RTK positioning method based on multi-frequency multi-system intra-system and inter-system deviation modeling

Abstract

The invention provides an RTK positioning method based on multi-frequency multi-system intra-system and inter-system deviation modeling. The RTK positioning method comprises the steps of S1, acquiringmulti-frequency multi-system observation data, and acquiring temperature data at a receiver; S2, estimating intra-system and inter-system deviation based on single difference, and constructing and solving an RTK application equation; S3, conducting intra-system and inter-system deviation and temperature modeling; and S4, conducting application of intra-system and inter-system deviation modeling in RTK. Based on a single-difference observation value, the problem of rank loss caused by linear correlation between a receiver clock error and pseudo-range / phase deviation and between the phase deviation and ambiguity existing in a single-difference model is solved in a parameter reforming mode. Besides, modeling is carried out on DCB, DPB, ISB and temperature and applied to an RTK model based onsingle difference, and the positioning precision and performance of RTK are improved on the premise that deviation information of a receiver end is effectively utilized.

Description

technical field [0001] The invention belongs to the technical field of real-time dynamic relative positioning (RTK) positioning of multi-frequency and multi-system, and specifically relates to an RTK positioning method based on intra-system and inter-system deviation modeling of multi-frequency and multi-system. Background technique [0002] With the development of China's Beidou-3 system, the European Union's Galileo system and Japan's QZSS system, and the modernization of GPS in the United States and GLONASS in Russia, more and more satellites and frequencies are used for precision point positioning (PPP) and RTK Such as GNSS application provides a good foundation. While a single GNSS constellation can provide satellite-based positioning, navigation and timing services, multi-constellation and multi-frequency combinations can achieve better accuracy, integrity and availability. [0003] At present, there are usually two different models for realizing RTK, namely the doubl...

AI Technical Summary

Problems solved by technology

In previous RTK research and applications, DCB, DPB and ISB are usually considered as time-invariant parameters and treated as constants, which makes the positioning performance of RTK in areas with large intraday temperature changes very poor

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