Real-time decimeter-level positioning method based on Beidou three-frequency signal at long distance in single reference station

Abstract

The invention discloses a real-time decimeter-level positioning method based on a Beidou three-frequency signal at a long distance in a single reference station. The method comprises: with three-frequency observation data in a Beidou navigation satellite system, selecting a combined observed quantity with optimal ultra-wide lane ambiguity resolution according to a principle of minimization of ionospheric error, pseudorange and combined carrier observation noise influences and fixing ultra-wide lane ambiguity in a single-epoch based on a round-off rounding method; estimating an ionospheric error initial value according to fixed integer ambiguity and optimizing an ionospheric error through Hatch filtering; and constructing an optimal wide lane combination observed quantity with the minimum positioning estimation error under the condition of minimizing the comprehensive influence of the ionospheric error and the carrier combination observation noise and carrying out ionospheric error correction on the observed quantity to realize long-distance real-time decimeter-level positioning. According to the disclosed method, the optimal combined observed quantity with the minimum positioning estimation error is constructed and the real-time high-precision decimeter-level positioning under the long distance is realized.

Description

technical field [0001] The invention belongs to the technical field of global navigation satellite positioning, and in particular relates to a real-time decimeter-level positioning method based on Beidou tri-frequency signals in the long-distance relative positioning mode of a single reference station. Background technique [0002] In the global navigation satellite positioning technology, relative positioning can effectively eliminate or weaken the influence of clock and atmospheric errors, improve the accuracy and timeliness of positioning, and has been widely used in the field of satellite navigation and positioning applications. It is currently realized by using the global satellite navigation system GNSS One of the main technical means of high-precision positioning. Currently, the most representative relative positioning application is the network differential technology (Network RTK) based on the Continuously Operating Reference System (CORS), which can provide real-ti...

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Problems solved by technology

For this reason, the problem of high-precision relative positioning under the long-distance environment of a single reference station has always been a hot issue concerned by many scholars in this field

[0003] However, as the distance between the user and the reference station increases, the impact of spatial correlation errors such as atmospheric errors on positioning also increases, and real-time high-precision positioning at long distances still faces certain problems. On the one hand, in terms of pseudo-range positioning, Although the pseudo-range differential positioning does not need to solve the cycle slip and ambiguity, the efficiency is high, and the sub-meter level positioning accuracy can usuall

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