CN120009926B - A satellite navigation double-difference positioning method taking pseudorange bias into account - Google Patents
A satellite navigation double-difference positioning method taking pseudorange bias into accountInfo
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- CN120009926B CN120009926B CN202510150964.2A CN202510150964A CN120009926B CN 120009926 B CN120009926 B CN 120009926B CN 202510150964 A CN202510150964 A CN 202510150964A CN 120009926 B CN120009926 B CN 120009926B
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
本发明公开了一种顾及伪距偏差的卫星导航双差定位方法，该方法利用并置接收机双差法进行伪距偏差标定，然后通过标定值对双差结果中的伪距偏差项进行补偿修正。与传统的双差定位算法相比，本发明进一步修正了双差系统中由于卫星信号失真畸变带来的误差，使普通用户在使用伪距双差定位时可以获得更优的定位精度服务。基于大量实测数据分析可得，顾及伪距偏差的改进型双差定位算法相比传统双差定位算法在东、北、天三个方向上的定位精度均有显著提高。
The present invention discloses a satellite navigation double-difference positioning method that takes into account pseudorange deviation. The method uses the juxtaposed receiver double-difference method to calibrate the pseudorange deviation, and then compensates and corrects the pseudorange deviation term in the double-difference result through the calibration value. Compared with the traditional double-difference positioning algorithm, the present invention further corrects the error caused by satellite signal distortion in the double-difference system, so that ordinary users can obtain better positioning accuracy services when using pseudorange double-difference positioning. Based on the analysis of a large amount of measured data, it can be obtained that the improved double-difference positioning algorithm that takes into account pseudorange deviation has significantly improved positioning accuracy in the east, north and sky directions compared to the traditional double-difference positioning algorithm.
Description
Technical Field
The invention belongs to the field of navigation positioning, and particularly relates to a satellite navigation double-difference positioning method considering pseudo-range deviation.
Background
Global satellite navigation systems (GNSS, global Navigation SATELLITE SYSTEM) are widely used in all countries of the world due to their powerful functions. The positioning mode of the GNSS can be simply divided into two main types of direct positioning and relative positioning, and differential positioning in relative positioning is always one of the important points of research. Differential positioning can be divided into three types of single difference, double difference and triple difference, wherein the single difference method and the double difference method are most widely applied. For high-precision users, the existing differential system can eliminate error sources such as satellite clock error and receiver clock error, and can effectively weaken the influence of an ionosphere and a troposphere on pseudo-range measurement under the condition that the receiver is arranged to be zero/a short base line, but the pseudo-range deviation in a residual error term of the differential system can not be eliminated all the time.
The pseudorange bias of the GNSS is generated due to the distortion of the downlink navigation signals of each satellite, and is closely related to the payload of the navigation satellite and the non-ideal characteristics of the transmitting device. Receivers embodied as different technical parameters generate constant term deviations of different magnitudes and signs for the navigation signal pseudo-range measurements. Subsequent studies have shown that pseudorange bias exists even when the receiver measures GNSS satellite signals in a healthy state, and that there is inconsistency in the distortion of each satellite navigation signal.
The GPS has first found a pseudorange bias phenomenon and has given a suggestion in its spatial Interface (ICD) file to reduce the effect of the pseudorange bias. Unfortunately, the research on the problem of pseudo-range deviation of the Beidou satellite navigation system in China is not deep enough, and relevant applicable values are not provided in the ICD file temporarily so as to weaken the pseudo-range deviation. The main current method still focuses on modifying the parameter configuration of the receiver, that is, reducing the parameter differences such as the correlation interval between the user receiver and the reference receiver, the front-end bandwidth, etc. to reduce the pseudo-range bias.
The pseudo-range deviation cannot be directly obtained through a single receiver, two satellites are observed simultaneously under the condition that two receivers are arranged as zero/short baselines, and then the pseudo-range deviation is obtained after double difference calculation is carried out on the pseudo-range measured values, and the method is called a parallel receiver double difference method; therefore, the pseudo-range deviation is a relative value and can have adverse effect on the positioning accuracy of the double-difference system, and if the pseudo-range deviation between different satellites can be calibrated through the pseudo-range measured value of the receiver, then the pseudo-range deviation is compensated and corrected in the double-difference calculation process, the positioning accuracy of the double-difference system can be improved.
Disclosure of Invention
The pseudo-range deviation is used as an error caused by the distortion of the downlink signals of the navigation satellites, and can negatively affect the positioning accuracy of the differential system, so that the performance of the GNSS system is reduced. The invention aims to provide a satellite navigation double-difference positioning method taking pseudo-range deviation into consideration so as to overcome the problems in the prior art.
In order to realize the tasks, the invention adopts the following technical scheme:
a satellite navigation double-difference positioning method taking pseudo-range deviation into consideration comprises the following steps:
Arranging the user receiver and the reference receiver to be in a zero baseline or short baseline state, so as to ensure that the two receivers can receive navigation satellite signals in the same frequency band;
Selecting an geostationary orbit satellite or an inclined geosynchronous orbit satellite with an elevation angle larger than an elevation angle threshold value as a reference satellite from all navigation satellites searched in the selected frequency band;
For the pseudo-range measurement value expressions of the reference receiver and the user receiver for the reference satellite and a certain satellite, the pseudo-range measurement value of the user receiver is used, and the pseudo-range measurement value of the reference receiver is subtracted respectively, so that the single difference value of the pseudo-range measurement values of the user receiver and the reference receiver for the reference satellite and the certain satellite at the same time and the same frequency band can be obtained;
Taking the single difference value of the pseudo-range measurement of the user receiver and the reference receiver relative to the reference satellite as a single difference reference value, and further differentiating the single difference value of the pseudo-range measurement to obtain a double difference measurement value containing the pseudo-range deviation of a certain satellite in the user receiver and the reference receiver relative to the reference satellite;
under the condition of a short base line, subtracting a geometric distance double difference value between a reference satellite and a certain satellite by using a double difference measurement value to obtain pseudo-range deviation considering thermal noise;
for each calculated double-difference measurement value of other satellites except the reference satellite, subtracting the corresponding pseudo-range deviation considering thermal noise on the basis of the calculated double-difference measurement value to obtain a corrected pseudo-range double-difference value;
Constructing a matrix equation by using the corrected pseudo-range double difference value and the unit observation vector of the reference satellite at the position of the reference receiver, and solving a baseline vector between the user receiver and the reference receiver after correcting the pseudo-range deviation;
and adding the baseline vector on the basis of the three-dimensional coordinates of the reference receiver to obtain the three-dimensional position of the user receiver.
Further, the elevation threshold is 30 DEG, and if there are a plurality of geostationary orbit satellites or inclined geostationary orbit satellites larger than the threshold, one with the largest elevation angle is selected as the reference satellite.
Further, the pseudorange measurements for reference receiver B and user receiver u for reference satellite i and satellite j are expressed as follows:
Wherein the method comprises the steps of Representing pseudorange measurements from receiver r to satellite i,Represents the linear distance between receiver r and satellite i, δt r represents the clock difference of receiver r, δt (i) represents the clock difference of satellite i,Represents the ionospheric and tropospheric delays in the receiver r's pseudorange measurements to satellite i, bias r represents the pseudorange bias of receiver r,Representing the thermal noise of the receiver r when measuring the pseudorange of satellite i, r=b, u, B representing the reference receiver and u representing the user receiver.
Further, the single difference of the pseudo-range measurements of the user receiver and the reference receiver for the reference satellite i and a certain satellite j at the same time and in the same frequency band is expressed as follows:
Wherein, the δuB＝δu-δB,
In the case where the user receiver u and the reference receiver B are arranged as zero/short baselines, the difference between the tropospheric and ionospheric delays in pseudorange measurements to the same satellite by the user receiver u and the reference receiver B Can be considered to be approximately equal, and therefore the above can be simplified as:
linear distance difference in zero base line And can also be considered as 0.
Further, the double difference measurement values of satellite j in the user receiver u and the reference receiver B relative to the reference satellite i, including the pseudo-range bias, are expressed as:
Wherein, the
Further, in the case of short baselines, the double difference measurement is utilizedSubtracting the geometric distance double difference between reference satellite i and satellite jThe pseudorange bias taking into account thermal noise can be obtained:
Further, for satellite j, its corrected pseudorange double difference is expressed as:
further, all corrected pseudo-range double differences are obtained And (3) carrying out matrix equation (8) to obtain a baseline vector B ur_corr between the user receiver u and the reference receiver B after the pseudo-range deviation is corrected:
Wherein, the The unit observation vector representing the position of the reference satellite i at the reference receiver B is denoted by the superscript T.
A terminal device comprises a processor, a memory and a computer program stored in the memory, wherein the processor realizes the satellite navigation double-difference positioning method taking pseudo-range deviation into consideration when executing the computer program.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the satellite navigation double difference positioning method taking into account pseudorange bias.
Compared with the prior art, the invention has the following technical characteristics:
Compared with the traditional double-difference positioning algorithm, the double-difference positioning method taking the pseudo-range deviation into consideration further corrects errors caused by satellite signal distortion in the double-difference system, so that a common user can obtain better positioning precision service when using pseudo-range double-difference positioning. Based on a large amount of measured data analysis, the improved double-difference positioning algorithm taking pseudo-range deviation into consideration has obviously improved positioning accuracy in the east, north and sky directions compared with the traditional double-difference positioning algorithm.
Drawings
FIG. 1 is a schematic diagram of the principle of the double difference method of the parallel receiver;
FIG. 2 is a statistical chart of satellite pseudorange bias for the 258 th year (day 9, 14 th month) C08, C11, C12, C13, and C23 of the embodiment of the invention;
Fig. 3 is a schematic diagram of a result of dual-difference positioning accuracy (in east, north, and sky directions) of common visible time periods of satellites C08, C11, C12, C13, and C23 on day 258 of the annual product date in the embodiment of the invention.
Detailed Description
The invention provides a satellite navigation double-difference positioning method taking pseudo-range deviation into consideration, which compensates and corrects the pseudo-range deviation in a double-difference positioning algorithm. The whole method can be divided into two steps, ①, namely, calibrating pseudo-range deviation by using a double-difference method of a parallel receiver, and ②, compensating and correcting pseudo-range deviation items in a double-difference result by using calibration values. The technical scheme of the invention is as follows:
step 1, arranging the user receiver u and the reference receiver B to be in a zero baseline or short baseline state requires ensuring that both receivers can receive navigation satellite signals in the same frequency band.
And 2, selecting a geostationary orbit (GEO) satellite or an inclined geosynchronous orbit (IGSO) satellite with an elevation angle larger than an elevation angle threshold value as a reference satellite from all M navigation satellites searched in the selected frequency band as a reference satellite i, wherein j is any one of the rest M-1 satellites.
In the scheme, the elevation angle threshold value is 30 degrees, and if the GEO/IGSO satellites larger than the threshold value have a plurality of GEO/IGSO satellites, one with the largest elevation angle is selected as a reference satellite.
Is provided withRepresenting pseudorange measurements of receiver r to reference satellite i,Represents the linear distance (geometric distance) between the receiver r and the reference satellite i, δt r represents the clock difference of the receiver r, δt (i) represents the clock difference of the reference satellite i,Indicating the ionospheric and tropospheric delays in the receiver r's pseudorange measurements to the reference satellite i, bias r indicating the pseudorange bias of the receiver r,Representing the thermal noise when the receiver r measures the pseudorange to the reference satellite i, r=b, u, B representing the reference receiver, u representing the user receiver.
The pseudorange measurements for satellites i and j for reference receiver B and user receiver u are expressed as follows:
step 3, pseudo-range measurement expressions for reference satellite i and satellite j for reference receiver B and user receiver u, i.e., pseudo-range measurements for user receiver u are used in equations (1), (2) above Subtracting pseudorange measurements of reference receiver B, respectivelyObtaining the single difference value of pseudo-range measurement of the user receiver u and the reference receiver B for the reference satellite i and the satellite j at the same time and the same frequency bandAnd
Wherein, the δuB＝δu-δB, n=i,j。
In the case where the user receiver u and the reference receiver B are arranged as zero/short baselines, the difference between the tropospheric and ionospheric delays in pseudorange measurements to the same satellite by the user receiver u and the reference receiver B Can be considered to be approximately equal, and therefore the above can be simplified as:
linear distance difference in zero base line But may also be approximately 0.
Step 4, taking the single difference value of the pseudo-range measurement of the user receiver u and the reference receiver B relative to the reference satellite i (namely the calculation result of the formula (3)) as a single difference reference valueThe single difference value obtained in the step 3 is further differentiated, that is, the difference is made by using the formula (4) and the formula (3), so that a double difference measurement value containing pseudo-range deviation of the satellite j in the user receiver u and the reference receiver B relative to the reference satellite i can be obtained:
Wherein, the
Step 5, under the condition of short base line, using double difference measurement valueSubtracting the geometric distance double difference between reference satellite i and satellite jThe pseudorange bias taking into account thermal noise can be obtained:
step 6, calculating double difference measured values of the rest satellites k (k epsilon M, k not equal to i, j) relative to the reference satellite i by adopting the same method at the same moment Geometric distance double differenceObtaining corresponding pseudo-range deviation considering thermal noise
Step 7, compensating the pseudo-range deviation in the double-difference positioning algorithm, subtracting the corresponding pseudo-range deviation considering thermal noise from the double-difference measured value calculated for each satellite except the reference satellite i to obtain a corrected pseudo-range double-difference value
Taking satellite j as an example, i.e., the difference between equation (5) and equation (6) results in a corrected pseudorange double difference value corresponding to satellite j:
step 8, all corrected pseudo-range double difference values are obtained And (3) carrying out matrix equation (8) to obtain a baseline vector B ur_corr between the user receiver u and the reference receiver B after the pseudo-range deviation is corrected:
Wherein, the The unit observation vector of the reference satellite i at the position of the reference receiver B is obtained by resolving according to the position of the receiver and the position of the satellite, and the superscript T indicates transposition.
And 9, adding the baseline vector B ur_corr on the basis of the x, y and z three-dimensional coordinates of the reference receiver B to obtain the three-dimensional position of the user receiver u.
Examples:
The pseudorange bias between two different types of receivers is calibrated and corrected based on measured data for the LEICA GR50 receiver of WTZR base station and the JAVAD TRE _3 receiver of WTZZ base station for 9 months 14 days (258 th of annual product).
The LEICA GR50 is selected as a reference receiver, JAVAD TRE _3 is a user receiver, the baseline distance between the two receivers is 3.6 meters, and the precondition of zero/short baseline juxtaposition is satisfied.
The method comprises the steps of carrying out calibration on pseudo-range deviation between two receivers by utilizing a double-difference method of the juxtaposed receivers ①, and carrying out compensation correction on a double-difference result by utilizing a pseudo-range deviation calibration value ②.
The pseudorange measurements for satellites i and j at reference receiver LEICA GR5 and user receiver JAVAD TRE _3 are expressed as follows:
the parameters in the formulas are consistent with those described in the summary of the invention, and are not described in detail herein.
In the observation process, a BDS GEO satellite C05 which is visible in the whole day period is selected as a reference satellite, and pseudo-range deviation of five satellites of a frequency range C08, a frequency range C11, a frequency range C12, a frequency range C13 and a frequency range C23 of the Beidou navigation system B1 relative to the reference satellite C05 is calibrated. And compensating the double difference calculation results of the 5 satellites by taking the calibration result as an error correction term.
Step 1, the user receiver JAVAD TRE _3 and the reference receiver LEICA GR50 are set to a zero/short baseline state, so that it is required to ensure that both receivers can receive the B1 band navigation satellite signals.
Step2, selecting a satellite which is visible for a long time at a high elevation angle during observation as a reference satellite, wherein in the embodiment, a C05 satellite which is visible all the day of 258 th of the annual product day is defined as the reference satellite.
Step 3, subtracting the pseudo-range measurement value of the reference receiver LEICA GR50 from the pseudo-range measurement value of the user receiver JAVAD TRE _3 in the above formulas (1) and (2), to obtain a single difference value between the pseudo-range measurement values of the reference satellite i (C05) and other satellites in the B1 frequency band and at the same time between the user receiver JAVAD TRE _3 and the reference receiver LEICA GR 50:
in the case where the receivers are arranged as short baselines, the tropospheric and ionospheric delays between the two receivers can be considered to be approximately equal, and so the above equation can be reduced to:
Step 4, taking the single-difference pseudo-range measurement value (i.e. the calculation result of the formula (2)) of the reference satellite i (C05) of the user receiver and the reference receiver as a reference value, and further performing differential operation on the single-difference value obtained in step 3, namely performing a difference between the formula (3) and the formula (2), so as to obtain double-difference measurement values including pseudo-range deviation of the reference receiver LEICA GR50 and the C08, C11, C12, C13 and C23 satellites in the user receiver JAVAD TRE _3 relative to the reference satellite C05:
Step 5, subtracting the double difference geometric distance from the double difference measured value of each satellite on all days of 14 days (258 th of annual product day) of 9 months Pseudorange bias values for C08, C11, C12, C13, and C23 satellites relative to reference satellite C05 are obtained:
and 6, compensating the pseudo-range deviation in a double-difference positioning algorithm, and subtracting the pseudo-range deviation value on the basis of the calculated double-difference measured value. Namely, the difference between the formula (5) and the formula (6) is subjected to correction to obtain a double difference value:
And 7, correcting the double difference values of the pseudo ranges between the C08, C11, C12, C13 and C23 satellites and the reference satellite C05 by using a formula (7), and substituting the corrected double difference values into a matrix equation (8), so that a baseline vector b JL_corr between the user receiver and the reference receiver after correcting the pseudo range deviation can be obtained:
a unit observation vector representing the position of satellite j at reference receiver LEICA GR 50.
Step 8, the three-dimensional position of the user receiver JAVAD TRE _3 is obtained by adding the baseline vector b JL_corr to the x, y, z three-dimensional coordinates of the reference receiver LEICA GR 50.
In this embodiment, two different receivers, that is, WTZR base station LEICA GR50 and WTZZ base station JAVAD TRE _3, are used to measure the pseudo-range of the satellites in the B1 frequency bands C05, C08, C11, C12, C13 and C23 of the beidou navigation system on the 258 th day of the annual product, so as to analyze the effect of improving the positioning accuracy of the double-difference system before and after the correction of the pseudo-range deviation.
In the embodiment, the C05 satellite is taken as a reference satellite, the LEICA GR50 is taken as a reference receiver, and the pseudo-range deviation values of the C08, C11, C12, C13 and C23 satellites are calibrated and corrected. The double-difference positioning accuracy of the user receiver JAVAD TRE _3 using the C08, C11, C12, C13, and C23 satellites is raised from 0.5657m, 1.0843m, 1.1268m to an accuracy level close to 0 in the east, north, and sky directions, compared to the positioning accuracy before and after the pseudorange bias correction. The positioning accuracy in the east, north and sky directions is obviously improved.
The foregoing embodiments are merely for illustrating the technical solution of the present application, but not for limiting the same, and although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solution described in the foregoing embodiments may be modified or substituted for some of the technical features thereof, and that these modifications or substitutions should not depart from the spirit and scope of the technical solution of the embodiments of the present application and should be included in the protection scope of the present application.
Claims (10)
1. A satellite navigation double difference positioning method taking into account pseudorange bias, comprising:
Arranging the user receiver and the reference receiver to be in a zero baseline or short baseline state, so as to ensure that the two receivers can receive navigation satellite signals in the same frequency band;
Selecting an geostationary orbit satellite or an inclined geosynchronous orbit satellite with an elevation angle larger than an elevation angle threshold value as a reference satellite from all navigation satellites searched in the selected frequency band;
For the pseudo-range measurement value expressions of the reference receiver and the user receiver for the reference satellite and a certain satellite, respectively subtracting the pseudo-range measurement values of the reference receiver for the reference satellite and the certain satellite from the pseudo-range measurement values of the user receiver for the reference satellite and the certain satellite, so as to obtain the single difference value of the pseudo-range measurement values of the user receiver and the reference receiver for the reference satellite and the certain satellite at the same moment and the same frequency band;
Taking the single difference value of the pseudo-range measurement of the user receiver and the reference receiver relative to the reference satellite as a single difference reference value, and further differentiating the single difference value of the pseudo-range measurement to obtain a double difference measurement value containing the pseudo-range deviation of a certain satellite in the user receiver and the reference receiver relative to the reference satellite;
under the condition of a short base line, subtracting a geometric distance double difference value between a reference satellite and a certain satellite by using a double difference measurement value to obtain pseudo-range deviation considering thermal noise;
for each calculated double-difference measurement value of other satellites except the reference satellite, subtracting the corresponding pseudo-range deviation considering thermal noise on the basis of the calculated double-difference measurement value to obtain a corrected pseudo-range double-difference value;
Constructing a matrix equation by using the corrected pseudo-range double difference value and the unit observation vector of the reference satellite at the position of the reference receiver, and solving a baseline vector between the user receiver and the reference receiver after correcting the pseudo-range deviation;
and adding the baseline vector on the basis of the three-dimensional coordinates of the reference receiver to obtain the three-dimensional position of the user receiver.
2. The method of claim 1, wherein the elevation threshold is 30 degrees, and if there are more than one geostationary orbit satellite or inclined geostationary orbit satellite above the threshold, the one with the largest elevation angle is selected as the reference satellite.
3. The satellite navigation double difference positioning method according to claim 1, wherein the pseudo range measurement values of the reference receiver B and the user receiver u for the reference satellites i and j are expressed as follows:
(1)
(2)
Wherein the method comprises the steps of Representing pseudorange measurements from receiver r to satellite i,Representing the linear distance between the receiver r and the satellite i,Representing the clock difference of the receiver r,Representing the clock-difference of satellite i,The ionospheric and tropospheric delays at the receiver r for satellite i pseudorange measurements are represented,Representing the pseudorange bias of the receiver r to satellite i,Representing thermal noise when the receiver r measures the pseudorange of satellite i; b denotes the reference receiver and u denotes the user receiver.
4. A satellite navigation double difference positioning method according to claim 3, wherein the single difference of the pseudo range measurements of the user receiver and the reference receiver for the reference satellite i and a satellite j at the same time and in the same frequency band is expressed as follows:
Wherein, the =,=,=,=,=,=;;
In the case where the user receiver u and the reference receiver B are arranged as zero/short baselines, the difference between the tropospheric and ionospheric delays in pseudorange measurements to the same satellite by the user receiver u and the reference receiver B、Can be considered to be approximately equal, and therefore the above can be simplified as:
(3)
(4)
linear distance difference in zero base line Also set to 0.
5. The method of claim 4, wherein the double difference measurement values of the satellite j in the user receiver u and the reference receiver B relative to the reference satellite i including the pseudorange bias are expressed as:
(5)
Wherein, the =-,=-,=-。
6. The satellite navigation double difference positioning method according to claim 4, wherein under short baseline condition, double difference measurement is utilizedSubtracting the geometric distance double difference between reference satellite i and satellite jThe pseudorange bias taking into account thermal noise can be obtained:
(6)。
7. the method of claim 6, wherein for satellite j, the corrected pseudorange double difference is expressed as:
(7)。
8. The satellite navigation double difference positioning method according to claim 7, wherein all corrected pseudo-range double differences are used 、...And (3) carrying out matrix equation (8) to obtain a baseline vector B ur_corr between the user receiver u and the reference receiver B after the pseudo-range deviation is corrected:
(8)
Wherein, the The unit observation vector representing the position of the reference satellite i at the reference receiver B is denoted by the superscript T.
9. Terminal equipment comprising a processor, a memory and a computer program stored in said memory, characterized in that the processor, when executing the computer program, implements a satellite navigation double difference positioning method taking account of pseudorange bias according to any of claims 1-8.
10. A computer readable storage medium, in which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a satellite navigation double difference positioning method taking account of pseudorange bias according to any of claims 1-8.
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