Fast resolution method of ambiguity between multi-constellation reference stations and its application

Abstract

The invention discloses a fast ambiguity resolution method among multi-constellation reference stations based on ambiguity tight constraints and its application. Firstly, satellites that are easy to fix are determined according to the satellite cut-off altitude angle, ambiguity floating-point solution deviation and continuous filtering times; Then use the partial ambiguity fixation strategy for satellites that are easy to fix, use the size of the ambiguity variance as the screening criterion, and set the success rate of ambiguity fixation and Ratio as thresholds to select the optimal subset of ambiguity; finally, construct a "pseudo" observation equation In this way, the ambiguities in the optimal subset are tightly constrained to the fixed solution, the filtering equations are updated, and all satellite ambiguities are fixed. Using the method proposed by the present invention can significantly improve the prior success rate and Ratio value of fixed ambiguity, shorten the initialization time between reference stations, accelerate the convergence speed of newly rising satellites, and provide more available information for network RTK users. satellite.

Description

technical field [0001] The invention relates to a global navigation satellite system (GNSS) satellite positioning method, in particular to fast and accurate resolution of ambiguities between RTK (Real-Time Kinematic) reference stations in a multi-constellation network. Background technique [0002] With the continuous development of unmanned driving and digital cities, all walks of life have put forward higher requirements for the continuity, real-time and positioning accuracy of precise positioning. Combined with the established GPS, GLONASS and the rapidly improving BDS and Galileo, the number of satellites in orbit of the global satellite navigation system has also increased significantly, laying the foundation for high-precision positioning. At the same time, network RTK technology has attracted much attention in real-time high-precision positioning applications because it can obtain uniform and high-precision positioning results in real time in a large spatial range. Am...

AI Technical Summary

Problems solved by technology

Due to the large atmospheric error of the newly rising satellite (especially the tropospheric delay), it is very difficult to fix it when it is first added to the filter equation, and it will affect the Ratio value of the overall ambiguity solution

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