Pure carrier phase RTK (real-time kinematic) positioning method based on GNSS (global navigation satellite system) triple frequency
A positioning method and a pure carrier technology, applied in satellite radio beacon positioning systems, radio wave measurement systems, instruments, etc., can solve problems such as not considering the influence of cycle slips, and achieve a high success rate of solution
Active Publication Date: 2019-05-24
HARBIN ENG UNIV
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Problems solved by technology
The ultra-wide lane model is constructed from multi-epoch ultra-wide lane combined observations, and integrates the cycle slip detection and repair technology for the ultra-wide lane ambiguity, which solves the problem that the traditional method does not consider the influence of cycle slip in the multi-epoch accumulation model Defects
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[0047] Step 1, using the observations of the Beidou tri-frequency signal, construct two ultra-wide lane combinations with a large wavelength-to-error ratio to ensure the highest success rate of ambiguity resolution.
[0048] The double-difference carrier phase observation equation can be expressed as,
[0049]
[0050] in Indicates the residual amount of the double-difference carrier phase observation value minus the calculated value; b is the base station receiver; r is the mobile station receiver; s is different satellite numbers; j corresponds to different frequency points f j ; x br Indicates the increment of non-diffusion items such as user position and troposphere; means corresponding to x br The linearized geometric design matrix of ; Corresponding frequency point f 1 The first-order ionospheric delay error, k j =f j 2 / f 1 2 Indicates the ionospheric scale coefficient; λ j Indicates the carrier phase wavelength; Indicates the ambiguity of the whole w...
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The invention belongs to the field of satellite precise navigation and positioning, and particularly relates to a pure carrier phase RTK (real-time kinematic) positioning method based on GNSS (globalnavigation satellite system) triple frequency. The method includes the steps: constructing two ultra-wide lane combinations with larger wavelengths and error specific values by the aid of observed quantity of a GNSS triple-frequency signal; ensuring highest fuzzy resolution success rate; performing time difference on ultra-wide lane observed quantity between continuous epochs; removing geometric position increment by Doppler observation information to obtain a proximity rounding value of a residual, and judging whether cycle slip is generated or not; constructing a geometrically relevant ultra-wide lane calculation model by observed quantity at least two continuous epochs after cycle slip effects are removed, and acquiring fixed solution of ultra-wide lane ambiguity through an LAMBDA algorithm and ratio inspection. Cycle slip is omitted if a cycle slip repair value is zero, and cycle slip is generated if the cycle slip repair value is not equal to zero. The method solves the problem ofinfluence of cycle slip on ambiguity calculation and positioning accuracy.
Description
technical field [0001] The invention belongs to the field of satellite precision navigation and positioning, and in particular relates to a pure carrier phase RTK positioning method based on GNSS tri-frequency. Background technique [0002] Multipath errors are closely related to the environment in which the receiver is located, and it is difficult to effectively eliminate them through techniques such as modeling, filtering, and differential, and become one of the main error sources for RTK positioning. Pseudo-range multipath errors may reach more than 10m in harsh environments, while the multipath of carrier phase observations is only at the millimeter or centimeter level. Therefore, in the traditional RTK model constructed by combining pseudo-range and carrier phase, the larger Pseudo-range multipath errors will increase the search space of ambiguity resolution and affect the reliability of ambiguity resolution. Since the receiver works in cities, canyons, etc., it cannot...
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Login to View More IPC IPC(8): G01S19/44G01S19/22
Inventor 贾春李亮程建华赵琳蒋家昌杨福鑫
Owner HARBIN ENG UNIV