Navigation positioning method and device, electronic device and storage medium

Abstract

The embodiment of the invention discloses a navigation positioning method and device, an electronic device and a storage medium. The method comprises: determining a predicted atmospheric delay parameter corresponding to a current observation epoch by using a pre-built atmospheric delay parameter model; determining a prediction value error equation according to the predicted atmospheric delay parameter and an initial atmospheric delay parameter, and combining the predicted value error equation with observation value error equations, determined based on a non-difference non-combined model, of all observation stations to obtain a combined error equation; determining a time interval between the current observation epoch and a reference epoch of the atmospheric delay parameter model, determining predicted value weights of all atmospheric delay parameters based on the time interval and / or elevating angles of all satellites, and combining the predicted value weights with observation value weights of all observation stations to obtain a combined weight; and determining positioning coordinates of all observation stations based on the combined error equation and the combined weight. Therefore, the time of PPP reconvergence is shortened; and thus the navigation positioning accuracy is improved indirectly.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of navigation, and in particular, to a navigation and positioning method, device, electronic equipment, and storage medium. Background technique [0002] During the continuous tracking process of GNSS (Global Navigation Satellite System, Global Navigation Satellite System) satellites, short-term interruption or loss of lock of satellite signals due to occlusion will lead to re-initialization of PPP (Precise Point Positioning, precise single point positioning) filter, ambiguity The parameters cannot be restored to the correct integer ambiguity before the signal interruption in a short period of time, resulting in the fact that the observation epoch during the PPP re-convergence process cannot obtain a centimeter-level high-precision PPP fixed solution, and the actual positioning accuracy is only meter-level or decimeter level. At present, the application of PPP technology often requ...

AI Technical Summary

Problems solved by technology

[0002] In the continuous tracking process of GNSS (Global Navigation Satellite System, Global Navigation Satellite System) satellites, the short-term interruption or loss of lock of satellite signals due to occlusion will lead to the re-initialization of PPP (Precise Point Positioning, precise single point positioning) filter, and the ambiguity The parameters cannot be restored to the correct integer ambiguity before the signal interruption in a short period of time, resulting in the fact that the observation epoch during the PPP re-convergence process cannot obtain a centimeter-level high-precision PPP fixed solution, and the actual positioning accuracy is only meter-level or decimeter level

At present, the application of PPP technology often requires a relatively open observation environment to avoid interruption of satellite navigation signals, but this approach will greatly limit the usability of PPP technology in engineering surveys

[0003] In the prior art, since the information of the PPP fixed solution is lost after the navigation signal is interrupted, it is necessary to reset the atmospheric delay parameters (tropospheric delay, ionospheric delay) and ambiguity parameters caused by the signal interruption, resulting in the reconvergence of the PPP after the interruption Almost coincides with the first convergence time, resulting in poor positioning accuracy during the convergence time period

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