GLONASS phase inter-frequency bias real-time tracking and precise estimation method based on particle filtering

Abstract

The invention discloses a GLONASS phase inter-frequency bias real-time tracking and precise estimation method based on particle filtering. The method comprises the following steps that step 1: data preprocessing: the satellite ephemeris and the pseudo range observation value and the phase observation value of the current ephemeris cloud are imported; step 2: a double difference pseudo range and carrier phase observation equation is established, and a single epoch normal equation or a previous epoch accumulation normal equation is obtained after linearization; step 3: the phase bias in the normal equation is corrected according to the particle value to solve the normal equation; and the particle filtering weight is updated, and the value of the phase inter-frequency bias rate and the particle mean square root are calculated; and step 4: the steps 1-3 are repeated to perform real-time tracking or precise estimation of the value of the phase inter-frequency bias rate; and phase inter-frequency bias correction is performed through the value of the phase inter-frequency bias rate after filtering convergence, and the integer ambiguity is fixed so as to realize precise estimation. Real-time tracking of the inter-frequency bias and GLONASS precise positioning without receiver type difference can be efficiently realized.

Description

technical field [0001] The invention relates to the technical field of satellite positioning system and positioning measurement, in particular to a method for real-time tracking and precise estimation of GLONASS phase-frequency deviation based on particle filter. Background technique [0002] GLONASS is a global navigation satellite system established by Russia. At present, the two frequency bands adopt frequency division multiple access technology, and different satellites received by the receiver have different frequencies; because of the different frequencies, there are different phase delays at the receiver, namely The inter-frequency bias (IFB) at the receiver side; receivers of the same brand and type will have similar IFB, and the differential observations between the composed receivers can ignore the IFB; but when different types of receivers form the receiver When the difference between observations, the IFB may not be zero and remain in the observations; the residu...

AI Technical Summary

Problems solved by technology

[0002] GLONASS is a global navigation satellite system established by Russia. At present, frequency division multiple access technology is used in the two frequency bands. Different satellites received by the receiver have different frequencies; because of the different frequencies, there are different phase delays at the receiver, namely The inter-frequency bias (IFB) at the receiver side; receivers of the same brand and type will have similar IFB, and the differential observations between the composed receivers can ignore the IFB; but when different types of receivers form the receiver When the difference between observations, the IFB may not be zero and remain in the observations; the residual IFB error seriously affects the entire cycle characteristics of the GLONASS phase observations, so that the ambiguity ...

Images