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Carrier phase difference positioning method and device and single-frequency receiver

A carrier phase difference and positioning method technology, applied in the field of satellite positioning, can solve the problems of high cost and unacceptable to civilian users, and achieve the effect of improving efficiency, improving reliability, and avoiding cycle slip problems

Active Publication Date: 2017-05-10
GUANGZHOU HI TARGET SURVEYING INSTRUMENT CO LTD
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Problems solved by technology

[0005] Traditional RTK technology is generally based on high-precision dual-frequency GNSS receivers, which are expensive and unacceptable to civilian users

Method used

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  • Carrier phase difference positioning method and device and single-frequency receiver
  • Carrier phase difference positioning method and device and single-frequency receiver
  • Carrier phase difference positioning method and device and single-frequency receiver

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Embodiment Construction

[0050] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0051] It can be known that the basic observation model of GNSS differential positioning is: y=Aa+Bb-e, where A and B are m*n in turn, m*p-dimensional ambiguity parameters and baseline vectors correspond to the design matrix; a is n dimensional ambiguity parameter vector, b is p-dimensional non-ambiguity parameter vector; y is m-dimensional observation vector; m is the number of observation equations; e∈R m , is the observation value noise vector, and its corresponding prior variance-covariance matrix is ​​Q, Q∈R m×m .

[0052] Single-frequency receivers for RTK high-precision positioning general...

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Abstract

The invention relates to a carrier phase difference positioning method and device and a single-frequency receiver, and the method comprises the steps: judging whether to carry out the ambiguity search or not according to a preset sampling time interval; substituting a satellite continuous and effective tracking epoch number weight factor, a satellite elevation weight factor and a carrier phase posterior windowing residual error weight factor into a preset ambiguity satellite selection weight factor formula if the ambiguity search is carried out, and calculating a ambiguity satellite selection weight factor; selecting a ambiguity search subset according to the ambiguity satellite selection weight factor; carrying out the ambiguity search through employing an LAMBDA algorithm, and obtaining an ambiguity fixed subset; respectively judging whether the obtained ratio value and DN value are greater than a preset first threshold value and a preset second threshold value or not, and carrying out the ambiguity confirmation of the ambiguity fixed subset; judging whether the number of double-difference ambiguities is greater than or equal to 4 or not if the obtained ratio value and DN value are greater than the preset first threshold value and the preset second threshold value; solving a fixed solution of a base line based on a preset carrier single-difference model if the obtained ratio value and DN value are not greater than the preset first threshold value and the preset second threshold value; and outputting the fixed solution. The method can enable the single-frequency receiver to carry out the RTK high-precision positioning.

Description

technical field [0001] The invention relates to the technical field of satellite positioning, in particular to a carrier phase differential positioning method and device and a single-frequency receiver. Background technique [0002] At present, many civil fields such as UAV agricultural plant protection and high-precision vehicle navigation have put forward higher requirements for the accuracy of position navigation, and the accuracy level needs to reach decimeter level or even centimeter level. [0003] The traditional GNSS (global navigation satellite system) single-point positioning technology can only achieve meter-level or higher accuracy, and the pseudo-range difference technology can only achieve sub-meter-level accuracy, which cannot meet decimeter-level or even centimeter-level accuracy. need. [0004] GNSS RTK (Real-time kinematic, carrier phase difference) technology, that is, the real-time difference technology of satellite positioning carrier phase, uses carrie...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/44
CPCG01S19/44
Inventor 史小雨陈源军左翔李成钢
Owner GUANGZHOU HI TARGET SURVEYING INSTRUMENT CO LTD
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