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Method for separating ambiguity and resolving position

An ambiguity and double-difference ambiguity technology, applied in the field of satellite positioning, can solve the problem of reducing the number of satellite solutions, and achieve the effect of improving the fixed rate and low CPU consumption

Pending Publication Date: 2021-09-21
WUHAN NAVIGATION & LBS INC
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Problems solved by technology

While ensuring the accuracy, if you want to obtain a high-precision position frequency of 50Hz or even 100Hz, it is not enough to simply reduce the number of satellite solutions

Method used

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  • Method for separating ambiguity and resolving position
  • Method for separating ambiguity and resolving position

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Embodiment Construction

[0035] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0036] see figure 1 , an embodiment of the present invention includes the following steps:

[0037] 1. Use the ambiguity resolution thread to obtain ambiguity, ionosphere and troposphere information.

[0038] 1.1 As mentioned in 1., it is assumed that the number of satellites is N, and the reference star is star i. The frequency double-difference ambiguity, double-difference ionospheric delay and double-difference tropospheric delay of the jth satellite f are respectively: and

[0039] 2. Position solution thread cycle slip detection

[0040] 2.1 As mentioned in 1., the double-difference ambiguity has been fixed. Since the position update rate of the position calculation thread is fast, if the carrier observation occurs a cycle slip and participates in the solution during this period, the Newton iteration will not converge or t...

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Abstract

The invention relates to a method for separating ambiguity and position calculation. The ambiguity and the position calculation are separated, under the conditions that the number of satellites is large and CPU resources of a high-precision GNSS satellite navigation receiver are limited, the ambiguity calculation frequency is flexibly configured, the precision position calculation frequency is improved under the condition of low CPU consumption, and high-precision positioning is realized through high-frequency and high-precision position calculation. According to the method, the fixed ambiguity at the previous moment is utilized to operate the position resolving thread for the floating solution of a certain epoch of an ambiguity resolving thread due to the addition of satellites and other reasons, and the fixed information at the previous moment is utilized by the current epoch, so that the fixed rate is improved.

Description

technical field [0001] The invention belongs to the technical field of satellite positioning, and in particular relates to a method for separating ambiguity and position resolution. Background technique [0002] At present, since high-precision satellite positioning technologies mainly include RTK, network RTK, and PPP-RTK technologies, the positioning frequency is limited by the time spent on parameter estimation and ambiguity search. The more traditional high-precision fixed solution is to first use the least squares or Kalman filter parameter estimation to obtain the state estimation value and covariance, and then use the wide and narrow lane, LAMBDA and other algorithms to fix the ambiguity. Since the matrix dimension increases with the increase of the solution satellites, if a high frequency solution frequency is to be obtained, the number of solution satellites can be reduced, and the calculation amount of parameter estimation and ambiguity search can be reduced. Whil...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/43G01S19/44
CPCG01S19/43G01S19/44
Inventor 雷正强郑璐王靖
Owner WUHAN NAVIGATION & LBS INC
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