WO2021063209A1 - 整周模糊度确定方法、装置及设备 - Google Patents

整周模糊度确定方法、装置及设备 Download PDF

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Publication number
WO2021063209A1
WO2021063209A1 PCT/CN2020/116694 CN2020116694W WO2021063209A1 WO 2021063209 A1 WO2021063209 A1 WO 2021063209A1 CN 2020116694 W CN2020116694 W CN 2020116694W WO 2021063209 A1 WO2021063209 A1 WO 2021063209A1
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Prior art keywords
ambiguity
whole
data
week
mobile device
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PCT/CN2020/116694
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English (en)
French (fr)
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甘雨
刘刚
吴亮
张硕
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阿里巴巴集团控股有限公司
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Publication of WO2021063209A1 publication Critical patent/WO2021063209A1/zh

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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
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • This application relates to the field of mobile device positioning, in particular to a method, device, and system for determining the ambiguity of a whole week, a method, device, and system of mobile device positioning, a mobile device, and a reference station.
  • RTK Real-Time Kinematic, real-time dynamic positioning
  • GNSS Global Navigation Satellite System
  • the spatial correlation of the observation error between the reference station and the mobile station is eliminated, and most of the errors in the observation data of the mobile station are removed by difference, so as to achieve high-precision (decimeter or even centimeter level) positioning.
  • the whole-week ambiguity is also called the whole-week unknown, which is the whole-week unknown corresponding to the first observation value of the phase difference between the carrier phase and the reference phase in the carrier phase measurement of GPS technology. Since the integer cycle (the number of cycles) of carrier transmission in space at this moment is an unknown number that cannot be obtained by observation, it is also called integer cycle ambiguity.
  • the distance measurement from the satellite to the user can be accurate to less than one wavelength, reaching an error level of centimeters or even millimeters. It can be seen that the correct determination of the ambiguity of the whole circle is one of the very important and must be solved problems in the GPS carrier phase measurement.
  • the observation equation is generally formed by pseudorange and carrier observation to solve the floating-point solution of the position parameter and the ambiguity parameter, and then the LAMBDA method is used to search for the fixed ambiguity parameter;
  • the INS position is generally used as the virtual observation value, which is combined with the pseudorange and carrier observation equations to assist the floating point solution of the ambiguity, and then the same is used
  • the LAMBDA method searches for fixed ambiguity parameters.
  • the inventor found that the above-mentioned prior art with fixed full-cycle ambiguity has at least the following problems: 1) Interfered by errors such as residual atmospheric refraction delay, multipath effects, etc., the GNSS carrier observation value may contain relatively high values. Large system errors and gross errors, when single GNSS system is solved, will cause the floating point solution and its covariance matrix to be inaccurate.
  • the ambiguity search will converge to the local minimum instead of the global minimum, resulting in a fixed ambiguity solution Error; 2) Using the INS position as a virtual observation in the GNSS/INS combined system can help improve the accuracy of the floating point solution, but when the INS itself has a large error, the INS error will be diffused into the floating point solution, reducing Fixed accuracy of ambiguity; 3) Existing technologies all need to use pseudo-range observations. Pseudo-ranges are greatly affected by errors such as multi-path effects. In harsh environments (such as tunnels, downtowns, mines, non-open areas, and forest vegetation) Regional operation) will result in deviation; 4) Because of the ambiguity search, the ambiguity fixation speed is relatively low. In summary, the prior art has the problems of low ambiguity fixation robustness caused by weak anti-interference ability of the whole-circle ambiguity, and low ambiguity fixation efficiency caused by ambiguity search.
  • This application provides a method for determining the ambiguity of the whole week to solve the problems of the prior art that the ambiguity fixation robustness and efficiency are low.
  • This application additionally provides a device and system for determining the ambiguity of the whole week, a method, device and system for positioning a mobile device, a mobile device, and a reference station.
  • This application provides a method for determining the ambiguity of the whole week, including:
  • the mobile device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station;
  • the ambiguity of the whole week is determined.
  • the determining an estimate of the ambiguity of a satellite frequency point in a whole week according to the first position data and the observation data includes:
  • the first satellite includes satellites whose altitude angle is greater than or equal to the altitude angle threshold;
  • the determining the ambiguity of the whole week according to the estimated amount includes:
  • the first full-cycle ambiguity of each frequency point of the first satellite is determined.
  • the determining the ambiguity of the whole week according to the estimated amount further includes:
  • the second full-circle ambiguity of each frequency point of the second satellite is determined; the second satellite includes satellites whose altitude angle is less than the altitude angle threshold.
  • the determining the first full-cycle ambiguity of each frequency point of the first satellite according to the first estimate includes:
  • the determining the first full-cycle ambiguity of each frequency point of the first satellite according to the first estimate includes:
  • each first satellite constructs at least two wide lane combinations of the whole-circle ambiguity of any two frequency points according to the first estimate of any two frequency points of the first satellite;
  • the first whole-week ambiguity is determined according to the whole-week ambiguity of the wide lane combination.
  • the determining the whole-week ambiguity of the wide lane combination according to the second estimate includes:
  • Rounding the second estimate to an integer is used as the whole-week ambiguity of the wide lane combination.
  • the determining the whole-week ambiguity of the wide lane combination according to the second estimate includes:
  • Rounding the second estimator after compensating the ionospheric delay error to an integer is used as the whole-week ambiguity of the wide lane combination.
  • the determining the third full-week ambiguity of the wide lane combination according to the second estimate further includes:
  • the second estimate of the wide lane combination with the reduced ionospheric error is rounded to an integer as the third full-week ambiguity.
  • This application also provides a method for determining the ambiguity of the whole week, including:
  • the reference station collects the second carrier phase observation data
  • the mobile device sends the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station; and determines the inertial navigation position data , As the first position data; determine the estimated amount of the whole-week ambiguity of the satellite frequency point according to the first position data and the observation data; determine the whole-week ambiguity according to the estimated amount.
  • This application also provides a device for determining the ambiguity of the whole week, including:
  • a data receiving unit for receiving the second carrier phase observation data sent by the reference station
  • the data determining unit is used to determine the inertial navigation position data as the first position data
  • An estimator determining unit configured to determine an estimator of the ambiguity of a satellite frequency point in a whole week according to the first position data and the observation data;
  • the whole-week ambiguity determination unit is configured to determine the whole-week ambiguity according to the estimated amount.
  • This application also provides a device for determining the ambiguity of the whole week, including:
  • the data acquisition unit is used for the reference station to acquire the second carrier phase observation data
  • the data sending unit is configured to send the second carrier phase observation data to the mobile device, so that the mobile device executes the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station ; Determine the inertial navigation position data as the first position data; determine the estimator of the ambiguity of the satellite frequency point according to the first position data and the observation data; determine the ambiguity of the whole week according to the estimator .
  • This application also provides a mobile device, including:
  • the memory is used to store the program for realizing the method for determining the ambiguity of the whole cycle.
  • the mobile device collects the first carrier phase observation data; and, receives the reference The second carrier phase observation data sent by the station; the inertial navigation position data is determined as the first position data; according to the first position data and the observation data, the estimate of the ambiguity of the satellite frequency point is determined; The estimated amount is used to determine the ambiguity of the whole week.
  • This application also provides a reference station, including:
  • the memory is used to store the program for realizing the method for determining the ambiguity of the whole cycle.
  • the reference station collects the second carrier phase observation data; and sends it to the mobile device
  • the second carrier phase observation data enables the mobile device to perform the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station; and determines the inertial navigation position data as the first Position data; determine the estimator of the whole-week ambiguity of the satellite frequency point according to the first position data and the observation data; determine the whole-week ambiguity of the satellite frequency point according to the estimate.
  • This application also provides a whole-week ambiguity determination system, including:
  • This application also provides a method for positioning a mobile device, including:
  • the mobile device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station;
  • the location data of the mobile device is determined at least according to the ambiguity of the whole week.
  • This application also provides a method for positioning a mobile device, including:
  • the reference station collects the second carrier phase observation data
  • the mobile device sends the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station; and determines the inertial navigation position data , As the first position data; according to the first position data and the observation data, determine the estimated amount of the whole-week ambiguity of the satellite frequency point; determine the whole-week ambiguity according to the estimated amount; at least according to the whole-week ambiguity Weekly ambiguity, which determines the location data of the mobile device.
  • This application also provides a mobile equipment positioning device, including:
  • a data receiving unit for receiving the second carrier phase observation data sent by the reference station
  • the data determining unit is used to determine the inertial navigation position data as the first position data
  • An estimator determining unit configured to determine an estimator of the ambiguity of a satellite frequency point in a whole week according to the first position data and the observation data;
  • a whole-week ambiguity determination unit configured to determine the whole-week ambiguity according to the estimated amount
  • the position determining unit is configured to determine the position data of the mobile device at least according to the ambiguity of the whole circle.
  • This application also provides a mobile equipment positioning device, including:
  • the data acquisition unit is used for the reference station to acquire the second carrier phase observation data
  • the data sending unit is configured to send the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station ; Determine the inertial navigation position data as the first position data; determine the estimator of the ambiguity of the satellite frequency point according to the first position data and the observation data; determine the ambiguity of the whole week according to the estimator ; At least according to the ambiguity of the whole week, determine the location data of the mobile device.
  • This application also provides a mobile device, including:
  • the memory is used to store the program for realizing the positioning method of the mobile device. After the device is powered on and runs the program of the method through the processor, the following steps are executed: the mobile device collects the first carrier phase observation data; and, receives the transmission from the reference station The second carrier phase observation data; determine the inertial navigation position data as the first position data; according to the first position data and the observation data, determine the estimated amount of the ambiguity of the satellite frequency point; according to the estimation Determine the ambiguity of the whole week; at least determine the location data of the mobile device based on the ambiguity of the whole week.
  • This application also provides a reference station, including:
  • the memory is used to store the program for realizing the positioning method of the mobile device. After the device is powered on and the program of the method is run through the processor, the following steps are executed: the reference station collects the second carrier phase observation data; The second carrier phase observation data, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station; determines the inertial navigation position data as the first position data ; According to the first position data and the observation data, determine the estimated amount of the whole week ambiguity of the satellite frequency; determine the whole week ambiguity according to the estimated amount; at least according to the whole week ambiguity, determine the movement The location data of the device.
  • This application also provides a mobile device positioning system, including:
  • the present application also provides a computer-readable storage medium in which instructions are stored, which when run on a computer, cause the computer to execute the above-mentioned various methods.
  • This application also provides a computer program product including instructions, which when run on a computer, causes the computer to execute the above-mentioned various methods.
  • the first carrier phase observation data is collected by a mobile device, and the second carrier phase observation data sent by the reference station is received; the inertial navigation position data is determined, and the inertial navigation position data and Carrier phase observation data, determine the estimator of the ambiguity of the satellite frequency, and then determine the estimator of the ambiguity; this processing method makes the ambiguity estimator constructed based on the inertial navigation position and the carrier phase observations, The ambiguity is fixed according to the estimator, thereby realizing the way of fixing the ambiguity by the INS-assisted RTK.
  • the ambiguity search is not necessary, and the ambiguity search caused by the carrier phase observation error can be avoided to converge to the local minimum.
  • the ambiguity fixed solution error caused by the error on the other hand, the pseudorange observation value is not used, which can avoid the ambiguity fixed solution error caused by the pseudorange being affected by the error of the multipath effect in the harsh environment; therefore, the ambiguity can be effectively improved
  • the fixed anti-error interference ability improves the robustness of the fixed ambiguity, ensures the fixed accuracy of the ambiguity, and realizes the precise positioning of the mobile device.
  • the ambiguity estimates are fixed by direct rounding, and there is no need to perform ambiguity search; therefore, the ambiguity fixation speed can be effectively improved, thereby realizing rapid positioning of mobile devices.
  • FIG. 1 is a flowchart of an embodiment of a method for determining the ambiguity of a whole week provided by the present application
  • Fig. 2 is a specific flowchart of an embodiment of a method for determining the ambiguity of a whole week provided by the present application;
  • FIG. 3 is another specific flowchart of an embodiment of a method for determining the ambiguity of a whole week provided by the present application
  • FIG. 4 is another specific flowchart of an embodiment of a method for determining the ambiguity of a whole week provided by the present application
  • FIG. 5 is another specific flowchart of an embodiment of a method for determining the ambiguity of a whole week provided by the present application
  • FIG. 6 is a schematic diagram of an embodiment of a device for determining the ambiguity of a whole circle provided by the present application
  • FIG. 7 is a schematic diagram of an embodiment of a mobile device provided by the present application.
  • FIG. 8 is a flowchart of an embodiment of a method for determining the ambiguity of a whole week provided by the present application.
  • FIG. 9 is a schematic diagram of an embodiment of a device for determining the ambiguity of a whole circle provided by the present application.
  • FIG. 10 is a schematic diagram of an embodiment of a reference station provided by the present application.
  • FIG. 11 is a schematic diagram of an embodiment of a whole-week ambiguity determination system provided by the present application.
  • FIG. 12 is a schematic diagram of a scene of an embodiment of a system for determining the ambiguity of a whole week provided by the present application.
  • a method, device, and system for determining the ambiguity of a whole week a method, device, and system for positioning a mobile device, a mobile device, and a reference station are provided.
  • a vehicle will be used as an example, and various solutions will be described in detail one by one.
  • FIG. 1 is a flowchart of an embodiment of a method for determining the ambiguity of a whole week provided by this application.
  • the execution body of the method includes unmanned vehicles, robots, and other mobile devices.
  • the method includes the following steps:
  • Step S101 the mobile device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station.
  • RTK is a technology for real-time dynamic relative positioning based on carrier phase observations.
  • the principle is to send out the satellite data observed by the GNSS receiver (such as GPS receiver) on the reference station in real time through the data communication link (radio station), while the nearby mobile station (mobile equipment) GNSS receiver is While satellite observation, it also receives the radio signal from the base station, and through real-time processing (RTK) of the received signal, the three-dimensional coordinates of the mobile station are given and its accuracy is estimated.
  • GNSS receiver such as GPS receiver
  • RTK real-time processing
  • At least two GNSS receivers are equipped, one is fixed on the base station, and the other is used as a mobile station for point measurement.
  • a data communication link is also needed between the two receivers to send the carrier phase observation data on the reference station to the rover in real time.
  • Real-time processing of the data received by the rover also requires RTK positioning device, which mainly completes the solution of double-difference ambiguity (full-cycle ambiguity), the solution of the baseline vector, and the conversion of coordinates .
  • the base station receiver is required to transmit the second carrier phase observation data and known data to the rover (mobile device) receiver in real time. It should be noted that there is no need to transmit pseudo Distance to the observed value.
  • Step S103 Determine the inertial navigation position data as the first position data.
  • the mobile device may include an inertial measurement unit IMU.
  • IMU inertial measurement unit
  • Inertial navigation relies on the raw data of inertial devices (gyros, accelerometers, etc.) plus fixed algorithm output such as device position (inertial navigation position, INS position), carrier attitude, real-time motion speed and other data.
  • Step S105 According to the first position data and the observation data, determine the estimated amount of the ambiguity of the satellite frequency point in the whole week.
  • the method provided by the embodiment of the present application uses the INS position and the carrier phase observation value to construct the ambiguity estimator, and solves the integral cycle model degree based on the estimator without using the pseudorange observation value. Please refer to the description part of FIG. 2 for the estimated amount of the ambiguity of the whole week.
  • Step S107 Determine the ambiguity of the whole week according to the estimated amount.
  • the whole-week ambiguity is also called the whole-week unknown, which is the whole-week unknown corresponding to the first observation value of the phase difference between the carrier phase and the reference phase in the carrier phase measurement of GPS technology.
  • step S105 can be implemented in the following manner: according to the first position data and the observation data, a first estimate of the ambiguity of each frequency point of the first satellite is determined.
  • the first satellite includes satellites whose altitude angle is greater than or equal to an altitude angle threshold.
  • the altitude angle may be the angle between the direction line from the mobile device to the observation target satellite and the horizontal plane. Elevation angle is the main observation to calculate the height difference between two points in the triangulation elevation survey.
  • all satellites are classified into two types: basic satellites with a higher altitude angle and non-basic satellites with a lower altitude angle.
  • a satellite with an altitude angle greater than or equal to the altitude angle threshold is regarded as a basic satellite, which is also called the first satellite;
  • a satellite with an altitude angle less than the altitude angle threshold is regarded as a non-basic satellite, which is also called a second satellite.
  • the height angle threshold can be determined according to business requirements, for example, set to 25-30 degrees. When determining the altitude angle threshold, it is necessary to ensure that the satellites whose altitude angle is higher than the altitude angle threshold have higher observational data continuity, and the error is smaller. Otherwise, if the threshold is too small, the data continuity of some satellites is insufficient , It cannot be used as a basic satellite.
  • a satellite usually has multiple frequency points. Taking the GPS system as an example, each satellite has three frequency points: L1 (for example, 1575.42 MHz), L2 (for example, 1575.42 MHz), and L5.
  • L1 for example, 1575.42 MHz
  • L2 for example, 1575.42 MHz
  • L5 for each basic satellite, the first estimated value of the double-difference ambiguity (that is, the whole-cycle ambiguity) of a single satellite at a single frequency point can be calculated as follows:
  • ⁇ is the difference operator between stations (between the base station and the rover)
  • i represents the reference station-related quantity
  • ⁇ k is the wavelength of frequency k.
  • the first estimate of L1 ambiguity is:
  • the first estimate of L2 ambiguity is:
  • step S107 may include the following sub-steps:
  • Step S1071 Determine the first full-cycle ambiguity of each frequency point of the first satellite according to the first estimate.
  • step S1071 can be implemented in the following manner: rounding the first estimate to an integer is performed, and the rounded value is used as the first integer ambiguity.
  • the ambiguity of the first whole week of each frequency point of the basic satellite is determined.
  • the first full-cycle ambiguity includes: the three frequency points L1, L2, and L5 of the basic satellite A correspond to the full-cycle ambiguity, and the three frequency points L1, L2, and L5 of the basic satellite B correspond to the three frequency points respectively.
  • step S107 may also include the following sub-steps:
  • Step S1073 Determine the second location data of the mobile device according to the first full-week ambiguity.
  • the second location data refers to the location of the mobile device determined according to the fixed ambiguity of each frequency point of the basic satellite. Use the basic satellites with fixed ambiguities of each frequency point to estimate the coordinates of the mobile device receiver, and use this position to replace the aforementioned INS position, which is more accurate than the aforementioned INS position.
  • Step S1075 Determine the second full-cycle ambiguity of each frequency point of the second satellite according to the second position data.
  • the second satellite includes satellites whose altitude angle is less than an altitude angle threshold.
  • the ambiguity parameter of the non-basic satellite can be directly estimated according to the determination formula of the first estimated value and directly rounded and fixed.
  • the first estimate of L1 ambiguity is:
  • the first estimate of L2 ambiguity is:
  • the second full-cycle ambiguity includes: the full-cycle ambiguities corresponding to the three frequency points L1, L2, and L5 of the non-basic satellite E, and the three frequency points L1, L2, and L5 of the non-basic satellite F Corresponding to the whole week ambiguity, etc.
  • step S1051 may include the following sub-steps:
  • Step S10711 For each first satellite, construct at least two wide lane combinations of the whole-week ambiguity of any two frequency points according to the first estimate of any two frequency points of the first satellite.
  • the wide lane combination is a linear combination of the original observations of the carrier phase, and the wavelength is greater than the original carrier wavelength.
  • Step S10713 Determine the second estimate of the whole-week ambiguity of the wide lane combination.
  • two kinds of wide lane combinations are selected, and the combined ambiguity statistics are calculated (in the following formula, the subscripts 1 and 2 represent any two frequency points of the satellite system, and the N tip indicates the whole week ambiguity of the wide lane combination Estimated amount):
  • Step S10715 Determine the ambiguity of the whole week of the wide lane combination according to the second estimate.
  • the wavelength of the (1,-1) wide lane combination is about 4 times higher than that of a single frequency point, and the wavelength of the (-3,4) combination is about 10 times higher.
  • the error of the ambiguity of wide lanes is required to be within 0.5 weeks.
  • the INS error under the assistance of multi-source fusion will not exceed 0.43m even if it is driven for several minutes in harsh environments such as tunnels.
  • step S10715 can be implemented in the following manner: rounding the second estimator to an integer is used as the whole-week ambiguity of the wide lane combination.
  • Step S10717 Determine the first full-cycle ambiguity according to the full-cycle ambiguity of the wide lane combination.
  • the whole-week ambiguity of each frequency point is inversely calculated from the whole-week ambiguity of the combination of wide lanes, and the following formula can be used:
  • the wide-lane combination processing method can increase the tolerance of statistics to INS errors, most of the wide-lane combinations will amplify the ionospheric error while increasing the wavelength, such as (-3,4 ), (-4,5), (-7,9) combinations will amplify ionospheric errors. It can be seen that the greater the tolerance of the above processing method to the INS error, the greater the ionospheric error, which affects the accuracy of the ambiguity of the whole week.
  • step S10717 of an embodiment of a method for determining a whole week ambiguity provided by this application.
  • step S10717 may include the following sub-steps:
  • Step S107171 If the ionospheric error of the wide lane combination is amplified, polynomial fitting is performed on the wide lane combination with the ionospheric error amplified to compensate for the ionospheric delay error.
  • the epoch is a unit that collects satellite data at regular intervals.
  • the epoch is the moment when the satellite signal is received, and both k-n and k-m are historical moments before the current moment k. Extrapolate the fitting result to the current epoch k to obtain the current error estimate:
  • Step S107173 Round off the second estimator after compensating the ionospheric delay error to an integer as the whole-week ambiguity of the wide lane combination.
  • step S10517 may also include the following sub-steps:
  • Step S107175 If the ionospheric error of the wide lane combination is reduced, round the second estimate of the wide lane combination with the reduced ionospheric error to an integer as the third full-week ambiguity.
  • the ambiguity of the wide lane combination can be rounded to the nearest integer using the following formula:
  • N'WLab is the wide lane combination after ionospheric compensation
  • N WLab is the wide lane combination with reduced ionosphere (no ionospheric compensation is required).
  • the method for determining the ambiguity of the whole circle collects first carrier phase observation data through a mobile device, and receives the second carrier phase observation data sent by the reference station; determines the inertial navigation position data, and According to the inertial navigation position data and the carrier phase observation data, determine the estimator of the ambiguity of the satellite frequency point, and then determine the ambiguity of the whole circle based on the estimate; this processing method is based on the observation value of the inertial navigation position and the carrier phase Construct the ambiguity estimator and fix the ambiguity according to the estimator, thereby realizing the way of fixing the ambiguity by the INS-assisted RTK.
  • the ambiguity fixed solution error caused by the search convergence to the local minimum is not used, which can avoid the ambiguity fixed solution error caused by the pseudorange being affected by errors such as multipath effects in harsh environments; therefore; , Can effectively improve the anti-error interference ability of the fixed ambiguity, thereby improving the robustness of the fixed ambiguity, ensuring the accuracy of the fixed ambiguity, and then realizing the precise positioning of the mobile device.
  • the ambiguity estimates are fixed by direct rounding, without the need for ambiguity search; therefore, the ambiguity fixation speed can be effectively improved, thereby realizing rapid positioning of mobile devices.
  • FIG. 6 is a schematic diagram of an embodiment of the whole-week ambiguity determination device of this application. Since the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described below are merely illustrative.
  • the data collection unit 601 is used for the mobile device to collect observation data of the first carrier phase
  • the data receiving unit 603 is configured to receive the second carrier phase observation data sent by the reference station;
  • the data determining unit 605 is configured to determine the inertial navigation position data as the first position data
  • An estimate determining unit 607 configured to determine an estimate of the ambiguity of a satellite frequency point in a whole week according to the first position data and the observation data;
  • the whole week ambiguity determination unit 609 is configured to determine the whole week ambiguity according to the estimated amount.
  • FIG. 7 is a schematic diagram of an embodiment of a mobile device of this application. Since the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described below are merely illustrative.
  • the electronic device includes: a GNSS receiver 701, an inertial measurement unit (IMU) 702, a processor 703, and a memory 704; the memory is used to store a program that implements the method for determining the ambiguity of the whole week
  • the mobile device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station; and determines the inertial navigation position
  • the data is used as the first position data; according to the first position data and the observation data, the estimated amount of the whole week ambiguity of the satellite frequency point is determined; and the whole week ambiguity is determined according to the estimated amount.
  • a method for determining the ambiguity of the whole week is provided.
  • the present application also provides a method for determining the ambiguity of the whole week. This method corresponds to the embodiment of the above method.
  • FIG. 8 is a flowchart of an embodiment of the method for determining the whole week ambiguity of this application. Since the method embodiment is basically similar to the method embodiment 1, the description is relatively simple, and the relevant parts can be referred to the part of the description of the method embodiment 1. The method embodiments described below are only illustrative.
  • Step S801 The reference station collects the second carrier phase observation data.
  • Step S803 Send the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station; and determines the inertia
  • the navigation position data is used as the first position data; according to the first position data and the observation data, the estimated amount of the whole week ambiguity of the satellite frequency point is determined; and the whole week ambiguity is determined according to the estimated amount.
  • the method for determining the ambiguity of the whole cycle collects the second carrier phase observation data through the reference station, and sends the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps :
  • the mobile device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station; determines the inertial navigation position data as the first position data; according to the first position data and the observation data, Determine the estimator of the ambiguity of the satellite frequency point; according to the estimator, determine the ambiguity of the whole circle;
  • this processing method makes the ambiguity estimator constructed based on the inertial navigation position and the carrier phase observation value, according to the estimator Fixed ambiguity, which realizes the way of fixing ambiguity by INS-assisted RTK.
  • the ambiguity estimates are fixed by direct rounding, and there is no need to perform ambiguity search; therefore, the ambiguity fixation speed can be effectively improved, thereby realizing rapid positioning of mobile devices.
  • FIG. 9 is a schematic diagram of an embodiment of the mobile device positioning apparatus of this application. Since the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described below are merely illustrative.
  • the data collection unit 901 is used for the reference station to collect the second carrier phase observation data
  • the data sending unit 903 is configured to send the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation sent by the reference station Data; determine the inertial navigation position data as the first position data; determine the estimator of the ambiguity of the satellite frequency point according to the first position data and the observation data; determine the ambiguity of the whole week according to the estimator degree.
  • FIG. 10 is a schematic diagram of an embodiment of a mobile device of this application. Since the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described below are merely illustrative.
  • the mobile device includes: a GNSS receiver 1001, a processor 1002, and a memory 1003; the memory is used to store a program for realizing the positioning method of the mobile device, and the device is powered on and passes through the processor
  • the mobile device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station; determines the inertial navigation position data as the first position data; The first position data and the observation data determine the estimated amount of the whole week ambiguity of the satellite frequency point; and the whole week ambiguity is determined according to the estimated amount.
  • a method for determining the ambiguity of the whole week is provided.
  • the present application also provides a system for determining the ambiguity of the whole week. This system corresponds to the embodiment of the above-mentioned method.
  • FIG. 11 is a schematic diagram of an embodiment of the whole-week ambiguity determination system of this application.
  • the whole-week ambiguity determination system of this embodiment includes: a reference station 111 and a mobile device. 112. Since the system embodiment is basically similar to the method embodiment 1, the description is relatively simple, and the relevant parts can be referred to the part of the description of the method embodiment 1.
  • the system embodiment described below is merely illustrative.
  • a whole-week ambiguity determination system of this embodiment includes: a reference station and a mobile device.
  • the device for determining the ambiguity of the whole week described in the second embodiment is deployed in the reference station, and the device for determining the ambiguity of the whole week described in the fifth embodiment is deployed in the mobile device.
  • the reference station collects the second carrier phase observation data and sends the second carrier phase observation data to the mobile device; correspondingly, the mobile device collects the first carrier phase observation data and receives the second carrier wave sent by the reference station Phase observation data; determine the inertial navigation position data as the first position data; determine the estimator of the ambiguity of the satellite frequency point according to the first position data and the observation data; determine the integer according to the estimator Weekly ambiguity.
  • FIG. 12 is a schematic diagram of a scene of an embodiment of the whole-week ambiguity determination system of this application.
  • the reference station and the mobile device can collect the carrier behavior observation data of multiple satellites.
  • the satellite data observed by the GNSS receiver located on the reference station is sent out in real time through the data communication link (radio station), while the nearby mobile station (mobile equipment) GNSS receiver is observing the satellite while also receiving the data from the reference station.
  • the radio signal of the station through real-time processing (RTK) of the received signal, the mobile station determines the ambiguity of the whole week of each frequency point of each satellite.
  • RTK real-time processing
  • the system for determining the ambiguity of the whole cycle collects the second carrier phase observation data through the reference station, and sends the second carrier phase observation data to the mobile device; correspondingly, the second carrier phase observation data is sent to the mobile device; Collect the first carrier phase observation data, and receive the second carrier phase observation data sent by the reference station; determine the inertial navigation position data, and determine the whole-cycle ambiguity estimation of the satellite frequency point based on the inertial navigation position data and the carrier phase observation data
  • the ambiguity of the whole cycle is determined according to the estimate; this processing method makes the ambiguity estimate constructed based on the inertial navigation position and the carrier phase observation value, and the ambiguity is fixed according to the estimate, thus realizing the INS-assisted RTK
  • the method of fixed ambiguity on the one hand, makes it unnecessary to search for ambiguity, and can avoid the error of fixed ambiguity solution caused by the convergence of the ambiguity search caused by the carrier phase observation error
  • the distance observation value can avoid the ambiguity fixation error caused by the influence of the pseudorange by the error of the multipath effect in the harsh environment; therefore, it can effectively improve the anti-error interference ability of the ambiguity fixation, thereby improving the robustness of the ambiguity fixation , To ensure a fixed accuracy rate of ambiguity, and then to achieve precise positioning of mobile devices.
  • the ambiguity estimates are fixed by direct rounding, and there is no need to perform ambiguity search; therefore, the ambiguity fixation speed can be effectively improved, thereby realizing rapid positioning of mobile devices.
  • this application also provides a method for positioning a mobile device.
  • This method corresponds to the embodiment of the above method. Since the method embodiment is basically similar to the method embodiment 1, the description is relatively simple, and the relevant parts can be referred to the part of the description of the method embodiment 1.
  • the method embodiments described below are only illustrative.
  • Step S1301 the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station;
  • Step S1303 Determine the inertial navigation position data as the first position data
  • Step S1305 According to the first position data and the observation data, determine the estimated amount of the ambiguity of the satellite frequency point in the whole week;
  • Step S1307 Determine the ambiguity of the whole week according to the estimated amount
  • Step S1309 Determine the location data of the mobile device at least according to the ambiguity of the whole week.
  • step S1309 may use a relatively mature existing technology, which will not be repeated here.
  • the mobile device positioning method collects the first carrier phase observation data through the mobile device; and receives the second carrier phase observation data sent by the reference station; and determines the inertial navigation position data as the first A position data; according to the first position data and the observation data, determine the estimated amount of the whole week ambiguity of the satellite frequency point; determine the whole week ambiguity according to the estimated amount; at least according to the whole week ambiguity , Determine the position data of the mobile device; this processing method makes the ambiguity estimate constructed based on the inertial navigation position and the carrier phase observation value, and the ambiguity is fixed according to the estimate, thus realizing the fixed ambiguity by the INS-assisted RTK, and then The method of determining the location of the mobile device, on the one hand, makes it unnecessary to search for ambiguity, which can avoid the fixed solution error of ambiguity caused by the convergence of the ambiguity search caused by the carrier phase observation error to the local minimum.
  • Pseudo-range observations can avoid errors in fixed ambiguity resolution caused by errors in pseudo-ranges such as multipath effects in harsh environments; therefore, it can effectively improve the accuracy of mobile device positioning.
  • this processing method there is no need to perform ambiguity search; therefore, it can effectively improve the speed of mobile device positioning.
  • the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described below are merely illustrative.
  • a data receiving unit for receiving the second carrier phase observation data sent by the reference station
  • the data determining unit is used to determine the inertial navigation position data as the first position data
  • An estimator determining unit configured to determine an estimator of the ambiguity of a satellite frequency point in a whole week according to the first position data and the observation data;
  • a whole-week ambiguity determination unit configured to determine the whole-week ambiguity according to the estimated amount
  • the position determining unit is configured to determine the position data of the mobile device at least according to the ambiguity of the whole circle.
  • the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described below are merely illustrative.
  • the mobile device includes: a GNSS receiver, an inertial measurement unit (IMU), a processor, and a memory; the memory is used to store a program that implements the positioning method of the mobile device, and the device is powered on and passed After the processor runs the program of the method, the following steps are executed: the mobile device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station; determines the inertial navigation position data as the first position Data; according to the first position data and the observation data, determine the estimated amount of the whole week ambiguity of the satellite frequency; according to the estimated amount, determine the whole week ambiguity; at least according to the whole week ambiguity, determine The location data of the mobile device.
  • IMU inertial measurement unit
  • a method for positioning a mobile device is provided.
  • this application also provides a method for positioning a mobile device. This method corresponds to the embodiment of the above method.
  • the description is relatively simple, and the relevant part can refer to the part of the description of the method embodiment four.
  • the method embodiments described below are only illustrative.
  • Step S1601 The reference station collects the second carrier phase observation data.
  • Step S1603 Send the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station; and determines the inertia
  • the navigation position data is used as the first position data; according to the first position data and the observation data, the estimated amount of the whole-week ambiguity of the satellite frequency point is determined; according to the estimated amount, the whole-week ambiguity is determined; at least according to The ambiguity of the whole week determines the location data of the mobile device.
  • the mobile device positioning method collects second carrier phase observation data through a reference station, and sends the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps:
  • the device collects the first carrier phase observation data; and, receives the second carrier phase observation data sent by the reference station; determines the inertial navigation position data as the first position data; determines the satellite based on the first position data and the observation data
  • the estimated amount of the ambiguity of the whole circle of the frequency point; the ambiguity of the whole circle is determined according to the estimated amount; the position data of the mobile device is determined at least according to the ambiguity of the whole circle; this processing method is based on the inertial navigation position and
  • the carrier phase observation value constructs the ambiguity estimator, and fixes the ambiguity according to the estimator, thereby realizing the method of fixing the ambiguity by the INS-assisted RTK, and then determining the position of the mobile device.
  • the ambiguity search caused by the error of the carrier phase observation value converges to the local minimum.
  • the ambiguity fixed solution error is caused.
  • the pseudorange observation value is not used, which can avoid errors such as the pseudorange being affected by the multipath effect in harsh environments.
  • the ambiguity caused by the influence is fixed and the solution error; therefore, the accuracy of the positioning of the mobile device can be effectively improved.
  • there is no need to perform ambiguity search there is no need to perform ambiguity search; therefore, it can effectively improve the speed of mobile device positioning.
  • the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described below are merely illustrative.
  • the data acquisition unit is used for the reference station to acquire the second carrier phase observation data
  • the data sending unit is configured to send the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; and receives the second carrier phase observation data sent by the reference station ; Determine the inertial navigation position data as the first position data; determine the estimator of the ambiguity of the satellite frequency point according to the first position data and the observation data; determine the ambiguity of the whole week according to the estimate ; At least according to the ambiguity of the whole week, determine the location data of the mobile device.
  • the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described below are merely illustrative.
  • the mobile device includes: a GNSS receiver, a processor, and a memory; the memory is used to store a program that implements the positioning method of the mobile device, and the device is powered on and runs the method through the processor
  • the reference station collects the second carrier phase observation data; sends the second carrier phase observation data to the mobile device, so that the mobile device performs the following steps: the mobile device collects the first carrier phase observation data; And, receiving the second carrier phase observation data sent by the reference station; determining the inertial navigation position data as the first position data; determining the estimation of the whole-week ambiguity of the satellite frequency point according to the first position data and the observation data According to the estimated amount, determine the ambiguity of the whole week; at least according to the ambiguity of the whole week, determine the location data of the mobile device.
  • a method for positioning a mobile device is provided.
  • this application also provides a system for positioning a mobile device.
  • This system corresponds to the embodiment of the above-mentioned method. Since the system embodiment is basically similar to the method embodiment 1, the description is relatively simple, and the relevant parts can be referred to the part of the description of the method embodiment 1.
  • the system embodiment described below is merely illustrative.
  • the mobile device positioning system of this embodiment includes: a reference station and a mobile device. Wherein, the mobile device positioning device described in the ninth embodiment is deployed in the reference station, and the mobile device positioning device described in the twelfth embodiment is deployed in the mobile device.
  • the reference station collects the second carrier phase observation data and sends the second carrier phase observation data to the mobile device; correspondingly, the mobile device collects the first carrier phase observation data and receives the second carrier wave sent by the reference station Phase observation data; determine the inertial navigation position data as the first position data; determine the estimator of the ambiguity of the satellite frequency point according to the first position data and the observation data; determine the integer according to the estimator Weekly ambiguity.
  • the reference station and the mobile device can collect carrier behavior observation data of multiple satellites.
  • the satellite data observed by the GNSS receiver located on the reference station is sent out in real time through the data communication link (radio station), while the nearby mobile station (mobile equipment) GNSS receiver is observing the satellite while also receiving the data from the reference station.
  • the radio signal of the station through real-time processing (RTK) of the received signal, gives the three-dimensional coordinates of the mobile station and estimates its accuracy.
  • the mobile device positioning system collects the second carrier phase observation data through the reference station, and sends the second carrier phase observation data to the mobile device; accordingly, the mobile device collects the second carrier phase observation data; A carrier phase observation data, and receive the second carrier phase observation data sent by the reference station; determine the inertial navigation position data, and determine the estimated amount of the satellite frequency point of the whole week ambiguity according to the inertial navigation position data and the carrier phase observation data, Then determine the ambiguity of the whole week according to the estimate; at least determine the position data of the mobile device according to the ambiguity of the whole week; this processing method enables the ambiguity estimate to be constructed based on the inertial navigation position and the carrier phase observation value, according to the The ambiguity is fixed by the estimator, which realizes the way of fixing the ambiguity by the INS-assisted RTK and then determining the position of the mobile device.
  • This embodiment also provides a computer-readable storage medium. Since the storage medium embodiment is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the storage medium embodiments described below are merely illustrative.
  • a computer-readable storage medium in this embodiment stores instructions, and when the instructions run on a computer, the computer executes the various methods described above.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • computer-readable media does not include non-transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.
  • this application can be provided as methods, systems or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.

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Abstract

一种整周模糊度确定方法、装置和系统，移动设备（112）定位方法、装置和系统，移动设备（112），以及基准站（111）。其中，整周模糊度确定方法包括：移动设备（112）采集第一载波相位观测数据，以及，接收基准站（111）发送的第二载波相位观测数据（S101）；确定惯性导航位置数据，作为第一位置数据（S103）；根据第一位置数据和观测数据，确定卫星频点的整周模糊度的估计量（S105）；根据估计量，确定整周模糊度（S107）。采用这种处理方式，使得基于惯性导航位置和载波相位观测值构造模糊度估计量，根据该估计量固定模糊度，由此实现了由INS辅助RTK固定模糊度的方式，这样一方面使得无须进行模糊度搜索，可避免由载波相位观测值误差导致的模糊度搜索收敛到局部最小值所引起的模糊度固定解错误，另一方面使得不使用伪距观测值，可避免由伪距受恶劣环境下多路径效应等误差影响引起的模糊度固定解错误；因此，可以有效提升模糊度固定的鲁棒性和效率，进而实现移动设备（112）的快速精准定位。

Description

整周模糊度确定方法、装置及设备
本申请要求2019年09月30日递交的申请号为201910944143.0、发明名称为“整周模糊度确定方法、装置及设备”中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及移动设备定位领域，具体涉及整周模糊度确定方法、装置和系统，移动设备定位方法、装置和系统，移动设备，以及基准站。
背景技术
随着卫星定位技术的快速发展，人们对快速高精度位置信息的需求也日益强烈。而目前使用最为广泛的高精度定位技术就是RTK(Real-Time Kinematic，实时动态定位)，RTK技术的关键在于使用了GNSS(Global Navigation Satellite System，全球导航卫星系统)的载波相位观测量，并利用了参考站和移动站之间观测误差的空间相关性，通过差分的方式除去移动站观测数据中的大部分误差，从而实现高精度(分米甚至厘米级)的定位。
准确固定整周模糊度(ambiguity of whole cycles)是RTK获取可靠高精度(厘米级)定位结果的前提。整周模糊度又称整周未知数，是在全球定位系统技术的载波相位测量时，载波相位与基准相位之间相位差的首观测值所对应的整周未知数。由于这个时刻载波在空间传输的整数周(整周期数)是一个无法通过观测获得的未知数,因而也称为整周模糊度。当采用一定的数学方法确定出整周模糊度后,卫星至用户的距离测定就可精确到不足一个波长,达到厘米乃至毫米的误差量级。由此可见，正确地确定整周模糊度是全球定位系统载波相位测量中非常重要且必须解决的问题之一。
目前，在单GNSS系统(Global Navigation Satellite System，全球导航卫星系统)中，一般通过伪距和载波观测组建观测方程求解位置参数和模糊度参数浮点解，然后使用LAMBDA方法搜索固定模糊度参数；在GNSS/INS(Inertial Navigation System，惯性导航系统)组合系统中，一般以INS位置作为虚拟观测值，将其与伪距和载波观测方程联立，辅助模糊度浮点解求解，然后同样要使用LAMBDA方法搜索固定模糊度参数。
然而，在实现本发明过程中，发明人发现上述固定整周模糊度的现有技术至少存在 如下问题：1)受残余大气折射延迟、多路径效应等误差干扰，GNSS载波观测值可能包含有较大系统误差和粗差，单GNSS系统解算时，会造成浮点解及其协方差阵不准确，此时模糊度的搜索会收敛到局部最小值而非全局最小值，引起模糊度固定解错误；2)在GNSS/INS组合系统中使用INS位置作为虚拟观测，这样可有助于提高浮点解精度，但是当INS自身误差较大时，会将INS误差扩散到浮点解中，降低模糊度固定准确率；3)现有技术都需要使用伪距观测量，伪距受多路径效应等误差影响较大，在恶劣环境下(如隧道、闹市、矿山非开阔区、森林植被广袤覆盖区域作业)会出现结果的偏差；4)由于要进行模糊度搜索，因此模糊度固定速度较低。综上所述，现有技术存在由整周模糊度抗干扰能力弱导致的模糊度固定鲁棒性较低，以及由模糊度搜索导致的模糊度固定效率低的问题。
发明内容
本申请提供整周模糊度确定方法，以解决现有技术存在的模糊度固定鲁棒性及效率均较低的问题。本申请另外提供整周模糊度确定装置和系统，移动设备定位方法、装置和系统，移动设备，以及基准站。
本申请提供一种整周模糊度确定方法，包括：
移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；
确定惯性导航位置数据，作为第一位置数据；
根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
根据所述估计量，确定整周模糊度。
可选的，所述根据所述第一位置数据和所述观测数据，并确定卫星频点的整周模糊度的估计量，包括：
根据所述第一位置数据和所述观测数据，确定第一卫星的各个频点的整周模糊度的第一估计量；所述第一卫星包括高度角大于或者等于高度角阈值的卫星；
所述根据所述估计量，并确定整周模糊度，包括：
根据所述第一估计量，确定第一卫星的各个频点的第一整周模糊度。
可选的，所述根据所述估计量，并确定整周模糊度，还包括：
根据所述第一整周模糊度，确定移动设备的第二位置数据；
根据所述第二位置数据，确定第二卫星的各个频点的第二整周模糊度；所述第二卫 星包括高度角小于高度角阈值的卫星。
可选的，所述根据所述第一估计量，并确定第一卫星的各个频点的第一整周模糊度，包括：
将所述第一估计量的四舍五入取整数作为所述第一整周模糊度。
可选的，所述根据所述第一估计量，并确定第一卫星的各个频点的第一整周模糊度，包括：
针对各个第一卫星，根据所述第一卫星的任意两个频点的第一估计量，构建所述任意两个频点的整周模糊度的至少两种宽巷组合；
确定所述宽巷组合的整周模糊度的第二估计量；
根据所述第二估计量，确定所述宽巷组合的整周模糊度；
根据所述宽巷组合的整周模糊度，确定所述第一整周模糊度。
可选的，所述根据所述第二估计量，并确定所述宽巷组合的整周模糊度，包括：
将所述第二估计量的四舍五入取整数作为所述宽巷组合的整周模糊度。
可选的，所述根据所述第二估计量，并确定所述宽巷组合的整周模糊度，包括：
若宽巷组合的电离层误差放大，则对电离层误差放大的宽巷组合进行多项式拟合，以补偿电离层延迟误差；
将补偿电离层延迟误差后的第二估计量的四舍五入取整数作为所述宽巷组合的整周模糊度。
可选的，所述根据所述第二估计量，并确定所述宽巷组合的第三整周模糊度，还包括：
若宽巷组合的电离层误差减小，则将电离层误差减小的宽巷组合的第二估计量的四舍五入取整数作为所述第三整周模糊度。
本申请还提供一种整周模糊度确定方法，包括：
基准站采集第二载波相位观测数据；
向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
本申请还提供一种整周模糊度确定装置，包括：
数据采集单元，用于移动设备采集第一载波相位观测数据；
数据接收单元，用于接收基准站发送的第二载波相位观测数据；
数据确定单元，用于确定惯性导航位置数据，作为第一位置数据；
估计量确定单元，用于根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
整周模糊度确定单元，用于根据所述估计量，确定整周模糊度。
本申请还提供一种整周模糊度确定装置，包括：
数据采集单元，用于基准站采集第二载波相位观测数据；
数据发送单元，用于向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
本申请还提供一种移动设备，包括：
GNSS接收机；
惯性测量单元；
处理器；以及
存储器，用于存储实现整周模糊度确定方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
本申请还提供一种基准站，包括：
GNSS接收机；
处理器；以及
存储器，用于存储实现整周模糊度确定方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：基准站采集第二载波相位观测数据；向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
本申请还提供一种整周模糊度确定系统，包括：
根据上述移动设备；以及，根据上述基准站。
本申请还提供一种移动设备定位方法，包括：
移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；
确定惯性导航位置数据，作为第一位置数据；
根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
根据所述估计量，确定整周模糊度；
至少根据所述整周模糊度，确定移动设备的位置数据。
本申请还提供一种移动设备定位方法，包括：
基准站采集第二载波相位观测数据；
向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
本申请还提供一种移动设备定位装置，包括：
数据采集单元，用于移动设备采集第一载波相位观测数据；
数据接收单元，用于接收基准站发送的第二载波相位观测数据；
数据确定单元，用于确定惯性导航位置数据，作为第一位置数据；
估计量确定单元，用于根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
整周模糊度确定单元，用于根据所述估计量，确定整周模糊度；
位置确定单元，用于至少根据所述整周模糊度，确定移动设备的位置数据。
本申请还提供一种移动设备定位装置，包括：
数据采集单元，用于基准站采集第二载波相位观测数据；
数据发送单元，用于向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模 糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
本申请还提供一种移动设备，包括：
GNSS接收机；
惯性测量单元；
处理器；以及
存储器，用于存储实现移动设备定位方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
本申请还提供一种基准站，包括：
GNSS接收机；
处理器；以及
存储器，用于存储实现移动设备定位方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：基准站采集第二载波相位观测数据；向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
本申请还提供移动设备定位系统，包括：
根据上述移动设备；以及，根据上述基准站。
本申请还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述各种方法。
本申请还提供一种包括指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述各种方法。
与现有技术相比，本申请具有以下优点：
本申请实施例提供的整周模糊度确定方法，通过移动设备采集第一载波相位观测数据，并接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，并根据惯性导航位置数据和载波相位观测数据，确定卫星频点的整周模糊度的估计量，再根据该估 计量确定整周模糊度；这种处理方式，使得基于惯性导航位置和载波相位观测值构造模糊度估计量，根据该估计量固定模糊度，由此实现了由INS辅助RTK固定模糊度的方式，这样一方面使得无须进行模糊度搜索，可避免由载波相位观测值误差导致的模糊度搜索收敛到局部最小值所引起的模糊度固定解错误，另一方面使得不使用伪距观测值，可避免由伪距受恶劣环境下多路径效应等误差影响引起的模糊度固定解错误；因此，可以有效提升模糊度固定的抗误差干扰能力，从而提升模糊度固定的鲁棒性，确保模糊度固定准确率，进而实现移动设备的精准定位。同时，由于这种处理方式使得模糊度估计量均通过直接取整固定，无须进行模糊度搜索；因此，可以有效提升模糊度固定速度，从而实现移动设备的快速定位。
附图说明
图1是本申请提供的一种整周模糊度确定方法的实施例的流程图；
图2是本申请提供的一种整周模糊度确定方法的实施例的具体流程图；
图3是本申请提供的一种整周模糊度确定方法的实施例的又一具体流程图；
图4是本申请提供的一种整周模糊度确定方法的实施例的又一具体流程图；
图5是本申请提供的一种整周模糊度确定方法的实施例的又一具体流程图；
图6是本申请提供的一种整周模糊度确定装置的实施例的示意图；
图7是本申请提供的一种移动设备实施例的示意图；
图8是本申请提供的一种整周模糊度确定方法的实施例的流程图；
图9是本申请提供的一种整周模糊度确定装置的实施例的示意图；
图10是本申请提供的一种基准站实施例的示意图；
图11是本申请提供的一种整周模糊度确定系统的实施例的示意图；
图12是本申请提供的一种整周模糊度确定系统的实施例的场景示意图。
具体实施方式
在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施的限制。
在本申请中，提供了整周模糊度确定方法、装置和系统，移动设备定位方法、装置 和系统，移动设备，以及基准站。在下面的实施例中将以车辆为例，逐一对各种方案进行详细说明。
第一实施例
请参考图1，其为本申请提供的一种整周模糊度确定方法实施例的流程图，该方法的执行主体包括无人驾驶车辆、机器人等等可移动设备。在本实施例中，所述方法包括如下步骤：
步骤S101：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据。
RTK是以载波相位观测值进行实时动态相对定位的技术。其原理是将位于基准站上的GNSS接收机(如GPS接收机)观测的卫星数据，通过数据通信链(无线电台)实时发送出去，而位于附近的移动站(移动设备)GNSS接收机在对卫星观测的同时，也接收来自基准站的电台信号，通过对所收到的信号进行实时处理(RTK)，给出移动站的三维坐标，并估其精度。
利用RTK测量时，至少配备两台GNSS接收机，一台固定安放在基准站上，另外一台作为移动站进行点位测量。在两台接收机之间还需要数据通信链，实时将基准站上的载波相位观测数据发送给流动站。对流动站接收到的数据(卫星信号和基准站的信号)进行实时处理还需要RTK定位装置，其主要完成双差模糊度(整周模糊度)的求解、基线向量的解算、坐标的转换。采用本实施例提供的方法确定整周模糊度时，要求基准站接收机实时地把第二载波相位观测数据及已知数据传输给流动站(移动设备)接收机，需要注意的是无需传输伪距观测值。
步骤S103：确定惯性导航位置数据，作为第一位置数据。
所述移动设备可包括惯性测量单元IMU。惯性导航依靠惯性器件(陀螺、加速度计等)的原始数据加上固定的算法输出如设备位置(惯性导航位置,INS位置)、载体姿态、实时运动速度等等数据。
步骤S105：根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量。
本申请实施例提供的方法，使用INS位置和载波相位观测值构造模糊度估计量，根据该估计量求解整周模型度，而不使用伪距观测值。所述整周模糊度的估计量，请参见图2的说明部分。
步骤S107：根据所述估计量，并确定整周模糊度。
整周模糊度又称整周未知数，是在全球定位系统技术的载波相位测量时，载波相位与基准相位之间相位差的首观测值所对应的整周未知数。
请参考图2，其为本申请提供的一种整周模糊度确定方法实施例的步骤S105的具体流程图。在本实施例中，步骤S105可采用如下方式实现：根据所述第一位置数据和所述观测数据，确定第一卫星的各个频点的整周模糊度的第一估计量。
所述第一卫星包括高度角大于或者等于高度角阈值的卫星。所述高度角，可以是从移动设备至观测目标卫星的方向线与水平面间的夹角。高度角是三角高程测量中计算两点间高差的主要观测量。
本实施例将所有卫星分为高度角较高的基本卫星和高度角较低的非基本卫星两类。将高度角大于或者等于高度角阈值的卫星作为基本卫星，又称为第一卫星；将高度角小于高度角阈值的卫星作为非基本卫星，又称为第二卫星。
所述高度角阈值，可根据业务需求确定，如设置为25-30度。在确定高度角阈值时，应确保高度角高于高度角阈值的卫星具有较高的观测数据的连续性，其误差也更小些，否则，如果阈值太小，则有些卫星的数据连续性不够，就不能作为基本卫星。
一个卫星通常具有多个频点，以GPS系统为例，其中每个卫星有L1(如频点值1575.42MHz)、L2(如频点值1575.42MHz)和L5共3个频点。在本实施例中，对于每个基本卫星，单个卫星单个频点的双差模糊度(即整周模糊度)的第一估计值可按下式计算：
Figure PCTCN2020116694-appb-000001
其中，
Figure PCTCN2020116694-appb-000002
为星间差算子，Δ为站间(基准站和流动站之间)差算子，
Figure PCTCN2020116694-appb-000003
为站星双差(基准站和流动站之间做差后，卫星间再作差)算子，
Figure PCTCN2020116694-appb-000004
包括由移动设备的INS位置(即第一位置数据)和卫星位置计算的双差几何距离，I表示INS相关的量，i表示基准站相关的量，
Figure PCTCN2020116694-appb-000005
为双差模糊度，λ k为频点k的波长。
以GPS的L1和L2为例，L1模糊度的第一估计值为：
Figure PCTCN2020116694-appb-000006
L2模糊度的第一估计值为：
Figure PCTCN2020116694-appb-000007
相应的，步骤S107可包括如下子步骤：
步骤S1071：根据所述第一估计量，确定第一卫星的各个频点的第一整周模糊度。
具体实施时，步骤S1071可采用如下方式实现：将对所述第一估计量执行四舍五入取整数的处理，将取整值作为所述第一整周模糊度。
至此确定出基本卫星的各个频点的第一整周模糊度。在本实施例中，第一整周模糊度包括：基本卫星A的L1、L2和L5三个频点分别对应的整周模糊度，基本卫星B的L1、L2和L5三个频点分别对应的整周模糊度，基本卫星C的L1、L2和L5三个频点分别对应的整周模糊度，等等。
请参考图3，其为本申请提供的一种整周模糊度确定方法实施例的步骤S107的又一具体流程图。在本实施例中，步骤S107除了包括上述根据所述第一估计量，并确定第一卫星的各个频点的第一整周模糊度之外，还可包括如下子步骤：
步骤S1073：根据所述第一整周模糊度，确定移动设备的第二位置数据。
所述第二位置数据，是指根据基本卫星的各频点的已固定整周模糊度确定的移动设备的位置。利用已固定各频点模糊度的基本卫星估计移动设备接收机坐标，使用该位置取代前述INS位置，该位置较前述INS位置更为准确。
步骤S1075：根据所述第二位置数据，确定第二卫星的各个频点的第二整周模糊度。
所述第二卫星包括高度角小于高度角阈值的卫星。
在确定出第二位置数据后，可直接按上述第一估计值的确定公式估计非基本卫星的模糊度参数并直接取整固定。以非基本卫星E的L1和L2为例，L1模糊度的第一估计值为：
Figure PCTCN2020116694-appb-000008
L2模糊度的第一估计值为：
Figure PCTCN2020116694-appb-000009
在确定非基本卫星的整周模糊度的第二估计值后，可以直接对其取整，解算出非基本卫星的第二整周模糊度。
至此确定出所有卫星的各个频点的整周模糊度，包括非基本卫星的各个频点的第二整周模糊度。在本实施例中，第二整周模糊度包括：非基本卫星E的L1、L2和L5三个频点分别对应的整周模糊度，非基本卫星F的L1、L2和L5三个频点分别对应的整周模糊度，等等。
请参考图4，其为本申请提供的一种整周模糊度确定方法实施例的步骤S1071的具体流程图。在一个示例中，步骤S1051可包括如下子步骤：
步骤S10711：针对各个第一卫星，根据所述第一卫星的任意两个频点的第一估计量，构建所述任意两个频点的整周模糊度的至少两种宽巷组合。
宽巷组合是载波相位原始观测值的线性组合，波长大于原始载波波长。
步骤S10713：确定所述宽巷组合的整周模糊度的第二估计量。
在本实施例中，选择两种宽巷组合，并计算组合模糊度统计量(下面公式中下标1和2表示卫星系统的任两个频点，N尖表示宽巷组合的整周模糊度的估计量)：
(a,b)宽巷为：
Figure PCTCN2020116694-appb-000010
(c,d)宽巷为：
Figure PCTCN2020116694-appb-000011
由于宽巷组合的波长相比单一频点放大数倍，因此可增加统计量(估计量)对INS误差的容忍度。
步骤S10715：根据所述第二估计量，确定所述宽巷组合的整周模糊度。
例如，宽巷组合模糊度(包含但不限于)：
(1,-1)宽巷为：
Figure PCTCN2020116694-appb-000012
(-3,4)宽巷为：
Figure PCTCN2020116694-appb-000013
(-4,5)宽巷为：
Figure PCTCN2020116694-appb-000014
(-7,9)宽巷为：
Figure PCTCN2020116694-appb-000015
其中，(1,-1)宽巷组合的波长相比单一频点放大约4倍，(-3,4)组合的波长放大约10倍。要通过四舍五入取整固定宽巷模糊度，要求宽巷模糊度的误差在0.5周以内。对于(1,-1)组合，INS误差若在0.43m(＝0.5/1.16)以内的水平，它引起的宽巷估计误差就在0.5周以内，可直接取整(四舍五入)固定宽巷；(-3,4)组合对INS误差的容忍度达0.81m，(-4,5)和(-7,9)则更高。在车载组合导航系统(GNSS/INS组合系统)中，即使在隧道等恶劣环境下行驶数分钟，多源融合辅助下的INS误差也不会超过0.43m。
具体实施时，步骤S10715可采用如下方式实现：将所述第二估计量的四舍五入取整数作为所述宽巷组合的整周模糊度。
步骤S10717：根据所述宽巷组合的整周模糊度，确定所述第一整周模糊度。
本步骤由宽巷组合的整周模糊度反算各频点的整周模糊度，可采用如下公式：
Figure PCTCN2020116694-appb-000016
以宽巷组合(1,-1)和(-3,4)为例：
Figure PCTCN2020116694-appb-000017
需要注意的是，通过宽巷组合的处理方式，虽然可增加统计量对INS误差的容忍度，但是，大部分宽巷组合在增加波长的同时，会放大电离层误差，如(-3,4)、(-4,5)、(-7,9)组合会放大电离层误差。可见，上述处理方式对INS误差的容忍度越大时，电离层误差也越大，从而影响整周模糊度的准确度。
为了解决这个问题，本实施例提供的方法可采用多项式拟合等方式，对电离层延迟等系统误差进行拟合，并外推到当前历元，以补偿电离层延迟误差，削弱电离层误差等系统性影响。请参考图5，其为本申请提供的一种整周模糊度确定方法实施例的步骤S10717的具体流程图。在本实施例中，步骤S10717可包括如下子步骤：
步骤S107171：若宽巷组合的电离层误差放大，则对电离层误差放大的宽巷组合进行多项式拟合，以补偿电离层延迟误差。
设在k-n到k-m历元，以(a,b)组合为例，有(a,b)组合固定解序列[N WLab,k-n,...,N WLab,k-m]，结合估值序列
Figure PCTCN2020116694-appb-000018
则可得到误差序列：
Figure PCTCN2020116694-appb-000019
其中，历元是每隔一段时间采集卫星数据的单元。换句话说，历元就是接受卫星信号的时刻，k-n和k-m都是当前时刻k前的历史时刻。将拟合结果外推到当前历元k得到当前误差估值：
Figure PCTCN2020116694-appb-000020
即可对模糊度估值
Figure PCTCN2020116694-appb-000021
进行补偿：
Figure PCTCN2020116694-appb-000022
以(-3,4)组合为例，有(-3,4)组合固定解序列[N WL34,k-n,...,N WL34,k-m]，结合估值序列
Figure PCTCN2020116694-appb-000023
则可得到误差序列：
Figure PCTCN2020116694-appb-000024
将拟合结果外推到当前历元k得到当前误差估值：
Figure PCTCN2020116694-appb-000025
即可对模糊度估值
Figure PCTCN2020116694-appb-000026
进行补偿：
Figure PCTCN2020116694-appb-000027
步骤S107173：将补偿电离层延迟误差后的第二估计量的四舍五入取整数作为所述宽巷组合的整周模糊度。
具体实施时，步骤S10517还可包括如下子步骤：
步骤S107175：若宽巷组合的电离层误差减小，则将电离层误差减小的宽巷组合的第二估计量的四舍五入取整数作为所述第三整周模糊度。
具体实施时，宽巷组合模糊度四舍五入取整固定可采用如下公式：
Figure PCTCN2020116694-appb-000028
其中，N′ WLab为电离层补偿后的宽巷组合，N WLab为电离层减小的宽巷组合(无须电离层补偿)。
以选择的宽巷为(1,-1)和(-3,4)为例：
Figure PCTCN2020116694-appb-000029
从上述实施例可见，本申请实施例提供的整周模糊度确定方法，通过移动设备采集第一载波相位观测数据，并接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，并根据惯性导航位置数据和载波相位观测数据，确定卫星频点的整周模糊度的估计量，再根据该估计量确定整周模糊度；这种处理方式，使得基于惯性导航位置和载波相位观测值构造模糊度估计量，根据该估计量固定模糊度，由此实现了由INS辅助RTK固定模糊度的方式，这样一方面使得无须进行模糊度搜索，可避免由载波相位观测值误差导致的模糊度搜索收敛到局部最小值所引起的模糊度固定解错误，另一方面使得不使用伪距观测值，可避免由伪距受恶劣环境下多路径效应等误差影响引起的模糊度固定解错误；因此，可以有效提升模糊度固定的抗误差干扰能力，从而提升模糊度固定的鲁棒性，确保模糊度固定准确率，进而实现移动设备的精准定位。同时，由于这种处理方式使得模糊度估计量均通过直接取整固定，无须进行模糊度搜索；因此，可以有效提升模 糊度固定速度，从而实现移动设备的快速定位。
第二实施例
请参考图6，其为本申请的整周模糊度确定装置的实施例的示意图。由于装置实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的装置实施例仅仅是示意性的。
本实施例的一种整周模糊度确定装置，包括：
数据采集单元601，用于移动设备采集第一载波相位观测数据；
数据接收单元603，用于接收基准站发送的第二载波相位观测数据；
数据确定单元605，用于确定惯性导航位置数据，作为第一位置数据；
估计量确定单元607，用于根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
整周模糊度确定单元609，用于根据所述估计量，确定整周模糊度。
第三实施例
请参考图7，其为本申请的移动设备的实施例的示意图。由于设备实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的设备实施例仅仅是示意性的。
本实施例的一种移动设备，该电子设备包括：GNSS接收机701，惯性测量单元(IMU)702，处理器703和存储器704；所述存储器，用于存储实现整周模糊度确定方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
第四实施例
在上述的实施例中，提供了一种整周模糊度确定方法，与之相对应的，本申请还提供一种整周模糊度确定方法。该方法是与上述方法的实施例相对应。
请参考图8，其为本申请的整周模糊度确定方法的实施例的流程图。由于该方法实施例基本相似于方法实施例一，所以描述得比较简单，相关之处参见方法实施例一的部分说明即可。下述描述的方法实施例仅仅是示意性的。
本实施例的一种整周模糊度确定方法，包括：
步骤S801：基准站采集第二载波相位观测数据。
步骤S803：向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
从上述实施例可见，本申请实施例提供的整周模糊度确定方法，通过基准站采集第二载波相位观测数据，向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；这种处理方式，使得基于惯性导航位置和载波相位观测值构造模糊度估计量，根据该估计量固定模糊度，由此实现了由INS辅助RTK固定模糊度的方式，这样一方面使得无须进行模糊度搜索，可避免由载波相位观测值误差导致的模糊度搜索收敛到局部最小值所引起的模糊度固定解错误，另一方面使得不使用伪距观测值，可避免由伪距受恶劣环境下多路径效应等误差影响引起的模糊度固定解错误；因此，可以有效提升模糊度固定的抗误差干扰能力，从而提升模糊度固定的鲁棒性，确保模糊度固定准确率，进而实现移动设备的精准定位。同时，由于这种处理方式使得模糊度估计量均通过直接取整固定，无须进行模糊度搜索；因此，可以有效提升模糊度固定速度，从而实现移动设备的快速定位。
第五实施例
请参考图9，其为本申请的移动设备定位装置的实施例的示意图。由于装置实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的装置实施例仅仅是示意性的。
本实施例的一种移动设备定位装置，包括：
数据采集单元901，用于基准站采集第二载波相位观测数据；
数据发送单元903，用于向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
第六实施例
请参考图10，其为本申请的移动设备的实施例的示意图。由于设备实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的设备实施例仅仅是示意性的。
本实施例的一种电子设备，该移动设备包括：GNSS接收机1001，处理器1002和存储器1003；所述存储器，用于存储实现移动设备定位方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
第七实施例
在上述的实施例中，提供了一种整周模糊度确定方法，与之相对应的，本申请还提供一种整周模糊度确定系统。该系统是与上述方法的实施例相对应。
请参考图11，其为本申请的整周模糊度确定系统的实施例的示意图，如图11所示本实施例的一种整周模糊度确定系统，该系统包括：基准站111和移动设备112。由于该系统实施例基本相似于方法实施例一，所以描述得比较简单，相关之处参见方法实施例一的部分说明即可。下述描述的系统实施例仅仅是示意性的。
本实施例的一种整周模糊度确定系统，包括：基准站和移动设备。其中，基准站内部署有上述实施例二所述的整周模糊度确定装置，移动设备内部署有上述实施例五所述的整周模糊度确定装置。
所述基准站采集第二载波相位观测数据，并向移动设备发送所述第二载波相位观测数据；相应的，所述移动设备采集第一载波相位观测数据，并接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
请参考图12，其为本申请的整周模糊度确定系统的实施例的场景示意图。由图12可见，所述基准站和移动设备可采集多个卫星的载波行为观测数据。将位于基准站上的GNSS接收机观测的卫星数据，通过数据通信链(无线电台)实时发送出去，而位于附近的移动站(移动设备)GNSS接收机在对卫星观测的同时，也接收来自基准站的电台信号，通过对所收到的信号进行实时处理(RTK)，移动站确定出各个卫星的各个频点的整周模糊度。
从上述实施例可见，本申请实施例提供的整周模糊度确定系统，通过基准站采集第二载波相位观测数据，并向移动设备发送所述第二载波相位观测数据；相应的，通过移动设备采集第一载波相位观测数据，并接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，并根据惯性导航位置数据和载波相位观测数据，确定卫星频点的整周模糊度的估计量，再根据该估计量确定整周模糊度；这种处理方式，使得基于惯性导航位置和载波相位观测值构造模糊度估计量，根据该估计量固定模糊度，由此实现了由INS辅助RTK固定模糊度的方式，这样一方面使得无须进行模糊度搜索，可避免由载波相位观测值误差导致的模糊度搜索收敛到局部最小值所引起的模糊度固定解错误，另一方面使得不使用伪距观测值，可避免由伪距受恶劣环境下多路径效应等误差影响引起的模糊度固定解错误；因此，可以有效提升模糊度固定的抗误差干扰能力，从而提升模糊度固定的鲁棒性，确保模糊度固定准确率，进而实现移动设备的精准定位。同时，由于这种处理方式使得模糊度估计量均通过直接取整固定，无须进行模糊度搜索；因此，可以有效提升模糊度固定速度，从而实现移动设备的快速定位。
第八实施例
在上述的实施例中，提供了一种整周模糊度确定方法，与之相对应的，本申请还提供一种移动设备定位方法。该方法是与上述方法的实施例相对应。由于该方法实施例基本相似于方法实施例一，所以描述得比较简单，相关之处参见方法实施例一的部分说明即可。下述描述的方法实施例仅仅是示意性的。
本实施例的一种移动设备定位方法，包括：
步骤S1301：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；
步骤S1303：确定惯性导航位置数据，作为第一位置数据；
步骤S1305：根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
步骤S1307：根据所述估计量，确定整周模糊度；
步骤S1309：至少根据所述整周模糊度，确定移动设备的位置数据。
准确固定整周模糊度是RTK获取可靠高精度(厘米级)定位结果的前提，此后，就可以基于该准确固定的整周模糊度，实现移动设备的高精度(分米甚至厘米级)的定位。
具体实施时，步骤S1309可采用较为成熟的现有技术，此处不再赘述。
从上述实施例可见，本申请实施例提供的移动设备定位方法，通过移动设备采集第 一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据；这种处理方式，使得基于惯性导航位置和载波相位观测值构造模糊度估计量，根据该估计量固定模糊度，由此实现了由INS辅助RTK固定模糊度，进而确定移动设备位置的方式，这样一方面使得无须进行模糊度搜索，可避免由载波相位观测值误差导致的模糊度搜索收敛到局部最小值所引起的模糊度固定解错误，另一方面使得不使用伪距观测值，可避免由伪距受恶劣环境下多路径效应等误差影响引起的模糊度固定解错误；因此，可以有效提升移动设备定位的精准度。同时，由于这种处理方式使得无须进行模糊度搜索；因此，可以有效提升移动设备定位的速度。
第九实施例
由于装置实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的装置实施例仅仅是示意性的。
本实施例的一种移动设备定位装置，包括：
数据采集单元，用于移动设备采集第一载波相位观测数据；
数据接收单元，用于接收基准站发送的第二载波相位观测数据；
数据确定单元，用于确定惯性导航位置数据，作为第一位置数据；
估计量确定单元，用于根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
整周模糊度确定单元，用于根据所述估计量，确定整周模糊度；
位置确定单元，用于至少根据所述整周模糊度，确定移动设备的位置数据。
第十实施例
由于设备实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的设备实施例仅仅是示意性的。
本实施例的一种电子设备，该移动设备包括：GNSS接收机，惯性测量单元(IMU)，处理器和存储器；所述存储器，用于存储实现移动设备定位方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备 的位置数据。
第十一实施例
在上述的实施例中，提供了一种移动设备定位方法，与之相对应的，本申请还提供一种移动设备定位方法。该方法是与上述方法的实施例相对应。
由于该方法实施例基本相似于方法实施例四，所以描述得比较简单，相关之处参见方法实施例四的部分说明即可。下述描述的方法实施例仅仅是示意性的。
本实施例的一种移动设备定位方法，包括：
步骤S1601：基准站采集第二载波相位观测数据。
步骤S1603：向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
从上述实施例可见，本申请实施例提供的移动设备定位方法，通过基准站采集第二载波相位观测数据，向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据；这种处理方式，使得基于惯性导航位置和载波相位观测值构造模糊度估计量，根据该估计量固定模糊度，由此实现了由INS辅助RTK固定模糊度，进而确定移动设备位置的方式，这样一方面使得无须进行模糊度搜索，可避免由载波相位观测值误差导致的模糊度搜索收敛到局部最小值所引起的模糊度固定解错误，另一方面使得不使用伪距观测值，可避免由伪距受恶劣环境下多路径效应等误差影响引起的模糊度固定解错误；因此，可以有效提升移动设备定位的精准度。同时，由于这种处理方式使得无须进行模糊度搜索；因此，可以有效提升移动设备定位的速度。
第十二实施例
由于装置实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的装置实施例仅仅是示意性的。
本实施例的一种移动设备定位装置，包括：
数据采集单元，用于基准站采集第二载波相位观测数据；
数据发送单元，用于向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
第十三实施例
由于设备实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的设备实施例仅仅是示意性的。
本实施例的一种电子设备，该移动设备包括：GNSS接收机，处理器和存储器；所述存储器，用于存储实现移动设备定位方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：基准站采集第二载波相位观测数据；向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
第十四实施例
在上述的实施例中，提供了一种移动设备定位方法，与之相对应的，本申请还提供一种移动设备定位系统。该系统是与上述方法的实施例相对应。由于该系统实施例基本相似于方法实施例一，所以描述得比较简单，相关之处参见方法实施例一的部分说明即可。下述描述的系统实施例仅仅是示意性的。
本实施例的一种移动设备定位系统，包括：基准站和移动设备。其中，基准站内部署有上述实施例九所述的移动设备定位装置，移动设备内部署有上述实施例十二所述的移动设备定位装置。
所述基准站采集第二载波相位观测数据，并向移动设备发送所述第二载波相位观测数据；相应的，所述移动设备采集第一载波相位观测数据，并接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
所述基准站和移动设备可采集多个卫星的载波行为观测数据。将位于基准站上的GNSS接收机观测的卫星数据，通过数据通信链(无线电台)实时发送出去，而位于附近的移动站(移动设备)GNSS接收机在对卫星观测的同时，也接收来自基准站的电台信号，通过对所收到的信号进行实时处理(RTK)，给出移动站的三维坐标，并估其精度。
从上述实施例可见，本申请实施例提供的移动设备定位系统，通过基准站采集第二载波相位观测数据，并向移动设备发送所述第二载波相位观测数据；相应的，通过移动设备采集第一载波相位观测数据，并接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，并根据惯性导航位置数据和载波相位观测数据，确定卫星频点的整周模糊度的估计量，再根据该估计量确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据；这种处理方式，使得基于惯性导航位置和载波相位观测值构造模糊度估计量，根据该估计量固定模糊度，由此实现了由INS辅助RTK固定模糊度，进而确定移动设备位置的方式，这样一方面使得无须进行模糊度搜索，可避免由载波相位观测值误差导致的模糊度搜索收敛到局部最小值所引起的模糊度固定解错误，另一方面使得不使用伪距观测值，可避免由伪距受恶劣环境下多路径效应等误差影响引起的模糊度固定解错误；因此，可以有效提升移动设备定位的精准度。同时，由于这种处理方式使得无须进行模糊度搜索；因此，可以有效提升移动设备定位的速度。
第十五实施例
本实施例还提供一种计算机可读存储介质。由于存储介质实施例基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。下述描述的存储介质实施例仅仅是示意性的。
本实施例的一种计算机可读存储介质中存储有指令，当所述指令在计算机上运行时，使得计算机执行上述各种方法。
本申请虽然以较佳实施例公开如上，但其并不是用来限定本申请，任何本领域技术人员在不脱离本申请的精神和范围内，都可以做出可能的变动和修改，因此本申请的保护范围应当以本申请权利要求所界定的范围为准。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
1、计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括非暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
2、本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。

Claims (22)

  1. 一种整周模糊度确定方法，其特征在于，包括：
    移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；
    确定惯性导航位置数据，作为第一位置数据；
    根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
    根据所述估计量，确定整周模糊度。
  2. 根据权利要求1所述的方法，其特征在于，
    所述根据所述第一位置数据和所述观测数据，并确定卫星频点的整周模糊度的估计量，包括：
    根据所述第一位置数据和所述观测数据，确定第一卫星的各个频点的整周模糊度的第一估计量；所述第一卫星包括高度角大于或者等于高度角阈值的卫星；
    所述根据所述估计量，并确定整周模糊度，包括：
    根据所述第一估计量，确定第一卫星的各个频点的第一整周模糊度。
  3. 根据权利要求2所述的方法，其特征在于，
    所述根据所述估计量，并确定整周模糊度，还包括：
    根据所述第一整周模糊度，确定移动设备的第二位置数据；
    根据所述第二位置数据，确定第二卫星的各个频点的第二整周模糊度；所述第二卫星包括高度角小于高度角阈值的卫星。
  4. 根据权利要求2所述的方法，其特征在于，
    所述根据所述第一估计量，并确定第一卫星的各个频点的第一整周模糊度，包括：
    将所述第一估计量的四舍五入取整数作为所述第一整周模糊度。
  5. 根据权利要求2所述的方法，其特征在于，
    所述根据所述第一估计量，并确定第一卫星的各个频点的第一整周模糊度，包括：
    针对各个第一卫星，根据所述第一卫星的任意两个频点的第一估计量，构建所述任意两个频点的整周模糊度的至少两种宽巷组合；
    确定所述宽巷组合的整周模糊度的第二估计量；
    根据所述第二估计量，确定所述宽巷组合的整周模糊度；
    根据所述宽巷组合的整周模糊度，确定所述第一整周模糊度。
  6. 根据权利要求5所述的方法，其特征在于，
    所述根据所述第二估计量，并确定所述宽巷组合的整周模糊度，包括：
    将所述第二估计量的四舍五入取整数作为所述宽巷组合的整周模糊度。
  7. 根据权利要求5所述的方法，其特征在于，
    所述根据所述第二估计量，并确定所述宽巷组合的整周模糊度，包括：
    若宽巷组合的电离层误差放大，则对电离层误差放大的宽巷组合进行多项式拟合，以补偿电离层延迟误差；
    将补偿电离层延迟误差后的第二估计量的四舍五入取整数作为所述宽巷组合的整周模糊度。
  8. 根据权利要求7所述的方法，其特征在于，
    所述根据所述第二估计量，并确定所述宽巷组合的第三整周模糊度，还包括：
    若宽巷组合的电离层误差减小，则将电离层误差减小的宽巷组合的第二估计量的四舍五入取整数作为所述第三整周模糊度。
  9. 一种整周模糊度确定方法，其特征在于，包括：
    基准站采集第二载波相位观测数据；
    向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
  10. 一种整周模糊度确定装置，其特征在于，包括：
    数据采集单元，用于移动设备采集第一载波相位观测数据；
    数据接收单元，用于接收基准站发送的第二载波相位观测数据；
    数据确定单元，用于确定惯性导航位置数据，作为第一位置数据；
    估计量确定单元，用于根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
    整周模糊度确定单元，用于根据所述估计量，确定整周模糊度。
  11. 一种整周模糊度确定装置，其特征在于，包括：
    数据采集单元，用于基准站采集第二载波相位观测数据；
    数据发送单元，用于向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和 所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
  12. 一种移动设备，其特征在于，包括：
    GNSS接收机；
    惯性测量单元；
    处理器；以及
    存储器，用于存储实现整周模糊度确定方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
  13. 一种基准站，其特征在于，包括：
    GNSS接收机；
    处理器；以及
    存储器，用于存储实现整周模糊度确定方法的程序，该基准站通电并通过所述处理器运行该方法的程序后，执行下述步骤：基准站采集第二载波相位观测数据；向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤:移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度。
  14. 一种整周模糊度确定系统，其特征在于，包括：
    根据上述权利要求12所述的移动设备；以及，根据上述权利要求13所述的基准站。
  15. 一种移动设备定位方法，其特征在于，包括：
    移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；
    确定惯性导航位置数据，作为第一位置数据；
    根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
    根据所述估计量，确定整周模糊度；
    至少根据所述整周模糊度，确定移动设备的位置数据。
  16. 一种移动设备定位方法，其特征在于，包括：
    基准站采集第二载波相位观测数据；
    向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
  17. 一种移动设备定位装置，其特征在于，包括：
    数据采集单元，用于移动设备采集第一载波相位观测数据；
    数据接收单元，用于接收基准站发送的第二载波相位观测数据；
    数据确定单元，用于确定惯性导航位置数据，作为第一位置数据；
    估计量确定单元，用于根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；
    整周模糊度确定单元，用于根据所述估计量，确定整周模糊度；
    位置确定单元，用于至少根据所述整周模糊度，确定移动设备的位置数据。
  18. 一种移动设备定位装置，其特征在于，包括：
    数据采集单元，用于基准站采集第二载波相位观测数据；
    数据发送单元，用于向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
  19. 一种移动设备，其特征在于，包括：
    GNSS接收机；
    惯性测量单元；
    处理器；以及
    存储器，用于存储实现移动设备定位方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
  20. 一种基准站，其特征在于，包括：
    GNSS接收机；
    处理器；以及
    存储器，用于存储实现移动设备定位方法的程序，该设备通电并通过所述处理器运行该方法的程序后，执行下述步骤：基准站采集第二载波相位观测数据；向移动设备发送所述第二载波相位观测数据，以使得移动设备执行如下步骤：移动设备采集第一载波相位观测数据；以及，接收基准站发送的第二载波相位观测数据；确定惯性导航位置数据，作为第一位置数据；根据所述第一位置数据和所述观测数据，确定卫星频点的整周模糊度的估计量；根据所述估计量，确定整周模糊度；至少根据所述整周模糊度，确定移动设备的位置数据。
  21. 一种移动设备定位系统，其特征在于，包括：
    根据上述权利要求19所述的移动设备；以及，根据上述权利要求20所述的基准站。
  22. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述权利要求1-9任一项或权利要求16所述的方法。
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