Beidou/GPS tightly-combined virtual reference station positioning method

Abstract

The invention discloses a Beidou / GPS tightly-combined virtual reference station positioning method. The positioning method comprises the steps of establishing a pseudo-range and carrier phase tightly-combined double-difference observation equation, and determining a Beidou / GPS inter-system deviation expression; constructing an MW tight combination model, constructing a narrow lane integer ambiguity resolving model in a geometric correlation mode, and resolving the double-difference integer ambiguity of each frequency; establishing a double-difference ionospheric delay error and other error extraction models irrelevant to the ionospheric delay error; determining the position coordinates of the virtual observation station, solving each error value at the position of the virtual reference station, and obtaining the observed quantity of the virtual reference station; and constructing a short baseline Beidou / GPS tightly-combined double-difference observation equation of the virtual reference station and the user, and estimating the position of the user. According to the method, the positioning availability based on the virtual reference station method in the high-elevation environment is improved; the user positioning performance is improved; and a foundation is laid for application of a multi-reference station positioning technology in high-elevation environments such as forests, canyons and urban areas.

Description

Technical field [0001] The invention belongs to the technical field of satellite positioning and navigation, and specifically relates to a Beidou / GPS tight combined virtual reference station positioning method. Background technique [0002] Globally distributed ground reference stations are the infrastructure for obtaining spatial geographic features quickly and accurately, which expands the application range of satellite positioning. In order to further expand its application in complex environments, it is urgent to carry out research on providing high-precision positioning methods for forests, canyons, urban areas and other high-elevation environments. Based on the multi-reference station multi-mode multi-frequency positioning method, the advantages of high observable redundancy and wide range of action have become one of the effective methods for realizing satellite positioning in complex environments. As one of the core technologies of multi-reference station positioning, vi...

AI Technical Summary

Problems solved by technology

The traditional multi-system virtual reference station positioning technology adopts the loose combination mode, which needs to be applied in a relatively open space for receiving stars. It is required that no less than two visible satellites per system can be used for position calculation, and it is difficult to deal with satellite signal occlusion in complex environments. Problems greatly limit the release of the application potential of multi-base station positioning technology in navigation and positioning related industries

[0003]Considering the high elevation angle environment, the number of satellites that can be effectively used is small, and the strength of the combined observation model of Beidou / GPS observation is weak, which will affect the positioning performance of users. Therefore, how to improve the strength of the observation model in an environment with limited satellite reception is the key to improving the availability and accuracy of satellite positioning in high elevation angle environments

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