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CN116577815A - A multi-frequency multi-GNSS precise single point positioning method, device and equipment - Google Patents

A multi-frequency multi-GNSS precise single point positioning method, device and equipment Download PDF

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CN116577815A
CN116577815A CN202310475507.1A CN202310475507A CN116577815A CN 116577815 A CN116577815 A CN 116577815A CN 202310475507 A CN202310475507 A CN 202310475507A CN 116577815 A CN116577815 A CN 116577815A
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frequency
receiver
satellite
pseudorange
delay
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CN116577815B (en
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李敏
张宝成
查九平
袁运斌
刘腾
张啸
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Institute of Precision Measurement Science and Technology Innovation of CAS
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Institute of Precision Measurement Science and Technology Innovation of CAS
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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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

Abstract

一种多频多GNSS精密单点定位方法，包括：选用GNSS系统全球或区域单个跟踪站的伪距和相位观测数据；利用跟踪站各基础频率的伪距和相位观测数据，构建单系统多频率的原始观测方程；引入接收机码偏差时变参数，利用参数重组方法，对原始观测方程中的参数进行重新整合，消除原始观测方程中的数学秩亏，得到新观测方程；引入接收机系统间偏差参数，构建多频多GNSS精密单点定位模型。本发明通过在多频多模GNSS非组合伪距和相位观测方程中引入时变RCB参数，以克服RCB短时变化对电离层延迟、模糊度等参数估计精度和定位性能的不利影响。另外，本发明可以显著增强模型强度，提高定位精度和收敛效率并获取更高的参数估计精度。

A multi-frequency multi-GNSS precise single-point positioning method, comprising: selecting the pseudo-range and phase observation data of a single global or regional tracking station of the GNSS system; using the pseudo-range and phase observation data of each basic frequency of the tracking station to construct a single-system multi-frequency The original observation equation; introduce the time-varying parameters of the receiver code deviation, use the parameter reorganization method to reintegrate the parameters in the original observation equation, eliminate the mathematical rank deficiency in the original observation equation, and obtain a new observation equation; introduce the receiver system Deviation parameters, constructing a multi-frequency and multi-GNSS precise point positioning model. The present invention introduces time-varying RCB parameters into multi-frequency multi-mode GNSS non-combined pseudorange and phase observation equations to overcome the adverse effects of RCB short-term changes on ionospheric delay, ambiguity and other parameter estimation accuracy and positioning performance. In addition, the present invention can significantly enhance model strength, improve positioning accuracy and convergence efficiency, and obtain higher parameter estimation accuracy.

Description

Multi-frequency multi-GNSS precise single-point positioning method, device and equipment
Technical Field
The invention relates to the technical field of satellite navigation precise positioning, in particular to a multi-frequency multi-GNSS precise single-point positioning method, device and equipment.
Background
Precision single point positioning technology (precise point positioning, PPP) is one of the main support technologies for navigation and location services. Compared with the traditional relative positioning technology, the PPP has the outstanding advantages of no need of a ground reference station, flexible operation, user cost saving and the like, and has been widely applied to the fields of precise positioning, crust deformation monitoring, atmospheric science and the like. In recent years, with the continuous modern upgrading and reconstruction of the American GPS and Russian GLONASS systems and the rapid construction and development of European Galileo and China Beidou systems, the increasingly abundant GNSS frequencies and signal types provide abundant data resources for further improving the accuracy, timeliness and reliability of navigation positioning services. In recent years, GNSS construction presents a development trend of multi-frequency multimode, and multi-frequency multimode GNSS fusion PPP technology has become a leading-edge hotspot in the current satellite navigation positioning field. However, prior studies all consider receiver code bias (receiver code bias, RCB) as an intra-day constant when constructing multi-frequency, multi-mode PPP observation equations. However, the receiver code bias has significant short-time variations within the day due to the influence of environmental temperature changes, firmware version upgrades and other factors. Studies have shown that the differential version of the receiver code bias (differential code bias, DCB) can vary by more than 9 nanoseconds throughout the day. Therefore, the short-time variation of the code deviation of the receiver is not considered, and the short-time variation becomes a bottleneck for restricting the further improvement of the existing multi-frequency multi-mode PPP positioning performance and a key factor for influencing the PPP ionosphere delay extraction precision.
Disclosure of Invention
The invention aims to overcome the defects and problems of low parameter estimation precision and positioning performance such as ionosphere delay, ambiguity and the like caused by short-time variation of receiver code deviation in the prior art, and provides a multi-frequency multi-GNSS precise single-point positioning method, device and equipment for considering the variation of the receiver code deviation.
In order to achieve the above object, the technical solution of the present invention is: a multi-frequency multi-GNSS precise single-point positioning method comprises the following steps:
selecting pseudo-range and phase observation data of a single tracking station in the global or regional GNSS system;
constructing a single-system multi-frequency original observation equation by using pseudo-range and phase observation data of each basic frequency of a tracking station;
introducing a receiver code deviation time-varying parameter, and re-integrating the parameters in the original observation equation by using a parameter recombination method to eliminate mathematical rank deficiency in the original observation equation so as to obtain a new observation equation;
and introducing deviation parameters among receiver systems, and constructing a multi-frequency multi-GNSS precise single-point positioning model.
The original observation equation of the single-system multi-frequency is as follows:
wherein T represents a satellite system; s represents a satellite; r represents a receiver; i represents an epoch; f represents frequency;and->Observing pseudo-range and phase observations for code and carrier phases;Geometric distance from the receiver to the satellite;And dt (dt) T，s (i) Clock skew for the receiver and satellite; z is Z r (i) Delay for the zenith troposphere of the survey station;is a troposphere projection function;Ionospheric delay at a first frequency;Is the ratio between the frequency f and the first frequency ionospheric delay;Is the carrier phase wavelength;And->Code bias for the receiver and satellite;floating ambiguity after corresponding deviation of the satellite and the receiver is absorbed;Is the sum of the multipath effect of the pseudo range, observation noise and other unmodeled errors;Is the sum of carrier phase multipath effects, observed noise, and other unmodeled errors.
The new observation equation is:
wherein T represents a satellite system; s represents a satellite; r represents a receiver; i represents an epoch; f represents frequency;and->Observing pseudoranges and phases for code and carrier phasesAn observation value;Clock skew of satellite S issued for IGS;Geometric distance from the receiver to the satellite;The clock difference of the receiver r calculated for the new observation equation;Is a troposphere projection function; zr (i) is the zenith troposphere delay of the measuring station;Is the ratio between the frequency f and the first frequency ionospheric delay;Ionospheric bias delay for the satellite S corresponding to the first frequency calculated for the new observation equation;The pseudo-range hardware delay of the receiver r corresponding to the frequency f calculated for the new observation equation;The pseudo-range hardware delay of the satellite S corresponding to the frequency f is calculated for the new observation equation;Is the sum of the multipath effect of the pseudo range, observation noise and other unmodeled errors;Is the carrier phase wavelength;Ambiguity corresponding to the frequency f between the receiver r and the satellite S calculated for the new observation equation;Is the sum of carrier phase multipath effects, observed noise and other unmodeled errors; alpha is a parameterCoefficients of (2); beta is the parameter->Is a coefficient of (a).
The rank deficiency in the original observation equation is eliminated through parameter recombination, and the specific form of each parameter in the new observation equation is obtained as follows:
in the method, in the process of the invention,combining satellite pseudo-range hardware delay parameters for the ionosphere;Pseudo-range hardware delay parameters of the receiver are combined for the first epoch elimination ionosphere;Receiver pseudo-range hardware delay parameters for a non-geometric combination of the first epoch;Receiver pseudorange hardware delay parameters for no geometric combinations;Satellite pseudo-range hardware delay parameters without geometric combination；Receiver pseudo-range hardware delay parameters for the first epoch;Is the ratio between the ionospheric delay at the second frequency and the ionospheric delay at the first frequency;Receiver pseudo-range hardware delay parameters for a non-geometric combination of the first epoch;Satellite pseudo-range hardware delay parameters without geometric combination;A first frequency satellite pseudo-range hardware delay parameter;A satellite pseudo-range hardware delay parameter for a second frequency;A receiver pseudorange hardware delay parameter for a first frequency epoch;A receiver pseudorange hardware delay parameter for a second frequency first epoch;A receiver pseudorange hardware delay parameter for a first frequency i epoch;The receiver pseudorange hardware delay parameter for the second frequency i epoch.
When the frequency f is less than 3, the parameterIs not present.
When epoch i is the first epoch, the parametersIs not present.
The multi-frequency multi-GNSS precise single-point positioning model is as follows:
in the method, in the process of the invention,a pseudo-range observation value of a GPS system;GPS satellite clock error obtained based on IGS precise satellite clock error products;Geometric distance from the receiver to the GPS satellite;Clock error for the receiver of the GPS system;A tropospheric projection function for a GPS satellite;The ratio between the GPS system frequency f and the first frequency ionospheric delay;Pseudo-range hardware delay for the GPS system receiver;Combining satellite pseudo-range hardware delays of a GPS system;Is the carrier phase observation value of the GPS system;Carrier phase wavelength for the GPS system;the carrier phase integer ambiguity is the GPS system;Pseudo-range observations for the BDS system;BDS satellite clock differences obtained for IGS precise satellite clock difference products;Geometric distance from the receiver to the BDS satellite;a tropospheric projection function for a BDS satellite;Is the carrier phase observation value of the BDS system;BDS satellite clock differences obtained for IGS precise satellite clock difference products;Carrier phase wavelength for BDS system;for BDS system carrier phase integer ambiguity;Combining satellite pseudo-range hardware delays for the BDS system;Is the intersystem deviation of the BDS system relative to the GPS system;Is the intersystem deviation of the Galileo system relative to the GPS system;The sum of the pseudo-range multipath effect, observation noise and other unmodeled errors of the GPS system;The sum of the phase multipath effect, the observation noise and other unmodeled errors of the GPS system;Pseudo-range hardware delay for the BDS system receiver;The ratio between BDS system frequency f and first frequency ionospheric delay;The sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the BDS system;The sum of phase multipath effect, observation noise and other unmodeled errors of the BDS system;Pseudo-range observations for the Galileo system;A satellite pseudo-range hardware delay combination for the Galileo system;Is the ratio between the Galileo system frequency f and the first frequency ionospheric delay;Pseudo-range hardware delay for Galileo system receiver;Is the carrier phase observation of the Galileo system;galileo satellite clock difference obtained for IGS-based precise satellite clock difference products;Geometric distance from the receiver to Galileo satellites;Receiver clock skew for Galileo systems;A tropospheric projection function of a Galileo satellite;The carrier phase integer ambiguity is Galileo system;Is the sum of the multipath effect, observation noise and other unmodeled errors of the Galileo system pseudo range;Is the sum of the Galileo system phase multipath effect, observation noise and other unmodeled errors;Is the carrier phase wavelength of the Galileo system.
A multi-frequency, multi-GNSS precision single point positioning apparatus comprising:
the data selecting module is used for selecting pseudo-range and phase observation data of a single tracking station in the global or regional GNSS system;
the original observation equation construction module is used for constructing a single-system multi-frequency original observation equation by utilizing pseudo-range and phase observation data of each basic frequency of the tracking station;
the new observation equation construction module is used for introducing the time-varying parameters of the code deviation of the receiver, and re-integrating the parameters in the original observation equation by utilizing a parameter recombination method to eliminate the mathematical rank deficiency in the original observation equation so as to obtain a new observation equation;
the model construction module is used for introducing deviation parameters among receiver systems and constructing a multi-frequency multi-GNSS precise single-point positioning model.
A multi-frequency multi-GNSS precise single-point positioning device comprises a memory and a processor;
the memory is used for storing computer program codes and transmitting the computer program codes to the processor;
the processor is configured to perform the method as described above according to instructions in the computer program code.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method as described above.
Compared with the prior art, the invention has the beneficial effects that:
according to the multi-frequency multi-GNSS precise single-point positioning method, device and equipment, a set of precise real-time data processing model and method capable of optimally fusing and processing multi-frequency multi-mode GNSS signals are established by introducing time-varying receiver code deviation parameters into a multi-frequency multi-mode GNSS non-combination pseudo-range and phase observation equation, so that adverse effects of short-time variation of receiver code deviation on ionosphere delay, ambiguity and other parameter estimation precision and positioning performance are fundamentally overcome. In addition, by adopting the precise single-point positioning method of the multi-frequency multi-GNSS, the model strength can be obviously enhanced, the positioning precision and the convergence efficiency can be improved, and the higher parameter estimation precision can be obtained.
Drawings
FIG. 1 is a flow chart of a multi-frequency multi-GNSS precise single-point positioning method according to the present invention.
FIG. 2 is a block diagram of a multi-frequency, multi-GNSS precise single-point positioning device according to the present invention.
FIG. 3 is a block diagram of a multi-frequency, multi-GNSS precision single-point positioning apparatus of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and detailed description.
Example 1:
referring to fig. 1, a multi-frequency multi-GNSS precision single point positioning method includes:
s1, selecting pseudo-range and phase observation data of a single tracking station of a global or regional GNSS system;
the observation data comprise multi-frequency observation data of Beidou, GPS and Galileo systems; obtaining a precise satellite orbit and clock error product through an IGS website of an international GNSS service organization;
s2, constructing a single-system multi-frequency original observation equation by using pseudo-range and phase observation data of each basic frequency of the tracking station;
the original observation equation of the single-system multi-frequency is as follows:
wherein T represents a satellite system; s denotes a satellite; r represents a receiver; i represents an epoch; f represents frequency;and->Code and carrier phase observation pseudoranges and phase observations after effects such as solid earth tides, ocean loading, phase rotations, relativistic effects, earth rotation effects, satellite and receiver antenna Phase Center Offsets (PCOs) and changes (PCVs) have been eliminated;Geometric distance from the receiver to the satellite;And->Clock skew for the receiver and satellite; z is Z r (i) Delay for the zenith troposphere of the survey station;Is a troposphere projection function;Ionospheric delay at a first frequency;Is the ratio between the frequency f and the first frequency ionospheric delay;Is the carrier phase wavelength;and->Code bias for the receiver and satellite;Floating ambiguity after corresponding deviation of the satellite and the receiver is absorbed;Is the sum of the multipath effect of the pseudo range, observation noise and other unmodeled errors;Is the sum of carrier phase multipath effects, observed noise and other unmodeled errors;
unlike the prior art, the above observation equation can eliminate the influence of the short-time variation of the receiver pseudo-range hardware delay on other estimation parameters by describing the receiver pseudo-range hardware delay as a time-varying parameter;
s3, introducing a receiver code deviation time-varying parameter, and re-integrating the parameter in the original observation equation by using a parameter recombination method to eliminate mathematical rank deficiency in the original observation equation so as to obtain a new observation equation;
the new observation equation is:
wherein T represents a satellite system; s represents a satellite; r represents a receiver; i represents an epoch; f represents frequency;and->Observing pseudo-range and phase observations for code and carrier phases;Clock skew of satellite S issued for IGS;For receivingGeometrical distance from the machine to the satellite;The clock difference of the receiver r calculated for the new observation equation;Is a troposphere projection function; z is Z r (i) Delay for the zenith troposphere of the survey station;Is the ratio between the frequency f and the first frequency ionospheric delay;Ionospheric bias delay for the satellite S corresponding to the first frequency calculated for the new observation equation;The pseudo-range hardware delay of the receiver r corresponding to the frequency f calculated for the new observation equation;Pseudo-range hardware delay of the corresponding frequency f (f is more than or equal to 3) of the satellite S calculated for the new observation equation;Is the sum of the multipath effect of the pseudo range, observation noise and other unmodeled errors;Is the carrier phase wavelength;Ambiguity corresponding to the frequency f between the receiver r and the satellite S calculated for the new observation equation;For carrier phase multipath effects, observation noiseAnd other non-modeled error sums; alpha is a parameter->Coefficient of (2) due to parameter->Meaning the variation of the receiver pseudo-range hardware delay of the current epoch with respect to the first epoch, thus the parameter +.>The coefficient alpha of the first epoch is 0, and the value of the coefficient alpha is 1 from the second epoch; beta is the parameter->Coefficient of (2) due to parameter->The method only exists in a multi-frequency observation equation, so that the coefficient beta is 0 in the median of the dual-frequency observation equation, and when the frequency is greater than 2, the beta value is 1;
the rank deficiency in the original observation equation is eliminated through parameter recombination, and the specific form of each parameter in the new observation equation is obtained as follows:
in the method, in the process of the invention,combining satellite pseudo-range hardware delay parameters for the ionosphere;Combined receiver pseudo for first epoch ionosphere cancellationDelay parameters from hardware;Receiver pseudo-range hardware delay parameters for a non-geometric combination of the first epoch;Receiver pseudorange hardware delay parameters for no geometric combinations;Satellite pseudo-range hardware delay parameters without geometric combination;Receiver pseudo-range hardware delay parameters for the first epoch;Is the ratio between the ionospheric delay at the second frequency and the ionospheric delay at the first frequency;Receiver pseudo-range hardware delay parameters for a non-geometric combination of the first epoch;Satellite pseudo-range hardware delay parameters without geometric combination;A first frequency satellite pseudo-range hardware delay parameter;A satellite pseudo-range hardware delay parameter for a second frequency;A receiver pseudorange hardware delay parameter for a first frequency epoch;A receiver pseudorange hardware delay parameter for a second frequency first epoch;A receiver pseudorange hardware delay parameter for a first frequency i epoch;A receiver pseudorange hardware delay parameter for a second frequency i epoch;
when the frequency f is less than 3, the satellite pseudorange hardware delay parameter may be absorbed by the ionospheric delay parameter, thus the parameterAbsence of;
when epoch i is the first epoch, the parametersIs absent because of +.>Meaning the amount of change in receiver pseudorange hardware delay for the current epoch relative to the receiver pseudorange hardware delay for the first epoch;
s4, introducing deviation parameters among receiver systems, and constructing a multi-frequency multi-GNSS precise single-point positioning model;
the multi-frequency multi-GNSS precise single-point positioning model is as follows:
in the method, in the process of the invention,a pseudo-range observation value of a GPS system;GPS satellite clock error obtained based on IGS precise satellite clock error products;Geometric distance from the receiver to the GPS satellite;Clock error for the receiver of the GPS system;A tropospheric projection function for a GPS satellite;The ratio between the GPS system frequency f and the first frequency ionospheric delay;Pseudo-range hardware delay for the GPS system receiver;Combining satellite pseudo-range hardware delays of a GPS system;Is the carrier phase observation value of the GPS system;Carrier phase wavelength for the GPS system;the carrier phase integer ambiguity is the GPS system;Pseudo-range observations for the BDS system;Is based on IGS precision satellite clock difference productionBDS satellite clock error obtained by the product;Geometric distance from the receiver to the BDS satellite;A tropospheric projection function for a BDS satellite;Is the carrier phase observation value of the BDS system;BDS satellite clock differences obtained for IGS precise satellite clock difference products;Carrier phase wavelength for BDS system;the carrier phase integer ambiguity is the BDS system;Combining satellite pseudo-range hardware delays for the BDS system;Is the intersystem deviation of the BDS system relative to the GPS system;Is the intersystem deviation of the Galileo system relative to the GPS system;The sum of the pseudo-range multipath effect, observation noise and other unmodeled errors of the GPS system;Is GPS systemSum of systematic phase multipath effects, observed noise and other unmodeled errors;Pseudo-range hardware delay for the BDS system receiver;The ratio between BDS system frequency f and first frequency ionospheric delay;The sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the BDS system;The sum of phase multipath effect, observation noise and other unmodeled errors of the BDS system;Pseudo-range observations for the Galileo system;A satellite pseudo-range hardware delay combination for the Galileo system;Is the ratio between the Galileo system frequency f and the first frequency ionospheric delay;Pseudo-range hardware delay for Galileo system receiver;Is the carrier phase observation of the Galileo system;galileo satellite clock difference obtained for IGS-based precise satellite clock difference products;Geometric distance from the receiver to Galileo satellites;Receiver clock skew for Galileo systems;A tropospheric projection function of a Galileo satellite;The carrier phase integer ambiguity is Galileo system;Is the sum of the multipath effect, observation noise and other unmodeled errors of the Galileo system pseudo range;Is the sum of the Galileo system phase multipath effect, observation noise and other unmodeled errors;Is the carrier phase wavelength of the Galileo system.
Compared with the prior art, the method has the advantages that RCB parameters are regarded as time-varying parameters, the problem of model rank deficiency caused by introducing the time-varying RCB parameters into a multi-frequency multi-mode GNSS non-combination pseudo-range and phase observation equation is solved, a strict improved multi-frequency multi-mode PPP model is established, and the variation of receiver code deviation along with time is estimated by epoch; the new model is backward compatible with the multi-frequency PPP model, meanwhile, the adverse effect of the short-time change of the multi-frequency RCB on the ionosphere delay, the ambiguity and other parameter estimation accuracy is required to be fundamentally overcome, and the ionosphere delay extraction accuracy and the ambiguity estimation accuracy can be remarkably improved. The multi-frequency multi-GNSS precise single-point positioning model is suitable for multi-frequency and multi-GNSS modes, and compared with a dual-frequency single-system precise single-point positioning model, the multi-frequency multi-GNSS precise single-point positioning model can remarkably enhance the model strength, improve the positioning precision and the convergence efficiency and acquire higher parameter estimation precision. In addition, the model related by the invention can estimate satellite code deviation parameters except the first frequency and the second frequency, is used for analyzing satellite code deviations of the third frequency and above, can extract inter-epoch variation of receiver code deviations except the first frequency and the second frequency, and is used for researching variation rules of receiver code deviations of different frequencies of different systems.
The invention carries out PPP processing based on the multi-frequency GNSS observation data, the ionosphere precision estimated by different stations is improved by more than 59% compared with the traditional PPP method, as shown in the table 1 by taking the ionosphere variation obtained by the measured data of the phase observation value as a reference, except the MTDN station GPS system.
TABLE 1
TABLE 2
Station for measuring GPS BDS Galileo
FTNA 7.41 59.49 93.75
LAMB 75.89 74.83 80.00
MTDN 75.58 82.21 84.11
Table 2 shows the probability distribution of correlation coefficient of time variation and temperature variation of the receiver RCB extracted based on the method of the invention, and it can be seen that the invention can estimate the variation of the receiver code deviation of all frequency points, and find that the variation of the receiver code deviation has obvious correlation with the temperature variation of the measuring station, and the correlation coefficient of the measuring station is more than 80% with more than 22%.
Example 2:
referring to fig. 2, a multi-frequency multi-GNSS precision single point positioning apparatus includes:
the data selecting module is used for selecting pseudo-range and phase observation data of a single tracking station in the global or regional GNSS system;
the original observation equation construction module is used for constructing a single-system multi-frequency original observation equation by utilizing pseudo-range and phase observation data of each basic frequency of the tracking station;
the original observation equation of the single-system multi-frequency is as follows:
wherein T represents a satellite system; s represents a satellite; r represents a receiver; i represents an epoch; f represents frequency;and->Observing pseudo-range and phase observations for code and carrier phases;Geometric distance from the receiver to the satellite;And->Clock skew for the receiver and satellite; z is Z r (i) Delay for the zenith troposphere of the survey station;is a troposphere projection function;Ionospheric delay at a first frequency;Is the ratio between the frequency f and the first frequency ionospheric delay;Is the carrier phase wavelength;And->Code bias for the receiver and satellite;floating ambiguity after corresponding deviation of the satellite and the receiver is absorbed;For the multi-path effect of pseudo-rangeMeasuring the sum of noise and other unmodeled errors;Is the sum of carrier phase multipath effects, observed noise and other unmodeled errors;
the new observation equation construction module is used for introducing the time-varying parameters of the code deviation of the receiver, and re-integrating the parameters in the original observation equation by utilizing a parameter recombination method to eliminate the mathematical rank deficiency in the original observation equation so as to obtain a new observation equation;
the new observation equation is:
wherein T represents a satellite system; s represents a satellite; r represents a receiver; i represents an epoch; f represents frequency;and->Observing pseudo-range and phase observations for code and carrier phases;Clock skew of satellite S issued for IGS;Geometric distance from the receiver to the satellite;The clock difference of the receiver r calculated for the new observation equation;Is a troposphere projection function; z is Z r (i) Delay for the zenith troposphere of the survey station;Is the ratio between the frequency f and the first frequency ionospheric delay;Ionospheric bias delay for the satellite S corresponding to the first frequency calculated for the new observation equation;The pseudo-range hardware delay of the receiver r corresponding to the frequency f calculated for the new observation equation;The pseudo-range hardware delay of the satellite S corresponding to the frequency f is calculated for the new observation equation;Is the sum of the multipath effect of the pseudo range, observation noise and other unmodeled errors;Is the carrier phase wavelength;Ambiguity corresponding to the frequency f between the receiver r and the satellite S calculated for the new observation equation;Is the sum of carrier phase multipath effects, observed noise and other unmodeled errors; alpha is a parameterCoefficients of (2); beta is the parameter->Coefficients of (2);
the rank deficiency in the original observation equation is eliminated through parameter recombination, and the specific form of each parameter in the new observation equation is obtained as follows:
in the method, in the process of the invention,combining satellite pseudo-range hardware delay parameters for the ionosphere;Pseudo-range hardware delay parameters of the receiver are combined for the first epoch elimination ionosphere;Receiver pseudo-range hardware delay parameters for a non-geometric combination of the first epoch;Receiver pseudorange hardware delay parameters for no geometric combinations;Satellite pseudo-range hardware delay parameters without geometric combination;Receiver pseudo-range hardware delay parameters for the first epoch;Is the ratio between the ionospheric delay at the second frequency and the ionospheric delay at the first frequency;Receiver pseudo-range hardware delay parameters for a non-geometric combination of the first epoch;Satellite pseudo-range hardware delay parameters without geometric combination;A first frequency satellite pseudo-range hardware delay parameter;A satellite pseudo-range hardware delay parameter for a second frequency;A receiver pseudorange hardware delay parameter for a first frequency epoch;A receiver pseudorange hardware delay parameter for a second frequency first epoch;A receiver pseudorange hardware delay parameter for a first frequency i epoch;A receiver pseudorange hardware delay parameter for a second frequency i epoch;
when the frequency f is less than 3, the parameterAbsence of;
when epoch i is the first epoch, the parametersAbsence of;
the model construction module is used for introducing deviation parameters among receiver systems and constructing a multi-frequency multi-GNSS precise single-point positioning model;
the multi-frequency multi-GNSS precise single-point positioning model is as follows:
in the method, in the process of the invention,a pseudo-range observation value of a GPS system;GPS satellite clock error obtained based on IGS precise satellite clock error products;Geometric distance from the receiver to the GPS satellite;Clock error for the receiver of the GPS system;A tropospheric projection function for a GPS satellite;The ratio between the GPS system frequency f and the first frequency ionospheric delay;Pseudo-range hardware delay for the GPS system receiver;Combining satellite pseudo-range hardware delays of a GPS system;Is the carrier phase observation value of the GPS system;Carrier phase wavelength for the GPS system;the carrier phase integer ambiguity is the GPS system;Pseudo-range observations for the BDS system;BDS satellite clock differences obtained for IGS precise satellite clock difference products;Geometric distance from the receiver to the BDS satellite;a tropospheric projection function for a BDS satellite;Is the carrier phase observation value of the BDS system;BDS satellite clock differences obtained for IGS precise satellite clock difference products;Carrier phase wavelength for BDS system;the carrier phase integer ambiguity is the BDS system;Combining satellite pseudo-range hardware delays for the BDS system;Is the intersystem deviation of the BDS system relative to the GPS system;Is the intersystem deviation of the Galileo system relative to the GPS system;The sum of the pseudo-range multipath effect, observation noise and other unmodeled errors of the GPS system;The sum of the phase multipath effect, the observation noise and other unmodeled errors of the GPS system;Pseudo-range hardware delay for the BDS system receiver;The ratio between BDS system frequency f and first frequency ionospheric delay;The sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the BDS system;The sum of phase multipath effect, observation noise and other unmodeled errors of the BDS system;Pseudo-range observations for the Galileo system;A satellite pseudo-range hardware delay combination for the Galileo system;Is the ratio between Galileo system frequency. F and the first frequency ionospheric delay;Pseudo-range hardware delay for Galileo system receiver;Is the carrier phase observation of the Galileo system;galileo satellite clock difference obtained for IGS-based precise satellite clock difference products;Geometric distance from the receiver to Galileo satellites;Receiver clock skew for Galileo systems;A tropospheric projection function of a Galileo satellite;The carrier phase integer ambiguity is Galileo system;Is the sum of the multipath effect, observation noise and other unmodeled errors of the Galileo system pseudo range;Is the sum of the Galileo system phase multipath effect, observation noise and other unmodeled errors;Is the carrier phase wavelength of the Galileo system.
Example 3:
referring to FIG. 3, a multi-frequency, multi-GNSS precision single-point positioning apparatus includes a memory and a processor;
the memory is used for storing computer program codes and transmitting the computer program codes to the processor;
the processor is configured to execute the multi-frequency multi-GNSS precision single point positioning method according to the instructions in the computer program code.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements a multi-frequency multi-GNSS precision single point positioning method as described above.
In general, the computer instructions to implement the methods of the present invention may be carried in any combination of one or more computer-readable storage media. The non-transitory computer-readable storage medium may include any computer-readable medium, except the signal itself in temporary propagation.
The computer readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAn), a read-only memory (R0 n), an erasable programmable read-only memory (EKROn or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROn), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer program code for carrying out operations of the present invention may be written in one or more programming languages, or combinations thereof, including an object oriented programming language such as Java, snalltalk, C ++ and conventional procedural programming languages, such as the "C" language or similar programming languages, particularly Kython languages suitable for neural network computing and TensorFlow, kyTorch-based platform frameworks may be used. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any number of types of networks, including a Local Area Network (LAN) or a Wide Area Network (WAN), or be connected to an external computer (for example, through the Internet using an Internet service provider).
The above-mentioned devices and non-transitory computer readable storage medium may refer to specific descriptions of the multi-frequency multi-GNSS precise single point positioning method and the beneficial effects, and are not repeated here.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (10)

1.一种多频多GNSS精密单点定位方法，其特征在于，包括：1. A multi-frequency, multi-GNSS precise single-point positioning method, characterized in that it includes: 选用GNSS系统全球或区域单个跟踪站的伪距和相位观测数据；Pseudorange and phase observation data from a single tracking station of the GNSS system, either globally or regionally; 利用跟踪站各基础频率的伪距和相位观测数据，构建单系统多频率的原始观测方程；Using pseudorange and phase observation data at each base frequency of the tracking station, a single-system multi-frequency original observation equation is constructed. 引入接收机码偏差时变参数，利用参数重组方法，对原始观测方程中的参数进行重新整合，消除原始观测方程中的数学秩亏，得到新观测方程；By introducing a receiver code bias time-varying parameter and using a parameter recombination method, the parameters in the original observation equation are re-integrated to eliminate the mathematical rank deficiency in the original observation equation and obtain a new observation equation. 引入接收机系统间偏差参数，构建多频多GNSS精密单点定位模型。By introducing the inter-system deviation parameter of the receiver, a multi-frequency multi-GNSS precise single-point positioning model is constructed. 2.根据权利要求1所述的一种多频多GNSS精密单点定位方法，其特征在于，所述单系统多频率的原始观测方程为：2. The multi-frequency multi-GNSS precise single-point positioning method according to claim 1, characterized in that the original observation equation for the single-system multi-frequency is: 式中，T表示卫星系统；S表示卫星；r表示接收机；i表示历元；f表示频率；和为码和载波相位观测伪距和相位观测值；为接收机至卫星的几何距离；和为接收机和卫星的钟差；Zr(i)为测站天顶对流层延迟；为对流层投影函数；为第一频率的电离层延迟；为频率f与第一频率电离层延迟间的比值；为载波相位波长；和为接收机和卫星的码偏差；为吸收了卫星和接收机相应偏差后的浮点模糊度；为伪距多路径效应、观测噪声及其他未模型化误差之和；为载波相位多路径效应、观测噪声及其他未模型化误差之和。In the formula, T represents the satellite system; S represents the satellite; r represents the receiver; i represents the epoch; and f represents the frequency. and For code and carrier phase observation pseudorange and phase observation values; This represents the geometric distance from the receiver to the satellite. and Zr(i) represents the clock difference between the receiver and the satellite; Zr (i) represents the zenith tropospheric delay at the station. For tropospheric projection functions; The ionospheric delay is the first frequency; This is the ratio between frequency f and the ionospheric delay at the first frequency; The carrier phase wavelength; and This refers to the code offset between the receiver and the satellite; To absorb the floating-point ambiguity resulting from the corresponding deviations between the satellite and the receiver; This is the sum of pseudorange multipath effects, observation noise, and other unmodeled errors; This is the sum of carrier phase multipath effects, observation noise, and other unmodeled errors. 3.根据权利要求1所述的一种多频多GNSS精密单点定位方法，其特征在于，所述新观测方程为：3. The multi-frequency multi-GNSS precise single-point positioning method according to claim 1, characterized in that the new observation equation is: 式中，T表示卫星系统；s表示卫星；r表示接收机；i表示历元；f表示频率；和为码和载波相位观测伪距和相位观测值；为IGS发布的卫星s的钟差；为接收机至卫星的几何距离；为新观测方程解算的接收机r的钟差；为对流层投影函数；Zr(i)为测站天顶对流层延迟；为频率f与第一频率电离层延迟间的比值；为新观测方程解算的卫星s对应第一个频率的电离层斜延迟；为新观测方程解算的接收机r对应频率f的伪距硬件延迟；为新观测方程解算的卫星s对应频率f的伪距硬件延迟；为伪距多路径效应、观测噪声及其他未模型化误差之和；为载波相位波长；为新观测方程解算的接收机r与卫星s之间频率f对应的模糊度；为载波相位多路径效应、观测噪声及其他未模型化误差之和；α为参数的系数；β为参数的系数。In the formula, T represents the satellite system; s represents the satellite; r represents the receiver; i represents the epoch; and f represents the frequency. and For code and carrier phase observation pseudorange and phase observation values; Clock bias for satellites released by IGS; This represents the geometric distance from the receiver to the satellite. The clock error of receiver r calculated for solving the new observation equation; Zr (i) is the tropospheric projection function; Zr(i) is the tropospheric delay at the zenith of the station. This is the ratio between frequency f and the ionospheric delay at the first frequency; The ionospheric slant delay for the first frequency corresponding to satellite s, calculated for the new observation equation; The pseudorange hardware delay at frequency f corresponding to receiver r for solving the new observation equation; The pseudorange hardware delay for satellite s at frequency f, calculated for the new observation equation; This is the sum of pseudorange multipath effects, observation noise, and other unmodeled errors; The carrier phase wavelength; The ambiguity at frequency f between receiver r and satellite s is calculated for the new observation equation; It is the sum of carrier phase multipath effects, observation noise, and other unmodeled errors; α is a parameter. The coefficient; β is a parameter The coefficient. 4.根据权利要求3所述的一种多频多GNSS精密单点定位方法，其特征在于，通过参数重新组合消除原始观测方程中的秩亏，得到新观测方程中各项参数的具体形式如下：4. The multi-frequency multi-GNSS precise single-point positioning method according to claim 3, characterized in that, by recombining parameters to eliminate the rank deficiency in the original observation equation, the specific forms of each parameter in the new observation equation are as follows: 式中，为消电离层组合卫星伪距硬件延迟参数；为首历元消电离层组合接收机伪距硬件延迟参数；为首历元的无几何组合的接收机伪距硬件延迟参数；为无几何组合的接收机伪距硬件延迟参数；为无几何组合的卫星伪距硬件延迟参数；为首历元的接收机伪距硬件延迟参数；为第二频率与第一频率电离层延迟间的比值；为首历元的无几何组合的接收机伪距硬件延迟参数；为无几何组合的卫星伪距硬件延迟参数；为第一频率卫星伪距硬件延迟参数；为第二频率的卫星伪距硬件延迟参数；为第一频率首历元的接收机伪距硬件延迟参数；为第二频率首历元的接收机伪距硬件延迟参数；为第一频率第i历元的接收机伪距硬件延迟参数；为第二频率第i历元的接收机伪距硬件延迟参数。In the formula, Hardware delay parameters for pseudorange of combined ionospheric satellites; The pseudorange hardware delay parameters for the first epoch deionization combined receiver; The receiver pseudorange hardware delay parameter for the first epoch without geometric combination; For receiver pseudorange hardware delay parameters without geometric combination; For satellite pseudorange hardware delay parameters without geometric combination; The receiver pseudorange hardware delay parameter for the first epoch; This is the ratio between the ionospheric delay at the second frequency and the ionospheric delay at the first frequency. The receiver pseudorange hardware delay parameter for the first epoch without geometric combination; For satellite pseudorange hardware delay parameters without geometric combination; The pseudorange hardware delay parameters for the first frequency satellite; For the second frequency satellite pseudorange hardware delay parameters; The receiver pseudorange hardware delay parameter for the first epoch of the first frequency; The receiver pseudorange hardware delay parameter for the first epoch of the second frequency; The receiver pseudorange hardware delay parameter for the first frequency at the i-th epoch; The receiver pseudorange hardware delay parameter is the i-th epoch of the second frequency. 5.根据权利要求4所述的一种多频多GNSS精密单点定位方法，其特征在于，当频率f小于3时，参数不存在。5. The multi-frequency multi-GNSS precise single-point positioning method according to claim 4, characterized in that, when the frequency f is less than 3, the parameters... It does not exist. 6.根据权利要求4所述的一种多频多GNSS精密单点定位方法，其特征在于，当历元i为第一个历元时，参数不存在。6. The multi-frequency multi-GNSS precise single-point positioning method according to claim 4, characterized in that, when epoch i is the first epoch, the parameters... It does not exist. 7.根据权利要求4所述的一种多频多GNSS精密单点定位方法，其特征在于，所述多频多GNSS精密单点定位模型为：7. The multi-frequency multi-GNSS precise single-point positioning method according to claim 4, characterized in that the multi-frequency multi-GNSS precise single-point positioning model is: 式中，为GPS系统的伪距观测值；为基于IGS精密卫星钟差产品获取的GPS卫星钟差；为接收机至GPS卫星的几何距离；为GPS系统的接收机钟差；为GPS卫星的对流层投影函数；为GPS系统频率f与第一频率电离层延迟间的比值；为GPS系统接收机伪距硬件延迟；为GPS系统卫星伪距硬件延迟组合；为GPS系统的载波相位观测值；为GPS系统的载波相位波长；为GPS系统载波相位整周模糊度；为BDS系统的伪距观测值；为基于IGS精密卫星钟差产品获取的BDS卫星钟差；为接收机至BDS卫星的几何距离；为BDS卫星的对流层投影函数；为BDS系统的载波相位观测值；为基于IGS精密卫星钟差产品获取的BDS卫星钟差；为BDS系统的载波相位波长；为BDS系统载波相位整周模糊度；为BDS系统卫星伪距硬件延迟组合；为BDS系统相对于GPS系统的系统间偏差；为Galileo系统相对于GPS系统的系统间偏差；为GPS系统伪距多路径效应、观测噪声及其他未模型化误差之和；为GPS系统相位多路径效应、观测噪声及其他未模型化误差之和；为BDS系统接收机伪距硬件延迟；为BDS系统频率f与第一频率电离层延迟间的比值；为BDS系统伪距多路径效应、观测噪声及其他未模型化误差之和；为BDS系统相位多路径效应、观测噪声及其他未模型化误差之和；为Galileo系统的伪距观测值；为Galileo系统卫星伪距硬件延迟组合；为Galileo系统频率f与第一频率电离层延迟间的比值；为Galileo系统接收机伪距硬件延迟；为Galileo系统的载波相位观测值；为基于IGS精密卫星钟差产品获取的Galileo卫星钟差；为接收机至Galileo卫星的几何距离；为Galileo系统的接收机钟差；为Galileo卫星的对流层投影函数；为Galileo系统载波相位整周模糊度；为Galileo系统伪距多路径效应、观测噪声及其他未模型化误差之和；为Galileo系统相位多路径效应、观测噪声及其他未模型化误差之和；为Galileo系统的载波相位波长。In the formula, These are pseudorange observations from the GPS system. GPS satellite clock bias obtained based on IGS precision satellite clock bias products; This represents the geometric distance from the receiver to the GPS satellite. For the receiver clock bias of the GPS system; For the tropospheric projection function of GPS satellites; This is the ratio between the GPS system frequency f and the ionospheric delay at the first frequency; For GPS system receiver pseudorange hardware delay; For GPS system satellite pseudorange hardware delay combination; These are carrier phase observations from the GPS system. The carrier phase wavelength of the GPS system; For GPS system carrier phase integer ambiguity; These are pseudorange observations from the BDS system; BDS satellite clock bias obtained based on IGS precision satellite clock bias products; This represents the geometric distance from the receiver to the BDS satellite. For the tropospheric projection function of BDS satellites; These are carrier phase observations from the BDS system. BDS satellite clock bias obtained based on IGS precision satellite clock bias products; The carrier phase wavelength of the BDS system; For carrier phase integer ambiguity in BDS system; For BDS system satellite pseudorange hardware delay combination; This refers to the inter-system bias of the BDS system relative to the GPS system. This refers to the inter-system bias of the Galileo system relative to the GPS system. This is the sum of GPS pseudorange multipath effects, observation noise, and other unmodeled errors; This is the sum of GPS system phase multipath effects, observation noise, and other unmodeled errors; For the pseudorange hardware delay of the BDS system receiver; This is the ratio between the BDS system frequency f and the ionospheric delay at the first frequency; This is the sum of pseudorange multipath effects, observation noise, and other unmodeled errors in the BDS system; This is the sum of phase multipath effects, observation noise, and other unmodeled errors in the BDS system; These are pseudorange observations from the Galileo system; For the pseudorange hardware delay combination of Galileo system satellites; This is the ratio between the Galileo system frequency f and the ionospheric delay at the first frequency; For the pseudorange hardware delay of the Galileo system receiver; These are carrier phase observations from the Galileo system; Galileo satellite clock bias obtained based on IGS precision satellite clock bias products; This represents the geometric distance from the receiver to the Galileo satellite; For the receiver clock bias of the Galileo system; For the tropospheric projection function of the Galileo satellite; For Galileo system carrier phase integer ambiguity; This is the sum of pseudorange multipath effects, observation noise, and other unmodeled errors in the Galileo system; This is the sum of phase multipath effects, observation noise, and other unmodeled errors in the Galileo system; The carrier phase wavelength of the Galileo system. 8.一种多频多GNSS精密单点定位装置，其特征在于，包括：8. A multi-frequency multi-GNSS precision single-point positioning device, characterized in that it comprises: 数据选取模块，用于选取GNSS系统全球或区域单个跟踪站的伪距和相位观测数据；The data selection module is used to select pseudorange and phase observation data from a single tracking station in the global or regional GNSS system. 原始观测方程构建模块，用于利用跟踪站各基础频率的伪距和相位观测数据，构建单系统多频率的原始观测方程；The original observation equation construction module is used to construct the original observation equations for a single system at multiple frequencies using pseudorange and phase observation data from each base frequency of the tracking station. 新观测方程构建模块，用于引入接收机码偏差时变参数，利用参数重组方法，对原始观测方程中的参数进行重新整合，消除原始观测方程中的数学秩亏，得到新观测方程；The new observation equation construction module is used to introduce the receiver code bias time-varying parameter, and use the parameter recombination method to re-integrate the parameters in the original observation equation, eliminate the mathematical rank deficiency in the original observation equation, and obtain the new observation equation; 模型构建模块，用于引入接收机系统间偏差参数，构建多频多GNSS精密单点定位模型。The model building module is used to introduce the inter-system deviation parameters of the receiver system and build a multi-frequency multi-GNSS precise single-point positioning model. 9.一种多频多GNSS精密单点定位设备，其特征在于，9. A multi-frequency, multi-GNSS precision single-point positioning device, characterized in that, 包括存储器和处理器；Including memory and processor; 所述存储器，用于存储计算机程序代码，并将所述计算机程序代码传输给所述处理器；The memory is used to store computer program code and transmit the computer program code to the processor; 所述处理器，用于根据所述计算机程序代码中的指令执行如权利要求1至7任一项所述的方法。The processor is configured to execute the method as described in any one of claims 1 to 7 according to instructions in the computer program code. 10.一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上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至7任一项所述的方法。10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and the computer program, when executed by a processor, implements the method as described in any one of claims 1 to 7.
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