A method for real-time Beidou precise relative positioning

Abstract

The invention belongs to the satellite positioning field and in particular relates to a real-time bayou precision relative positioning method. The real-time bayou precision relative positioning method particularly comprises the following steps: step I, initializing the integer ambiguity parameter; step II, carrying out cycle-slip detection; step III, performing pseudo-range single-point positioning; step IV, judging the difference of the observation epochs of a base station and a mobile station, calculating the difference of the observation epochs of the base station and the mobile station, if the difference value is more than 15s, returning to the step I, if not, entering the step V; step V, repairing cycle slip, calculating the integer ambiguity of a satellite which is subjected to cycle slip by use of the integer ambiguity of a satellite which is not subjected to cycle slip; step VI, solving the relative location of the base station and the mobile station. According to the method, the dynamic positioning real-time updating rate of the mobile station can be increased, the output delay of the positioning result of the mobile station can be reduced, the base station data is sampled and broadcast at low frequency, the requirements for the real-time performance and the reliability of a data communication link are reduced and the costs of the wireless communication equipment and the links are also reduced.

Description

technical field [0001] The invention belongs to the field of satellite positioning, in particular to a method for real-time Beidou precise relative positioning. Background technique [0002] Real-time Beidou precise relative positioning technology is a real-time dynamic differential positioning technology using Beidou high-precision carrier phase observations, often called RTK (Real-Time Kinematic) technology, used in vehicle navigation, aircraft blind landing and driving school automatic invigilation and other fields It has broad application prospects. When performing RTK work, the reference station needs to broadcast its own carrier phase observation value and other information to the surrounding mobile stations in real time through data communication equipment. The mobile station uses its own Beidou satellite navigation measurement data and the received reference station measurement data to perform carrier phase difference relative positioning to realize real-time precis...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problem that the real-time performance of mobile station dynamic positioning is difficult to improve in the Beidou real-time precise positioning technology, the present invention proposes a non-synchronous carrier phase difference relative positioning method

This method utilizes the historical satellite navigation measurement data broadcasted by the low update rate of the base station and the current satellite navigation measurement data of the mobile station to carry out relative positioning of the carrier phase difference between time asynchronous stations, and solves the communication delay problem of the differential measurement data broadcast by the base station , which can realize high update rate real-time precise relative positioning of the mobile station, and avoid the data synchronization process in the synchronous carrier phase differential positioning technology

Images