally estimate code deviation parameters and ionosphere model parameters.
4. The method of claim 3, wherein step S2 is specifically that the beidou master control station comprehensively processes beidou satellite-ground and inter-satellite data, adopts a real-time filtering or recursive least square method to realize precise orbit determination and short time prediction of the navigation satellite, and simultaneously obtains precise coordinates of an inner station, tropospheric delay, ionospheric-free combined floating ambiguity of a tracking part of the beidou satellite and wide-lane floating ambiguity by resolving.
5. The method according to claim 4, wherein step S3 comprises the steps of:
S3-1: the method comprises the steps of fixing Beidou satellite orbits, coordinates of an internal station, troposphere delay and ionosphere-free combined floating ambiguity, setting the clock difference of a reference clock of a certain reference station to be zero, using Beidou satellite-ground multi-frequency carrier phase measurement data, filtering or recursively calculating the precise clock difference of a high sampling rate of an internal satellite in real time and performing short time prediction, and further using the internal Beidou satellite as a node, and solving the precise clock difference of an external Beidou satellite and performing short time prediction through an inter-satellite link 'one hop';
s3-2: a plurality of low-orbit satellites which are provided with satellite-borne Beidou receivers and have an inter-satellite communication data transmission function receive high-precision multi-frequency pseudo-range and carrier phase observation data of the Beidou satellites in real time, and the high-precision multi-frequency pseudo-range and carrier phase observation data are converged to a certain node satellite in the environment by a low-orbit inter-satellite link, then are downloaded to an inner low-orbit measurement and control station and are transmitted to a Beidou main control station;
S3-3: the Beidou main control station adopts a simplified dynamics method to carry out real-time filtering and resolving based on Beidou precise orbit, clock error, code deviation products and satellite-borne Beidou measurement data, so as to realize low-orbit satellite precise orbit determination and short-time forecasting, and simultaneously, the resolving obtains ionosphere-free combined floating ambiguity and wide-lane floating ambiguity of a low-orbit satellite-borne receiver tracking Beidou satellites.
6. The method according to claim 5, wherein step S4 comprises the steps of:
S4-1: the Beidou main control station comprehensively processes all wide-lane floating ambiguity corresponding to all the inner stations and the low-rail satellite-borne receivers, and adopts a least square method with an additional gravity center reference to obtain a wide-lane phase deviation product through iterative estimation;
S4-2: the Beidou main control station converts the ionosphere-free combined floating point ambiguity, the wide lane floating point ambiguity and the wide lane phase deviation product to obtain a narrow lane floating point ambiguity;
S4-3: and the Beidou main control station comprehensively processes the narrow lane floating ambiguity corresponding to all the inner stations and the low-orbit satellite-borne receivers, and adopts a least square method with an additional gravity center reference to obtain a narrow lane phase deviation product through iterative estimation.
7. The method according to claim 6, wherein in step S5, the global user receives, measures, and decodes the beidou satellite downlink signal in real time, and the method comprises the steps of:
S5-1: the Beidou main control station formats precise orbit, precise clock error, code deviation and phase deviation parameters of all Beidou satellites according to the precise text format and transmits the parameters to the Beidou injection station;
S5-2: the Beidou injection station injects precise telegrams into a node satellite in the environment through an uplink, and the node satellite distributes the precise telegrams to all Beidou satellites in the constellation through inter-satellite links;
s5-3: broadcasting accurate telegraph text while broadcasting broadcast ephemeris and ranging signals by all Beidou satellites;
S5-4: the user terminal receiver receives the Beidou satellite downlink signals visible at the position of the user terminal receiver in real time, processes the Beidou satellite downlink signals to obtain high-precision multi-frequency pseudo-range and carrier phase observation data, and decodes the high-precision multi-frequency pseudo-range and carrier phase observation data to obtain precision orbit, precision clock error, code deviation and phase deviation parameters of the visible satellites.
8. The method according to claim 7, wherein step S6 is specifically that the ue receiver performs fast fine positioning data processing, and the main processes include data preprocessing and quality control, standard pseudo-range single point positioning, PPP mathematical model establishment, PPP resolution, and PPP-AR under phase bias support.
9. The method of claim 8, wherein in step S6, single station inter-satellite subtraction can be performed during PPP-AR ambiguity fixing to eliminate the phase deviation effect at the receiver; the PPP-AR does not require that all the phase deviation parameters of the visible satellites are known, and the phase deviation parameters of more than 4 visible satellites are generally known, so that partial ambiguity fixation can be realized, and the partial ambiguity fixation can be realized as a constraint parameter calculation result of a virtual observation equation to realize quick and precise positioning.
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